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Radar Probing Optimization for Joint Beamforming and UAV Trajectory Design in UAV-Enabled Integrated Sensing and Communication

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IEEE Transactions on Communications 2024年

作者： Liu, Yaxi Mao, Wencan He, Boxin Huangfu, Wei Huang, Tianyao Zhang, Haijun Long, Keping University Of Science And Technology Beijing Beijing Advanced Innovation Center For Materials Genome Engineering Beijing Engineering And Technology Research Center For Convergence Networks And Ubiquitous Services School Of Computer And Communication Engineering Beijing100083 China University Of Science And Technology Shunde Innovation School Beijing China National Institute Of Informatics Information Systems Architecture Science Research Division Tokyo101-8430 Japan

Unmanned aerial vehicle (UAV)-enabled massive multiple-input-multiple-output (MIMO) integrated sensing and communication (ISAC) is an emerging platform to perform communication and sensing efficiently and flexibly. However, the existing works barely consider the radar probing tasks and neglect the benefits of the dedicated sensing signal. In this paper, we focus on joint optimizations in radar probing tasks, and a novel indicator is introduced, namely radar probing error. Two optimizations in radar probing tasks are established: i) joint transmit beamforming design for large-scale regional radar probing and communication task;ii) joint transmit beamforming and UAV trajectory design for communication enhancement and radar probing task. For the former task, we adopt both communication and novel sensing precoders to further support the MIMO radar. A semidefinite relaxation is utilized to relax the original non-convex problem, which is proven to be tight. For the latter task, we adopt block coordinate descent to alternately optimize the precoders and UAV trajectory where the fractional programming approach and successive convex approximation are further adopted. Experiment results testify the validation of the proposed methods for radar probing tasks in UAV-enabled MIMO ISAC. Moreover, results show the fundamental trade-off between the dual functions and reveal the effectiveness of the introduced sensing precoder. © 1972-2012 IEEE.

关键词： Unmanned aerial vehicles (UAV)

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Secure State Estimation against Sparse Attacks on a Time-varying Set of Sensors

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IFAC-PapersOnLine 2023年第2期56卷 270-275页

作者： Zishuo Li Muhammad Umar B. Niazi Changxin Liu Yilin Mo Karl H. Johansson Department of Automation Tsinghua University Beijing 100084 China Division of Decision and Control Systems Digital Futures School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm SE-100 44 Sweden Laboratory for Information and Decision Systems Massachusetts Institute of Technology 77 Massachusetts Avenue Cambridge MA 02139 USA

This paper studies the problem of secure state estimation of a linear time-invariant (LTI) system with bounded noise in the presence of sparse attacks on an unknown, time-varying set of sensors. At each time, the attacker has the freedom to choose an arbitrary set of no more than p sensors and manipulate their measurements without restraint. To this end, we propose a secure state estimation scheme and guarantee a bounded estimation error irrespective of the attack signals subject to 2p-sparse observability and a mild, technical assumption that the system matrix has no degenerate eigenvalues. The proposed scheme comprises a design of decentralized observers for each sensor based on the local observable subspace decomposition. At each time step, the local estimates of sensors are fused by a median operator to obtain a secure estimation, which is then followed by a local detection-and-resetting process of the decentralized observers. The estimation error is shown to be upper-bounded by a constant which is determined only by the system parameters and noise magnitudes. Moreover, we design the detector threshold to ensure that the benign sensors never trigger the detector. The efficacy of the proposed algorithm is demonstrated by its application on a benchmark example of IEEE 14-bus system. We show that our proposed scheme can effectively tolerate sparse attacks on an unknown set of sensors, ensuring a bounded estimation error and effectively detecting and resetting the attacked sensors.

关键词： Estimation and filtering Design of fault tolerant/reliable systems Estimation and fault detection

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Non-Orthogonal Multiple Access Based Multi-Objective Optimization in Emergency Task Offloading

Non-Orthogonal Multiple Access Based Multi-Objective Optimiz...

