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MCLA Task Offloading Framework for 5G-NR-V2X Based Heterogeneous VECNs

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TechRxiv

TechRxiv 2023年

作者： Mirza, Muhammad Ayzed Yu, Junsheng Raza, Salman Ahmed, Manzoor Asif, Muhammad Irshad, Azeem Kumar, Neeraj BUPT-QMUL EM Theory and Application International Research Lab Beijing University of Posts and Telecommunications Beijing100876 China School of Physics and Electronic Information Anhui Normal University Wuhu241003 China School of Intelligence and Digital Engineering Luoyang Vocational College of Science and Technology Luoyang471000 China Department of Computer Science National Textile University Faisalabad Pakistan School of Computer and Information Science Institute for AI Industrial Technology Research Hubei Engineering University Xiaogan432000 China Faculty of Computer Science Asghar Mall College Govt. of the Punjab Rawalpindi Pakistan Department of Computer Science and Engineering Thapar Institute of Engineering and Technology Punjab Patiala India Department of Computer Engineering Graphics Era University Uttarakhand Dehradun India School of Computer Science University of Petroleum and Energy Studies Uttarakhand Dehradun India Department of Computer Science and Engineering Chandigarh University Gharuan Mohali India Department of Electrical and Computer Engineering Lebanese American University Beirut Lebanon Faculty of Computing and IT King Abdulaziz University Jeddah Saudi Arabia

Ensuring dependable quality of service (QoS) and quality of experience (QoE) for computation-intensive and delay-sensitive applications in vehicles can be a challenging task that impacts performance. While multi-access edge computing (MEC) based vehicular edge computing network (VECN) and vehicular cloudlets (VC) enable task offloading, but their prompt and optimal accessibility is another challenge. The conventional wireless technologies may not suffice to meet the stringent ultra-low latency and cost constraints of such applications. Nonetheless, the combination of different wireless technologies can enhance network performance and satisfy these requirements. Focusing on the computational efficacy of VECN, this paper proposes a mobility, contact, and computational load-aware (MCLA) task offloading scheme for heterogeneous VECN. The MCLA scheme dynamically considers the mobility, contact, and computational load of vehicles for making task offloading decisions. To optimize the performance, the MCLA scheme integrates the Mode-1 and Mode-2 of the 5G-NR-V2X standard, along with mmWave communications. The MCLA scheme provides an opportunistic switching mechanism between these modes and heterogeneous radio access technologies (RATs) to reduce communication delays and costs. Moreover, the MCLA scheme leverages public vehicles (i.e., public buses), in proximity by using their computational power to manage computational latency and cost. Furthermore, it also considers the shareable computations from passengers’ mobile equipment within the public vehicle to improve the computation capacity of the public vehicles. Extensive evaluations and numerical results show that the proposed MCLA scheme significantly improves the task turnover ratio by 4%–15% with 4.7%–29.8% lower transmission and computation costs. © 2023, CC BY.

关键词： Delay-sensitive applications

Sliding Mode Control of the PUMA 560 Robot

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Sliding Mode Control of the PUMA 560 Robot

International Conference on Control, Automation and Diagnosis (ICCAD)

作者： Arezki Fekik Ahmad Taher Azar Mohamed Lamine Hamida Hakim Denoun Dyhia Kais Sabrina Mohand Saidi Amar Bousbaine Nashwa Ahmad Kamal Ammar K. Al Mhdawi Chakib Ben Njima Department of Electrical Engineering University Akli Mohand Oulhadj-Bouria Bouira Algeria Electrical Engineering Advanced Technology Laboratory (LATAGE) Algeria Automated Systems & Soft Computing Lab (ASSCL) Prince Sultan University Riyadh Saudi Arabia College of Computer & Information Sciences Prince Sultan University Riyadh Saudi Arabia Faculty of Computers and Artificial Intelligence Benha University Egypt Department of Electrical Engineering L2CSP Laboratory Mouloud Mammeri University Algeria University of Derby College of Science and Engineering UK Faculty of Engineering Cairo University Giza Egypt Edge Hill University U.K University of Sousse Tunisia

The purpose of this article is to present the application of the sliding mode control and investigate its effectiveness when applied to a three-dimensional robotic manipulator model. The analysis is based on the application of the sliding mode control law for the PUMA 560 model, three degrees of freedom, through the development of a dynamic simulation model. The simulation results show the effectiveness of this proposed method for the automation of industrial applications, such as assembly, machining (deburring, trimming), and surface tracking (polishing). This technique provides a useful insight into the advantages of using sliding mode control laws in robotics applications.

