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Aiming at an obstacle avoidance problem with dynamic constraints for Unmanned Surface Vehicle (USV), a method based on Circle Grid Trajectory Cell (CGTC) is proposed. Firstly, the ship model and standardization rules are constructed to develop and constrain the trajectory, respectively. Secondly, by analyzing the properties of the circle grid, the circle grid tree is produced to guide the motion of the USV. Then, the kinematics and dynamics of the USV are considered through the on-line trajectory generator by designing a relational function that links the rudder angle, heading angle, and the central angle of the circle grid. Finally, obstacle avoidance is achieved by leveraging the on-line trajectory generator to choose a safe, smooth, and efficient path for the USV. The experimental results indicate that the proposed method can avoid both static and dynamic obstacles, have better performance in terms of distance cost and steering cost comparing with the related methods, and our method only takes 50% steering cost of the grid-based method; the collision avoidance path not only conforms to the USV dynamic characteristic but also provides a reference of steering command.

Intelligent reflecting surface (IRS) has emerged as a cost-effective solution to enhance wireless communication performance via passive signal reflection. Existing works on IRS have mainly focused on investigating IRS's passive beamforming/reflection design to boost the communication rate for users assuming that their channel state information (CSI) is fully or partially known. However, how to exploit IRS to improve the wireless transmission reliability without any CSI, which is typical in high-mobility/delay-sensitive communication scenarios, remains largely open. In this paper, we study a new IRS-aided communication system with the IRS integrated to its aided access point (AP) to achieve both functions of transmit diversity and passive beamforming simultaneously. Specifically, we first show an interesting result that the IRS's passive beamforming gain in any direction is invariant to the common phase-shift applied to all of its reflecting elements. Accordingly, we design the common phase-shift of IRS elements to achieve transmit diversity at the AP side without the need of any CSI of the users. In addition, we propose a practical method for the users to estimate the CSI at the receiver side for information decoding. Meanwhile, we show that the conventional passive beamforming gain of IRS can be retained for the other users with their CSI known at the AP. Furthermore, we derive the asymptotic performance of both IRS-aided transmit diversity and passive beamforming in closed-form, by considering the large-scale IRS with an infinite number of elements. Numerical results validate our analysis and show the performance gains of the proposed IRS-aided simultaneous transmit diversity and passive beamforming scheme over other benchmark schemes.

In this paper, a comprehensive performance analysis of a distributed intelligent reflective surfaces (IRSs)-aided communication system is presented. First, the optimal signal-to-noise ratio (SNR), which is attainable through the direct and reflected channels, is quantified by controlling the phase shifts of the distributed IRS. Next, this optimal SNR is statistically characterized by deriving tight approximations to the exact probability density function (PDF) and cumulative distribution function (CDF) for Nakagami-$m$ fading. The accuracy/tightness of this statistical characterization is investigated by deriving the Kullback-Leibler divergence. Our PDF/CDF analysis is used to derive tight approximations/bounds for the outage probability, achievable rate, and average symbol error rate (SER) in closed-form. To obtain useful insights, the asymptotic outage probability and average SER are derived for the high SNR regime. Thereby, the achievable diversity order and array gains are quantified. Our asymptotic performance analysis reveals that the diversity order can be boosted by using distributed passive IRSs without generating additional electromagnetic (EM) waves via active radio frequency chains. Our asymptotic rate analysis shows that the lower and upper rate bounds converge to an asymptotic limit in large reflective element regime. Our analysis is validated via Monte-Carlo simulations. We present a rigorous set of numerical results to investigate the performance gains of the proposed system model. Our analytical and numerical results reveal that the performance of single-input single-output wireless systems can be boosted by recycling the EM waves generated by a transmitter through distributed passive IRS reflections to enable constructive signal combining at a receiver.

Digital money can be implemented efficiently by avoiding consensus. However, no-consensus implementations have drawbacks, as they cannot support smart contracts, and (even more fundamentally) they cannot deal with conflicting transactions. We present a novel protocol that combines the benefits of an asynchronous, broadcast-based digital currency, with the capacity to perform consensus. This is achieved by selectively performing consensus a posteriori, i.e., only when absolutely necessary. Our on-demand consensus comes at the price of restricting the byzantine participants to be less than a one-fifth minority in the system, which we show to be the optimal threshold. We formally prove the correctness of our system and present an open-source implementation, which inherits many features from the Ethereum ecosystem.

The Internet of Things (IoT) brings connectivity to a massive number of devices that demand energy-efficient solutions to deal with limited battery capacities, uplink-dominant traffic, and channel impairments. In this work, we explore the use of Unmanned Aerial Vehicles (UAVs) equipped with configurable antennas as a flexible solution for serving low-power IoT networks. We formulate an optimization problem to set the position and antenna beamwidth of the UAV, and the transmit power of the IoT devices subject to average-Signal-to-average-Interference-plus-Noise Ratio ($\bar{\text{S}}\overline{\text{IN}}\text{R}$) Quality of Service (QoS) constraints. We minimize the worst-case average energy consumption of the latter, thus, targeting the fairest allocation of the energy resources. The problem is non-convex and highly non-linear; therefore, we re-formulate it as a series of three geometric programs that can be solved iteratively. Results reveal the benefits of planning the network compared to a random deployment in terms of reducing the worst-case average energy consumption. Furthermore, we show that the target $\bar{\text{S}}\overline{\text{IN}}\text{R}$ is limited by the number of IoT devices, and highlight the dominant impact of the UAV hovering height when serving wider areas. Our proposed algorithm outperforms other optimization benchmarks in terms of minimizing the average energy consumption at the most energy-demanding IoT device, and convergence time.