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2025 IEEE Wireless Communications and Networking Conference, WCNC 2025

作者： Chen, Caijuan Zhang, Chaofeng Li, Gaolei Liu, Yuchen National Institute of Informatics The Information Systems Architecture Science Research Division Tokyo Japan Advanced Institute of Industrial Technology Tokyo Japan School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Nc State University Department of Computer Science NC United States

ISBN: (纸本)9798350368369

The escalating frequency of geological disasters, local conflicts, and public health crises necessitates robust emergency communication systems within Internet of Things (IoT) frameworks to ensure public safety. Employing Power-Domain NOMA (PD-NOMA) and Successive Interference Cancellation (SIC) enables effective multi-device communication that is crucial for emergency responses. However, the practical implementation of NOMA technologies in emergency scenarios is hindered by existing resource constraints and the requirement of prioritizing critical emergency information. To address these limitations, we propose a multi-objective optimization-based NOMA framework to maximize network throughput while ensuring quality of service (QoS) and energy efficiency. This framework incorporates a novel communication grouping algorithm based on queue penalty optimization and an Actor-Critic-based dynamic updating algorithm for multiple resource allocation. Our study proposes a practical approach to enhance emergency communication in disaster areas, ensuring efficient and reliable network performance under various constraints. © 2025 IEEE.

关键词： Multiobjective optimization

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Eco-driving Incentive Mechanisms for Mitigating Emissions in Urban Transportation

arXiv

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arXiv 2024年

作者： Umar Niazi, M.B. Cho, Jung-Hoon Dahleh, Munther A. Dong, Roy Wu, Cathy Laboratory for Information and Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Laboratory for Information and Decision Systems Department of Civil and Environmental Engineering Massachusetts Institute of Technology CambridgeMA02139 United States Department of Industrial and Enterprise Systems Engineering University of Illinois at Urbana-Champaign UrbanaIL61801 United States

This paper proposes incentive mechanisms that promote eco-driving in transportation networks with the overarching objective of minimizing emissions. The transportation system operator provides the drivers with energy-efficient driving guidance throughout their trips, and their eco-driving levels are measured by how closely they follow this guidance via vehicle telematics. Drivers choose their eco-driving levels to optimize a combination of their travel times and their emissions. To obtain optimal budget allocation and recommendations for the incentive mechanism, the system operator gathers drivers’ preferences, or types, to assess each driver’s trip urgency and natural willingness to eco-drive. In a setting where drivers truthfully report their types, we introduce the first-best incentive mechanism and show that the obedience condition holds (i.e., drivers find it optimal to comply with the system operator’s recommendations) when the recommended eco-driving profile constitutes a Nash equilibrium. Moreover, in a setting where drivers can strategically report their types, we introduce the second-best incentive mechanism and show that the proposed mechanism is incentive-compatible (i.e., drivers find it optimal to be truthful). Under this mechanism, we also show that all equilibrium outcomes are at least as good as the recommended eco-driving profile in terms of the system operator’s objective. Overall, this work offers a framework for designing eco-driving incentive mechanisms while considering both the strategic behavior of individual drivers and the network effects of collective decision-making. © 2024, CC BY.

关键词： Budget control

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Holding Strategy Using Torso to Enable Humanoid Robots to Carry Heavier Objects

Holding Strategy Using Torso to Enable Humanoid Robots to Ca...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Tsuichihara, Satoki Yamada, Masayuki Hara, Kaito Garcia Ricardez, Gustavo A. Yuguchi, Akishige Takamatsu, Jun Wada, Takahiro Takahashi, Yasutake Ogasawara, Tsukasa University of Fukui Faculty of Engineering Department of Human and Artificial Intelligent Systems 3-9-1 Bunkyo Fukui Fukui910-8507 Japan Nara Institute of Science and Technology Division of Information Science 8916-5 Takayama Nara Ikoma630-0192 Japan College of Information Science and Engineering Ritsumeikan University 1-1-1 Noji Higashi Shiga Kusatsu525-8577 Japan Tokyo University of Science Faculty of Advanced Engineering Department of Medical and Robotic Engineering Design 6-3-1 Niijuku Katsushika-ku Tokyo125-8585 Japan

