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When arranging objects with robotic arms, the quality of the end result strongly depends on the achievable placement accuracy. However, even the most advanced robotic systems are prone to positioning errors that can occur at different steps of the manipulation process. Ignoring such errors can lead to the partial or complete failure of the arrangement. In this paper, we present a novel approach to autonomously detect and correct misplaced objects by pushing them with a robotic arm. We thoroughly tested our approach both in simulation and on real hardware using a Robotiq two-finger gripper mounted on a UR5 robotic arm. In our evaluation, we demonstrate the successful compensation for different errors injected during the manipulation of regular shaped objects. Consequently, we achieve a highly reliable object placement accuracy in the millimeter range.

In space-air-ground integrated networks (SAGIN), terminals face interference from various sources such as satellites and terrestrial transmitters. However, managing interference with traditional interference management schemes (IM) is challenging since different terminals have different channel state information (CSI). This paper introduces a UAV carrying an active RIS (UAV-RIS) to assist in the interference elimination process. Furthermore, a UAV-RIS-aided IM scheme is proposed, which takes into account the multiple types of CSIs present in SAGIN. In this scheme, the satellite, terrestrial transmitters, and UAV-RIS collaborate to design precoding matrices based on the specific type of CSI of each node. Additionally, the DoF gain obtained by the proposed IM scheme is thoroughly discussed for SAGIN configurations with different numbers of users and transceiver antennas. Simulation results demonstrate that the proposed IM scheme outperforms existing IM schemes without UAV-RIS for the same type of CSI. The results also showcase the capacity improvement of the network when the proposed IM scheme is adopted under different types of CSI.

Inverse problems are in many cases solved with optimization techniques. When the underlying model is linear, first-order gradient methods are usually sufficient. With nonlinear models, due to nonconvexity, one must often resort to second-order methods that are computationally more expensive. In this work we aim to approximate a nonlinear model with a linear one and correct the resulting approximation error. We develop a sequential method that iteratively solves a linear inverse problem and updates the approximation error by evaluating it at the new solution. This treatment convexifies the problem and allows us to benefit from established convex optimization methods. We separately consider cases where the approximation is fixed over iterations and where the approximation is adaptive. In the fixed case we show theoretically under what assumptions the sequence converges. In the adaptive case, particularly considering the special case of approximation by first-order Taylor expansion, we show that with certain assumptions the sequence converges to a critical point of the original nonconvex functional. Furthermore, we show that with quadratic objective functions the sequence corresponds to the Gauss-Newton method. Finally, we showcase numerical results superior to the conventional model correction method. We also show, that a fixed approximation can provide competitive results with considerable computational speed-up.

Artificial intelligence (AI) is envisioned to play a key role in future wireless technologies, with deep neural networks (DNNs) enabling digital receivers to learn to operate in challenging communication scenarios. However, wireless receiver design poses unique challenges that fundamentally differ from those encountered in traditional deep learning domains. The main challenges arise from the limited power and computational resources of wireless devices, as well as from the dynamic nature of wireless communications, which causes continual changes to the data distribution. These challenges impair conventional AI based on highly-parameterized DNNs, motivating the development of adaptive, flexible, and light-weight AI for wireless communications, which is the focus of this article. Here, we propose that AI-based design of wireless receivers requires rethinking of the three main pillars of AI: architecture, data, and training algorithms. In terms of architecture, we review how to design compact DNNs via model-based deep learning. Then, we discuss how to acquire training data for deep receivers without compromising spectral efficiency. Finally, we review efficient, reliable, and robust training algorithms via meta-learning and generalized Bayesian learning. Numerical results are presented to demonstrate the complementary effectiveness of each of the surveyed methods. We conclude by presenting opportunities for future research on the development of practical deep receivers

For forthcoming 5G networks, Non-Orthogonal Multiple Access (NOMA) is a very promising techniques. and in today's world, Line of Sight communication is becoming increasingly harder to achieve. Hence, technologies like Reconfigurable Intelligent Surfaces (RIS) emerge. RIS-aided NOMA networks is a widely researched implementation of RIS. The environment where these networks are employed are non-homogeneous & non-linear in nature. The effectiveness of these systems must thus be evaluated using generalized fading channels. In this paper, the performance of a RIS-aided NOMA is compared with conventional NOMA in alpha-mu and kappa-mu channels. This paper also shows that the well-known fading distribution are special cases of these generalized fading channels, both analytically and through simulation.

