Robust Rotation Synchronization via Low-rank and Sparse Matrix Decomposition

This paper deals with the rotation synchronization problem, which arises in global registration of 3D point-sets and in structure from motion. The problem is formulated in an unprecedented way as a "low-rank and sparse" matrix decomposition that handles both outliers and missing data. A minimization strategy, dubbed R-GoDec, is also proposed and evaluated experimentally against state-of-the-art algorithms on simulated and real data. The results show that R-GoDec is the fastest among the robust algorithms.Comment: The material contained in this paper is part of a manuscript submitted to CVI

Energy Savings via Harnessing Partial Packets in Body Area Networks

This work considers the incorporation, implications and potential energy savings of partial packet recovery schemes in Body Area Networks (BANs). Received packets which have not been fully corrected by the physical layer, called partial, are discarded by the vast majority of BAN protocols, as opposed to valid packets, which satisfy the error detection check and are propagated to higher layers. In typical networks using ARQ protocols, dropping partial packets results in retransmissions. However, because these packets contain useful information, partial packet recovery schemes have been proposed with demonstrated throughput and reliability benefits, targeting mostly wireless LANs. In order to quantify the potential energy benefits of harnessing partial packets in BANs, we use an experimental setup with four sensors mounted on a human body, transmitting information to a receiving node in a typical office environment. By precisely modeling the state transitions and energy consumption of sensors, we compare the efficiency of a baseline ARQ protocol against a scheme which leverages information in partial packets. Our results indicate that exploiting partial packets reduces on average the energy consumption of our sensors by 8--20%. The energy savings are pronounced in challenged channel conditions of high PER, where they can be up to 50%

On the Design of Future Communication Systems with Coded Transport, Storage, and Computing

Communication systems are experiencing a fundamental change. There are novel applications that require an increased performance not only of throughput but also latency, reliability, security, and heterogeneity support from these systems. To fulfil the requirements, future systems understand communication not only as the transport of bits but also as their storage, processing, and relation. In these systems, every network node has transport storage and computing resources that the network operator and its users can exploit through virtualisation and softwarisation of the resources. It is within this context that this work presents its results. We proposed distributed coded approaches to improve communication systems. Our results improve the reliability and latency performance of the transport of information. They also increase the reliability, flexibility, and throughput of storage applications. Furthermore, based on the lessons that coded approaches improve the transport and storage performance of communication systems, we propose a distributed coded approach for the computing of novel in-network applications such as the steering and control of cyber-physical systems. Our proposed approach can increase the reliability and latency performance of distributed in-network computing in the presence of errors, erasures, and attackers

Error-efficient computing systems

This survey explores the theory and practice of techniques to make computing systems faster or more energy-efficient by allowing them to make controlled errors. In the same way that systems which only use as much energy as necessary are referred to as being energy-efficient, you can think of the class of systems addressed by this survey as being error-efficient: They only prevent as many errors as they need to. The definition of what constitutes an error varies across the parts of a system. And the errors which are acceptable depend on the application at hand. In computing systems, making errors, when behaving correctly would be too expensive, can conserve resources. The resources conserved may be time: By making some errors, systems may be faster. The resource may also be energy: A system may use less power from its batteries or from the electrical grid by only avoiding certain errors while tolerating benign errors that are associated with reduced power consumption. The resource in question may be an even more abstract quantity such as consistency of ordering of the outputs of a system. This survey is for anyone interested in an end-to-end view of one set of techniques that address the theory and practice of making computing systems more efficient by trading errors for improved efficiency