ISBN: (纸本)9798350312072

To alleviate the lack of workforce endemic in contemporary societies, inventory management can be delegated to robots. However, current robotic solutions cannot operate effectively in narrow spaces that have limited unoccupied pathways, such as storage rooms. Humanoid robots can work in facilities designed for humans, including narrow spaces with partially obstructed pathways, as they can overcome small obstacles on the floor by stepping over them. However, their limited torque makes it difficult for the robots to carry many of the objects typically found in storage rooms such as boxes. On the other hand, when holding an object, using multiple body parts can help to distribute the object's load. In this research, we propose a holding strategy for humanoid robots using both arms in conjunction with the torso to prevent exceeding the joint torque limit. We formulate the hands' force and the coordinates of the robot's center of gravity when holding an object with and without using the torso. Using the humanoid robot HRP-4, we compare the torque on the robot's joints when holding an object with two and three contact points. The results show that the three-point holding reduces the torque load on the shoulder and the chest joints. Moreover, we measure the torque of all joints in various torso-bending/leaning and arm-up/down postures while holding a 2-kg object using both arms and the torso. The results show that the leaning torso posture using the chest joint reduces the torque load on the shoulder and chest joints. © 2024 IEEE.

关键词： Anthropomorphic robots

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Non-Orthogonal Multiple Access Based Multi-Objective Optimization in Emergency Task Offloading

Non-Orthogonal Multiple Access Based Multi-Objective Optimiz...

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IEEE Conference on Wireless Communications and Networking

作者： Caijuan Chen Chaofeng Zhang Gaolei Li Yuchen Liu The Information Systems Architecture Science Research Division National Institute of Informatics Tokyo Japan Advanced Institute of Industrial Technology Tokyo Japan School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University Shanghai China Department of Computer Science NC State University North Carolina US

ISBN: (数字)9798350368369

ISBN: (纸本)9798350368376

关键词： NOMA Interference cancellation Heuristic algorithms Disasters Quality of service Throughput Dynamic scheduling Internet of Things Resource management Optimization

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Collaboration with Conversational AI Assistants for UX Evaluation: Questions and How to Ask them (Voice vs. Text)

arXiv

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arXiv 2023年

作者： Kuang, Emily Soure, Ehsan Jahangirzadeh Fan, Mingming Zhao, Jian Shinohara, Kristen Golisano College of Computing and Information Sciences Rochester Institute of Technology United States School of Computer Science University of Waterloo Canada Computational Media and Arts Thrust The Hong Kong University of Science and Technology Guangzhou China Division of Integrative Systems and Design Department of Computer Science and Engineering The Hong Kong University of Science and Technology China School of Information Rochester Institute of Technology United States

AI is promising in assisting UX evaluators with analyzing usability tests, but its judgments are typically presented as non-interactive visualizations. Evaluators may have questions about test recordings, but have no way of asking them. Interactive conversational assistants provide a Q&A dynamic that may improve analysis efficiency and evaluator autonomy. To understand the full range of analysis-related questions, we conducted a Wizard-of-Oz design probe study with 20 participants who interacted with simulated AI assistants via text or voice. We found that participants asked for five categories of information: user actions, user mental model, help from the AI assistant, product and task information, and user demographics. Those who used the text assistant asked more questions, but the question lengths were similar. The text assistant was perceived as significantly more efficient, but both were rated equally in satisfaction and trust. We also provide design considerations for future conversational AI assistants for UX evaluation. © 2023, CC BY-NC-ND.

关键词： Visualization

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Effectiveness of Using Deep Learning for Blister Blight Identification in Sri Lankan Tea

Effectiveness of Using Deep Learning for Blister Blight Iden...

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International Research Conference on Smart Computing and systems Engineering (SCSE)

作者： G.H.A.U. Hewawitharana U.M.L.A. Nawarathne A.S.F. Hassan Lochana M. Wijerathna G.D. Sinniah Samitha P. Vidhanaarachchi Jagath Wickramarathne Janaka L. Wijekoon Department of Information Technology Sri Lanka Institute of Information Technology Malabe Sri Lanka Plant Pathology Division Tea Research Institute of Sri Lanka Talawakelle Sri Lanka Department of Computer Science and Software Engineering Sri Lanka Institute of Information Technology Malabe Sri Lanka Systems Engineering Department Military Technological College Muscat Oman

