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Cellular-connected unmanned aerial vehicle (UAV) has attracted a surge of research interest in both academia and industry. To support aerial user equipment (UEs) in the existing cellular networks, one promising approach is to assign a portion of the system bandwidth exclusively to the UAV-UEs. This is especially favorable for use cases where a large number of UAV-UEs are exploited, e.g., for package delivery close to a warehouse. Although the nearly line-of-sight (LoS) channels can result in higher powers received, UAVs can in turn cause severe interference to each other in the same frequency band. In this contribution, we focus on the uplink communications of massive cellular-connected UAVs. Different power allocation algorithms are proposed to either maximize the minimal spectrum efficiency (SE) or maximize the overall SE to cope with severe interference based on the successive convex approximation (SCA) principle. One of the challenges is that a UAV can affect a large area meaning that many more UAV-UEs must be considered in the optimization problem, which is essentially different from that for terrestrial UEs. The necessity of single-carrier uplink transmission further complicates the problem. Nevertheless, we find that the special property of large coherent bandwidths and coherent times of the propagation channels can be leveraged. The performances of the proposed algorithms are evaluated via extensive simulations in the full-buffer transmission mode and bursty-traffic mode. Results show that the proposed algorithms can effectively enhance the uplink SEs. This work can be considered the first attempt to deal with the interference among massive cellular-connected UAV-UEs with optimized power allocations.

To control humanoid robots, the reference pose of end effector(s) is planned in task space, then mapped into the reference joints by IK. By viewing that problem as approximate quadratic programming (QP), recent QP solvers can be applied to solve it precisely, but iterative numerical IK solvers based on Jacobian are still in high demand due to their low computational cost. However, the conventional Jacobian-based IK usually clamps the obtained joints during iteration according to the constraints in practice, causing numerical instability due to non-smoothed objective function. To alleviate the clamping problem, this study explicitly considers the joint constraints, especially the box constraints in this paper, inside the new IK solver. Specifically, instead of clamping, a mirror descent (MD) method with box-constrained real joint space and no-constrained mirror space is integrated with the Jacobian-based IK, so-called MD-IK. In addition, to escape local optima nearly on the boundaries of constraints, a heuristic technique, called $\epsilon$-clamping, is implemented as margin in software level. Finally, to increase convergence speed, the acceleration method for MD is integrated assuming continuity of solutions at each time. As a result, the accelerated MD-IK achieved more stable and enough fast tracking performance compared to the conventional IK solvers. The low computational cost of the proposed method mitigated the time delay until the solution is obtained in real-time humanoid gait control, achieving a more stable gait.

In human computer interaction (HCI), it is common to evaluate the value of HCI designs, techniques, devices, and systems in terms of their benefit to users. It is less common to discuss the benefit of HCI to computers. Every HCI task allows a computer to receive some data from the user. In many situations, the data received by the computer embodies human knowledge and intelligence in handling complex problems, and/or some critical information without which the computer cannot proceed. In this paper, we present an information-theoretic framework for quantifying the knowledge received by the computer from its users via HCI. We apply information-theoretic measures to some common HCI tasks as well as HCI tasks in complex data intelligence processes. We formalize the methods for estimating such quantities analytically and measuring them empirically. Using theoretical reasoning, we can confirm the significant but often undervalued role of HCI in data intelligence workflows.

This paper presents the TransBoat, a novel omnidirectional unmanned surface vehicle (USV) with a magnetbased docking system for overwater construction with wave disturbances. This is the first such USV that can build overwater structures by transporting modules. The TransBoat incorporates two features designed to reject wave disturbances. First, the TransBoat's expandable body structure can actively transform from a mono-hull into a multi-hull for stabilization in turbulent environments by extending its four outrigger hulls. Second, a real-time nonlinear model predictive control (NMPC) scheme is proposed for all shapes of the TransBoat to enhance its maneuverability and resist disturbance to its movement, based on a nonlinear dynamic model. An experimental approach is proposed to identify the parameters of the dynamic model, and a subsequent trajectory tracking test validates the dynamics, NMPC controller and system mobility. Further, docking experiments identify improved performance in the expanded form of the TransBoat compared with the contracted form, including an increased success rate (of ~ 10%) and reduced docking time (of ~ 40 s on average). Finally, a bridge construction test verifies our system design and the NMPC control method.

We develop the theoretical foundations of a generalized Gromov-Hausdorff distance between functions on networks that has recently been applied to various subfields of topological data analysis and optimal transport. These functional representations of networks, or networks for short, specialize in the finite setting to (possibly asymmetric) adjacency matrices and derived representations such as distance or kernel matrices. Existing literature utilizing these constructions cannot, however, benefit from continuous formulations because the continuum limits of finite networks under this distance are not well-understood. For example, while there are currently numerous persistent homology methods on finite networks, it is unclear if these methods produce well-defined persistence diagrams in the infinite setting. We resolve this situation by introducing the collection of compact networks that arises by taking continuum limits of finite networks and developing sampling results showing that this collection admits well-defined persistence diagrams. Compared to metric spaces, the isomorphism class of the generalized Gromov-Hausdorff distance over networks is rather complex, and contains representatives having different cardinalities and different topologies. We provide an exact characterization of a suitable notion of isomorphism for compact networks as well as alternative, stronger characterizations under additional topological regularity assumptions. Toward data applications, we describe a unified framework for developing quantitatively stable network invariants, provide basic examples, and cast existing results on the stability of persistent homology methods in this extended framework. To illustrate our theoretical results, we introduce a model of directed circles with finite reversibility and characterize their Dowker persistence diagrams.