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Multi-Robot System for Autonomous Cooperative Counter-UAS Missions: Design, Integration, and Field Testing

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Multi-Robot System for Autonomous Cooperative Counter-UAS Mi...

IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)

作者： Antonella Barisic Marlan Ball Noah Jackson Riley McCarthy Nasib Naimi Luca Strässle Jonathan Becker Maurice Brunner Julius Fricke Lovro Markovic Isaac Seslar David Novick Jonathan Salton Roland Siegwart Stjepan Bogdan Rafael Fierro Laboratory for Robotics and Intelligent Control Systems (LAR-ICS) Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Electrical and Computer Engineering Department University of New Mexico Albuquerque NM USA ETH Zurich Autonomous Systems Lab (ASL) Zurich Switzerland Sandia National Laboratories Albuquerque New Mexico USA

ISBN: (纸本)9781665456814

With the rapid development of technology and the proliferation of uncrewed aerial systems (UAS), there is an immediate need for security solutions. Toward this end, we propose the use of a multi-robot system for autonomous and cooperative counter-UAS missions. In this paper, we present the design of the hardware and software components of different complementary robotic platforms: a mobile uncrewed ground vehicle (UGV) equipped with a LiDAR sensor, an uncrewed aerial vehicle (UAV) with a gimbal-mounted stereo camera for air-to-air inspections, and a UAV with a capture mechanism equipped with radars and camera. Our proposed system features 1) scalability to larger areas due to the distributed approach and online processing, 2) long-term cooperative missions, and 3) complementary multimodal perception for the detection of multirotor UAVs. In field experiments, we demonstrate the integration of all subsystems in accomplishing a counter-UAS task within an unstructured environment. The obtained results confirm the promising direction of using multi-robot and multi-modal systems for C-UAS.

关键词： Scalability Robot vision systems Autonomous aerial vehicles Cameras Software Safety Security

Recovering Sign Bits of DCT Coefficients in Digital Images as an Optimization Problem

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arXiv 2022年

作者： Lin, Ruiyuan Liu, Sheng Jiang, Jun Li, Shujun Li, Chengqing Kuo, C.-C. Jay Multimedia Communication Lab Department of Electrical and Computer Engineering University of Southern California United States School of Computer Science and Electronic Engineering Hunan University Hunan Changsha410082 China School of Software & Microelectronics Peking University China School of Computing University of Kent United Kingdom School of Computer Science Xiangtan University Hunan Xiangtan411105 China

Recovering unknown, missing, damaged, distorted, or lost information in DCT coefficients is a common task in multiple applications of digital image processing, including image compression, selective image encryption, and image communication. This paper investigates the recovery of sign bits in DCT coefficients of digital images, by proposing two different approximation methods to solve a mixed integer linear programming (MILP) problem, which is NP-hard in general. One method is a relaxation of the MILP problem to a linear programming (LP) problem, and the other splits the original MILP problem into some smaller MILP problems and an LP problem. We considered how the proposed methods can be applied to JPEG-encoded images and conducted extensive experiments to validate their performances. The experimental results showed that the proposed methods outperformed other existing methods by a substantial margin, both according to objective quality metrics and our subjective *** Codes 68P30 Copyright © 2022, The Authors. All rights reserved.

关键词： Recovery

Autonomous Vehicles on the Edge: A Survey on Autonomous Vehicle Racing

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arXiv 2022年

作者： Betz, Johannes Zheng, Hongrui Liniger, Alexander Rosolia, Ugo Karle, Phillip Behl, Madhur Krovi, Venkat Mangharam, Rahul Department of Electrical and Systems Engineering University of Pennsylvania Philadelphia United States Department of Information Technology and Electrical Engineering ETH Zurich Switzerland AMBER Lab California Institute of Technology Pasadena United States Institute of Automotive Technology Technical University of Munich Germany Department of Computer Science University of Virginia Charlottesville United States College of Engineering Computing and Applied Sciences Clemson University Clemson United States