Ceylon tea industry faces a major challenge in the form of pathogen-induced crop loss, with Blister Blight (BB) caused by Exobasidium vexans posing the greatest threat, leading to harvest losses of over 30%. This fungus attacks the tender tea shoots, resulting in a direct negative impact on the tea harvest. This paper presents a system to identify the suspicious tea leaves and BB disease at its early stages along with an assessment of severity, offering a potential solution to this critical issue. By utilizing real-time object detection, the system filters out non-tea leaves from the captured initial image of a segment of a tea plant. The identified tea leaves are then subjected to BB identification and severity assessment based on differing visual symptoms of the BB stages. This approach enables the system to accurately identify BB in the initial stage and severity stage, allowing for timely and targeted intervention to minimize crop losses. The YOLOv8 model has been able to correctly identify 98% of the objects it has detected as relevant (precision), and it has been able to correctly identify 96% of all the relevant objects present in the scene (recall). The Residual Network 50 (Resnet50) convolutional neural network (CNN) model was selected as the final model, achieving an accuracy of 89.90% during the training phase and an accuracy of 88.26% during the testing phase.

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Sensor Fault Detection and Isolation in Autonomous Nonlinear systems Using Neural Network-Based Observers

arXiv

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arXiv 2023年

作者： Cao, John Niazi, M. Umar B. Barreau, Matthieu Johansson, Karl Henrik Division of Decision and Control Systems Digital Futures KTH Royal Institute of Technology StockholmSE-100 44 Sweden Laboratory for Information & Decision Systems Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology CambridgeMA02139 United States

This paper presents a novel observer-based approach to detect and isolate faulty sensors in nonlinear systems. The proposed sensor fault detection and isolation (s-FDI) method applies to a general class of nonlinear systems. Our focus is on s-FDI for two types of faults: complete failure and sensor degradation. The key aspect of this approach lies in the utilization of a neural network-based Kazantzis- Kravaris/Luenberger (KKL) observer. The neural network is trained to learn the dynamics of the observer, enabling accurate output predictions of the system. Sensor faults are detected by comparing the actual output measurements with the predicted values. If the difference surpasses a theoretical threshold, a sensor fault is detected. To identify and isolate which sensor is faulty, we compare the numerical difference of each sensor meassurement with an empirically derived threshold. We derive both theoretical and empirical thresholds for detection and isolation, respectively. Notably, the proposed approach is robust to measurement noise and system uncertainties. Its effectiveness is demonstrated through numerical simulations of sensor faults in a network of Kuramoto oscillators. © 2023, CC BY.

关键词： Nonlinear systems

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Engineering Stable Interfacial System for Oriented Thin Films of D-A Type Semiconducting Polymers Giving High Field-Effect Mobility

SSRN

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SSRN 2023年

作者： Sharma, Shubham Vats, Ajendra K. Tang, Linjun Kaishan, Feng Toyoda, Jumpei Nagamatsu, Shuichi Ando, Yoshito Tamagawa, Masaaki Tanaka, Hirofumi Pandey, Manish Pandey, Shyam S. Graduate School of Life Science and Systems Engineering Kyushu Institute of Technology 2-4 Hibikino Wakamatsu Kitakyushu808-0196 Japan Division of Materials Science Nara Institute of Science and Technology Nara Ikoma630-0192 Japan Department of Physics and Information Technology Kyushu Institute of Technology 680-4 Kawazu Fukuoka Iizuka820-8502 Japan

Conjugated polymers (CPs) have emerged as excellent organic semiconducting materials for flexible electronic applications. CPs exhibit a notably fast carrier transport along their main p-conjugated backbone followed by inter-chain hopping compelling the need to form large and ordered domains in thin films. Therefore, the formation of larger domains, along with their orientation, is critical in controlling the electrical properties of CP-based organic electronic devices. However, controlling the molecular ordering along with the formation of large aggregates is a challenge. In this work, the unidirectional floating film transfer method (UFTM) has been utilized to prepare oriented thin films of CPs, which is a highly facile, cost-effective and material utilization efficient technique. We have demonstrated that extent and direction of molecular orientation in the fabricated thin films can be tuned along with the higher degree of aggregation. The rheological aspects, especially viscosity, play a significant role in determining molecular ordering along with the formation of these large aggregates. Active control of viscosity to achieve a stable interfacial viscous system is paramount to achieving this, resulting in a very high mobility of 12.4 cm2V-1s-1. © 2023, The Authors. All rights reserved.

关键词： Self assembly

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