Millimeter wave systems suffer from high power consumption and are constrained to use low resolution quantizers --digital to analog and analog to digital converters (DACs and ADCs). However, low resolution quantization leads to reduced data rate and increased out-of-band emission noise. In this paper, a multiple-input multiple-output (MIMO) system with linear transceivers using low resolution DACs and ADCs is considered. An information-theoretic analysis of the system to model the effect of quantization on spectrospatial power distribution and capacity of the system is provided. More precisely, it is shown that the impact of quantization can be accurately described via a linear model with additive independent Gaussian noise. This model in turn leads to simple and intuitive expressions for spectrospatial power distribution of the transmitter and a lower bound on the achievable rate of the system. Furthermore, the derived model is validated through simulations and numerical evaluations, where it is shown to accurately predict both spectral and spatial power distributions.

We consider the problem of estimating a continuous-time Gauss-Markov source process observed through a vector Gaussian channel with an adjustable channel gain matrix. For a given (generally time-varying) channel gain matrix, we provide formulas to compute (i) the mean-square estimation error attainable by the classical Kalman-Bucy filter, and (ii) the mutual information between the source process and its Kalman-Bucy estimate. We then formulate a novel "optimal channel gain control problem" where the objective is to control the channel gain matrix strategically to minimize the weighted sum of these two performance metrics. To develop insights into the optimal solution, we first consider the problem of controlling a time-varying channel gain over a finite time interval. A necessary optimality condition is derived based on Pontryagin's minimum principle. For a scalar system, we show that the optimal channel gain is a piece-wise constant signal with at most two switches. We also consider the problem of designing the optimal time-invariant gain to minimize the average cost over an infinite time horizon. A novel semidefinite programming (SDP) heuristic is proposed and the exactness of the solution is discussed.

Autonomous vehicles (AVs), equipped with numerous sensors such as camera, LiDAR, radar, and ultrasonic sensor, are revolutionizing the transportation industry. These sensors are expected to sense reliable information from a physical environment, facilitating the critical decision-making process of the AVs. Ultrasonic sensors, which detect obstacles in a short distance, play an important role in assisted parking and blind spot detection events. However, due to their weak security level, ultrasonic sensors are particularly vulnerable to signal injection attacks, when the attackers inject malicious acoustic signals to create fake obstacles and intentionally mislead the vehicles to make wrong decisions with disastrous aftermath. In this paper, we systematically analyze the attack model of signal injection attacks toward moving vehicles. By considering the potential threats, we propose SoundFence, a physical-layer defense system which leverages the sensors' signal processing capability without requiring any additional equipment. SoundFence verifies the benign measurement results and detects signal injection attacks by analyzing sensor readings and the physical-layer signatures of ultrasonic signals. Our experiment with commercial sensors shows that SoundFence detects most (more than 95%) of the abnormal sensor readings with very few false alarms, and it can also accurately distinguish the real echo from injected signals to identify injection attacks.

We present a novel attack against the Combined Charging System, one of the most widely used DC rapid charging systems for electric vehicles (EVs). Our attack, Brokenwire, interrupts necessary control communication between the vehicle and charger, causing charging sessions to abort. The attack can be conducted wirelessly from a distance, allowing individual vehicles or entire fleets to be disrupted stealthily and simultaneously. In addition, it can be mounted with off-the-shelf radio hardware and minimal technical knowledge. The exploited behavior is a required part of the HomePlug Green PHY, DIN 70121 & ISO 15118 standards and all known implementations exhibit it. We first study the attack in a controlled testbed and then demonstrate it against seven vehicles and 18 chargers in real deployments. We find the attack to be successful in the real world, at ranges up to 47 m, for a power budget of less than 1 W. We further show that the attack can work between the floors of a building (e.g., multi-story parking), through perimeter fences, and from 'drive-by' attacks. We present a heuristic model to estimate the number of vehicles that can be attacked simultaneously for a given output power. Brokenwire has immediate implications for many of the around 12 million battery EVs on the roads worldwide - and profound effects on the new wave of electrification for vehicle fleets, both for private enterprise and crucial public services. As such, we conducted a disclosure to the industry and discussed a range of mitigation techniques that could be deployed to limit the impact.

Internet of Things (IoT) infrastructure within the physical library environment is the basis for an integrative, hybrid approach to digital resource recommenders. The IoT infrastructure provides mobile, dynamic wayfinding support for items in the collection, which includes features for location-based recommendations. The evaluation and analysis herein clarified the nature of users' requests for recommendations based on their location, and describes subject areas of the library for which users request recommendations. The results indicated that users of IoT-based recommendations are interested in a broad distribution of subjects, with a short-head distribution from this collection in American and English Literature. A long-tail finding showed a diversity of topics that are recommended to users in the library book stacks with IoT-powered recommendations.