This paper investigates the multi-antenna covert communications assisted by a simultaneously transmitting and reflecting reconfigurable intelligent surface (STAR-RIS). In particular, to shelter the existence of communications between transmitter and receiver from a warden, a friendly full-duplex receiver with two antennas is leveraged to make contributions to confuse the warden. Considering the worst case, the closed-form expression of the minimum detection error probability (DEP) at the warden is derived and utilized as a covert constraint. Then, we formulate an optimization problem maximizing the covert rate of the system under the covertness constraint and quality of service (QoS) constraint with communication outage analysis. To jointly design the active and passive beamforming of the transmitter and STAR-RIS, an iterative algorithm based on globally convergent version of method of moving asymptotes (GCMMA) is proposed to effectively solve the non-convex optimization problem. Simulation results show that the proposed STAR-RIS-assisted scheme highly outperforms the case with conventional RIS.

Unlike hiding bit-level messages, hiding image-level messages is more challenging, which requires large capacity, high imperceptibility, and high security. Although recent advances in hiding image-level messages have been remarkable, existing schemes are limited to lossless spatial images as covers and cannot be directly applied to JPEG images, the ubiquitous lossy format images in daily life. The difficulties of migration are caused by the lack of targeted design and the loss of details due to lossy decompression and re-compression. Considering that taking DCT densely on $8\times8$ image patches is the core of the JPEG compression standard, we design a novel model called \textsf{EFDR}, which can comprehensively \underline{E}xploit \underline{F}ine-grained \underline{D}CT \underline{R}epresentations and embed the secret image into quantized DCT coefficients to avoid the lossy process. Specifically, we transform the JPEG cover image and hidden secret image into fine-grained DCT representations that compact the frequency and are associated with the inter-block and intra-block correlations. Subsequently, the fine-grained DCT representations are further enhanced by a sub-band features enhancement module. Afterward, a transformer-based invertibility module is designed to fuse enhanced sub-band features. Such a design enables a fine-grained self-attention on each sub-band and captures long-range dependencies while maintaining excellent reversibility for hiding and recovery. To our best knowledge, this is the first attempt to embed a color image of equal size in a color JPEG image. Extensive experiments demonstrate the effectiveness of our \textsf{EFDR} with superior performance.

In digital images, the performance of optical aberration is a multivariate degradation, where the spectral of the scene, the lens imperfections, and the field of view together contribute to the results. Besides eliminating it at the hardware level, the post-processing system, which utilizes various prior information, is significant for correction. However, due to the content differences among priors, the pipeline that aligns these factors shows limited efficiency and unoptimized restoration. Here, we propose a prior quantization model to correct the optical aberrations in image processing systems. To integrate these messages, we encode various priors into a latent space and quantify them by the learnable codebooks. After quantization, the prior codes are fused with the image restoration branch to realize targeted optical aberration correction. Comprehensive experiments demonstrate the flexibility of the proposed method and validate its potential to accomplish targeted restoration for a specific camera. Furthermore, our model promises to analyze the correlation between the various priors and the optical aberration of devices, which is helpful for joint soft-hardware design.

Intelligent reflecting surfaces (IRSs) have emerged as a promising technology to improve the efficiency of wireless communication systems. However, passive IRSs suffer from the ``multiplicative fading" effect, because the transmit signal will go through two fading hops. With the ability to amplify and reflect signals, active IRSs offer a potential way to tackle this issue, where the amplification energy only experiences the second hop. However, the fundamental limit and system design for active IRSs have not been fully understood, especially for multiple-input multiple-output (MIMO) systems. In this work, we consider the analysis and design for the large-scale active IRS-aided MIMO system assuming only statistical channel state information (CSI) at the transmitter and the IRS. The evaluation of the fundamental limit, i.e., ergodic rate, turns out to be a very difficult problem. To this end, we leverage random matrix theory (RMT) to derive the deterministic approximation (DA) for the ergodic rate, and then design an algorithm to jointly optimize the transmit covariance matrix at the transmitter and the reflection matrix at the active IRS. Numerical results demonstrate the accuracy of the derived DA and the effectiveness of the proposed optimization algorithm. The results in this work reveal interesting physical insights with respect to the advantage of active IRSs over their passive counterparts.

This article provides an overview of the importance of requirements gathering in secure software development. It explains the crucial role of Requirements Engineers in defining and understanding the customer's needs and desires, as well as their responsibilities in liaising with the development team. The article also covers various software development life cycles, such as waterfall, spiral, and agile models, and their advantages and disadvantages. Additionally, it explains the importance of domain knowledge and stakeholder-driven elicitation in identifying system goals and firm requirements. The article emphasizes the need to mitigate the risks of vagueness and ambiguity early on and provides techniques for evaluating, negotiating, and prioritizing requirements. Finally, it discusses the importance of turning these requirements into complete, concise, and consistent documents using natural. Overall, this article highlights the critical role of requirements gathering in creating secure and successful software products that meet the customer's needs and expectations.