The rising popularity of self-driving cars has led to the emergence of a new research field in the recent years: Autonomous racing. Researchers are developing software and hardware for high performance race vehicles which aim to operate autonomously on the edge of the vehicles limits: High speeds, high accelerations, low reaction times, highly uncertain, dynamic and adversarial environments. This paper represents the first holistic survey that covers the research in the field of autonomous racing. We focus on the field of autonomous racecars only and display the algorithms, methods and approaches that are used in the fields of perception, planning and control as well as end-to-end learning. Further, with an increasing number of autonomous racing competitions, researchers now have access to a range of high performance platforms to test and evaluate their autonomy algorithms. This survey presents a comprehensive overview of the current autonomous racing platforms emphasizing both the software-hardware co-evolution to the current stage. Finally, based on additional discussion with leading researchers in the field we conclude with a summary of open research challenges that will guide future researchers in this field. © 2022, CC BY.

关键词： Motion planning

Block Sparse Vector Codes for Ultra-Reliable and Low-Latency Short-Packet Transmission

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IEEE Transactions on Communications 2025年

作者： Zhang, Yanfeng Zhu, Xu Liu, Yujie Fan, Xi'an Guan, Yong Liang Wong, M. L. Dennis Lau, Vincent K. N. Dongguan University of Technology School of Electrical Engineering and Intelligentization Dongguan China Harbin Institute of Technology School of Information Science and Technology Shenzhen518055 China Guangxi Normal University Guangxi Key Laboratory of Brain Inspired Computing and Intelligent Chips Guilin541001 China Shenzhen Municipal Key Laboratory of AIoT Communications Shenzhen518055 China Nanyang Technological University Continental-NTU Corporate Lab Singapore Dongguan University of Technology School of Computer Science and Technology Dongguan China Newcastle University School of Engineering Newcastle upon TyneNE1 7RU United Kingdom The Hong Kong University of Science and Technology Department of Electronic and Computer Engineering Hong Kong

Sparse vector coding (SVC) is a promising short-packet transmission method for ultra reliable low latency communication (URLLC) in next-generation communication systems. In this paper, a block SVC (BSVC) based short-packet transmission scheme is proposed to further enhance the transmission performance of SVC. The core idea behind the proposed scheme is to transmit short-packet data information after block sparse transformation. At the transmitter, the information bits are divided into two parts: one part is mapped into the non-zero indexes of block sparse vectors, and the other part is mapped into non-zero values through phase or amplitude modulation. After pseudo-random spreading, the block sparse vectors are mapped to time-frequency resources for transmission. At the receiver, the decoding problem is transformed into a block sparse signal recovery problem. A cyclic block orthogonal matching pursuit (CBOMP) algorithm is proposed for decoding by leveraging block-structured sparse prior information. The upper bound of block error rate (BLER) performance over Rayleigh channels is derived to verify the decoding performance of the proposed CBOMP algorithm. Extensive simulation results verify that the proposed BSVC scheme outperforms the existing SVC schemes in terms of BLER, transmission latency and spectral efficiency over fading channels. © 1972-2012 IEEE.

关键词： Fading channels

Uncertainty Quantification of Signal Integrity Analysis for Neuromorphic Chips

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IEEE Transactions on Signal and Power Integrity

IEEE Transactions on Signal and Power Integrity 2022年 1卷 160-169页

作者： Hanzhi Ma Da Li Tuomin Tao Xingjian Shangguan En-Xiao Liu Jose Schutt-Aine Andreas C. Cangellaris Er-Ping Li College of Information Science and Electronic Engineering ZJU-UIUC Institute Zhejiang University Hangzhou China Key Lab of Advanced Micro/Nano Electronic Devices and Smart Systems of Zhejiang University Hangzhou China Zhejiang-Singapore Innovation and AI Joint Research Lab China Department of Electrical and Computer Engineering University of Illinois at Urbana-Champaign Urbana IL USA A*STAR Institute of High Performance Computing Singapore

A dimensionality reduction based neural network framework is introduced for uncertainty quantification of time-domain response based on system uncertain design parameters for neuromorphic chips. The proposed method firstly makes use of the singular value decomposition (SVD) method to find the basis functions and corresponding coefficients of time-domain response, of which coefficients are used as a lower dimensional target outputs in neural network model compared with time sampling points prediction. This newly proposed method then develops an integrated neural network structure to simultaneously find the mean and variance of target coefficients with a combined definition of loss function, which can be utilized together with basis functions to construct the prediction interval of time-domain response. A memrisor-based crossbar array is applied in this work to verify the performance of the proposed method with the comparison of Monte Carlo method.