WLANs, which have overtaken wired networks to become the primary means of connecting devices to the Internet, are prone to performance issues due to the scarcity of space in the radio spectrum. As a response, IEEE 802.11ax and subsequent amendments aim at increasing the spatial reuse of a radio channel by allowing the dynamic update of two key parameters in wireless transmission: the transmission power (TX_POWER) and the sensitivity threshold (OBSS_PD). In this paper, we present INSPIRE, a distributed solution performing local Bayesian optimizations based on Gaussian processes to improve the spatial reuse in WLANs. INSPIRE makes no explicit assumptions about the topology of WLANs and favors altruistic behaviors of the access points, leading them to find adequate configurations of their TX_POWER and OBSS_PD parameters for the "greater good" of the WLANs. We demonstrate the superiority of INSPIRE over other state-of-the-art strategies using the ns-3 simulator and two examples inspired by real-life deployments of dense WLANs. Our results show that, in only a few seconds, INSPIRE is able to drastically increase the quality of service of operational WLANs by improving their fairness and throughput.

We study a quantum switch that distributes maximally entangled multipartite states to sets of users. The entanglement switching process requires two steps: first, each user attempts to generate bipartite entanglement between itself and the switch; and second, the switch performs local operations and a measurement to create multipartite entanglement for a set of users. In this work, we study a simple variant of this system, wherein the switch has infinite memory and the links that connect the users to the switch are identical. Further, we assume that all quantum states, if generated successfully, have perfect fidelity and that decoherence is negligible. This problem formulation is of interest to several distributed quantum applications, while the technical aspects of this work result in new contributions within queueing theory. Via extensive use of Lyapunov functions, we derive necessary and sufficient conditions for the stability of the system and closed-form expressions for the switch capacity and the expected number of qubits in memory.

The Perceptual Evaluation of Audio Quality (PEAQ) method as described in the International Telecommunication Union (ITU) recommendation ITU-R BS.1387 has been widely used for computationally estimating the quality of perceptually coded audio signals without the need for extensive subjective listening tests. However, many reports have highlighted clear limitations of the scheme after the end of its standardization, particularly involving signals coded with newer technologies such as bandwidth extension or parametric multi-channel coding. Until now, no other method for measuring the quality of both speech and audio signals has been standardized by the ITU. Therefore, a further investigation of the causes for these limitations would be beneficial to a possible update of said scheme. Our experimental results indicate that the performance of PEAQ's model of disturbance loudness is still as good as (and sometimes superior to) other state-of-the-art objective measures, albeit with varying performance depending on the type of degraded signal content (i.e. speech or music). This finding evidences the need for an improved cognitive model. In addition, results indicate that an updated mapping of Model Output Values (MOVs) to PEAQ's Distortion Index (DI) based on newer training data can greatly improve performance. Finally, some suggestions for the improvement of PEAQ are provided based on the reported results and comparison to other systems.

In the past decade, we have witnessed the rise of deep learning to dominate the field of artificial intelligence. Advances in artificial neural networks alongside corresponding advances in hardware accelerators with large memory capacity, together with the availability of large datasets enabled researchers and practitioners alike to train and deploy sophisticated neural network models that achieve state-of-the-art performance on tasks across several fields spanning computer vision, natural language processing, and reinforcement learning. However, as these neural networks become bigger, more complex, and more widely used, fundamental problems with current deep learning models become more apparent. State-of-the-art deep learning models are known to suffer from issues that range from poor robustness, inability to adapt to novel task settings, to requiring rigid and inflexible configuration assumptions. Ideas from collective intelligence, in particular concepts from complex systems such as self-organization, emergent behavior, swarm optimization, and cellular systems tend to produce solutions that are robust, adaptable, and have less rigid assumptions about the environment configuration. It is therefore natural to see these ideas incorporated into newer deep learning methods. In this review, we will provide a historical context of neural network research's involvement with complex systems, and highlight several active areas in modern deep learning research that incorporate the principles of collective intelligence to advance its current capabilities. To facilitate a bi-directional flow of ideas, we also discuss work that utilize modern deep learning models to help advance complex systems research. We hope this review can serve as a bridge between complex systems and deep learning communities to facilitate the cross pollination of ideas and foster new collaborations across disciplines.

Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized manner, with individual robot team members being capable of acting without explicit communication between neighbors. In this paper, we propose a novel game theoretic model that enables decentralized and communication-free navigation to a goal position. Robots each play their own distributed game by estimating the behavior of their local teammates in order to identify behaviors that move them in the direction of the goal, while also avoiding obstacles and maintaining team cohesion without collisions. We prove theoretically that generated actions approach a Nash equilibrium, which also corresponds to an optimal strategy identified for each robot. We show through extensive simulations that our approach enables decentralized and communication-free navigation by a multi-robot system to a goal position, and is able to avoid obstacles and collisions, maintain connectivity, and respond robustly to sensor noise.