关键词： Biological neural networks Uncertainty Memristors Time-domain analysis Integrated circuit modeling Neuromorphics Signal integrity Neural networks Neuromorphics

Active RIS-aided EH-NOMA Networks: A Deep Reinforcement Learning Approach

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arXiv 2023年

作者： Shi, Zhaoyuan Lu, Huabing Xie, Xianzhong Yang, Helin Huang, Chongwen Cai, Jun Ding, Zhiguo The Key Laboratory of Intelligent Perception and Computing of Anhui Province Anqing Normal University Anqing China The Key Laboratory of Intelligent Control and Optimization for Industrial Equipment Ministry of Education Dalian University of Technology Dalian116024 China Chongqing Key Lab of Computer networks and Communication Technology Chongqing University of Posts and Telecommunications Chongqing China The Department of Information and Communication Engineering School of Informatics Xiamen University Xiamen361005 China The College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Department of Electrical and Computer Engineering Concordia University MontrealQCH3G 1M8 Canada The Department of Electrical Engineering Princeton University PrincetonNJ08544 United States The School of Electrical and Electronic Engineering The University of Manchester Manchester United Kingdom

An active reconfigurable intelligent surface (RIS)-aided multi-user downlink communication system is investigated, where non-orthogonal multiple access (NOMA) is employed to improve spectral efficiency, and the active RIS is powered by energy harvesting (EH). The problem of joint control of the RIS’s amplification matrix and phase shift matrix is formulated to maximize the communication success ratio with considering the quality of service (QoS) requirements of users, dynamic communication state, and dynamic available energy of RIS. To tackle this non-convex problem, a cascaded deep learning algorithm namely long short-term memory-deep deterministic policy gradient (LSTM-DDPG) is designed. First, an advanced LSTM based algorithm is developed to predict users’ dynamic communication state. Then, based on the prediction results, a DDPG based algorithm is proposed to joint control the amplification matrix and phase shift matrix of the RIS. Finally, simulation results verify the accuracy of the prediction of the proposed LSTM algorithm, and demonstrate that the LSTM-DDPG algorithm has a significant advantage over other benchmark algorithms in terms of communication success ratio performance. Copyright © 2023, The Authors. All rights reserved.

关键词： Energy harvesting

Beamforming Design for the Performance Optimization of Intelligent Reflecting Surface Assisted Multicast MIMO Networks

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arXiv 2022年

作者： Zhang, Songling Yang, Zhaohui Chen, Mingzhe Liu, Danpu Wong, Kai-Kit Poor, H. Vincent The Beijing Laboratory of Advanced Information Network Beijing University of Posts and Telecommunications Beijing100876 China The College of Information Science and Electronic Engineering Zhejiang University Hangzhou310027 China Hangzhou310007 China Zhejiang Lab. Hangzhou31121 China The Department of Electrical and Computer Engineering Institute for Data Science and Computing University of Miami Coral GablesFL33146 United States The Department of Electronic and Electrical Engineering University College London LondonWC1E 6BT United Kingdom The Department of Electrical and Computer Engineering Princeton University PrincetonNJ08544 United States

In this paper, the problem of maximizing the sum of data rates of all users in an intelligent reflecting surface (IRS)-assisted millimeter wave multicast multiple-input multiple-output communication system is studied. In the considered model, one IRS is deployed to assist the communication from a multi-antenna base station (BS) to the multi-antenna users that are clustered into several groups. Our goal is to maximize the sum rate of all users by jointly optimizing the transmit beamforming matrices of the BS, the receive beamforming matrices of the users, and the phase shifts of the IRS. To solve this non-convex problem, we first use a block diagonalization method to represent the beamforming matrices of the BS and the users by the phase shifts of the IRS. Then, substituting the expressions of the beamforming matrices of the BS and the users, the original sum-rate maximization problem can be transformed into a problem that only needs to optimize the phase shifts of the IRS. To solve the transformed problem, a manifold method is used. Simulation results show that the proposed scheme can achieve up to 28.6% gain in terms of the sum rate of all users compared to the algorithm that optimizes the hybrid beamforming matrices of the BS and the users using our proposed scheme and randomly determines the phase shifts of the IRS. Copyright © 2022, The Authors. All rights reserved.

关键词： Multicasting