7,138 research outputs found
Relay: A New IR for Machine Learning Frameworks
Machine learning powers diverse services in industry including search,
translation, recommendation systems, and security. The scale and importance of
these models require that they be efficient, expressive, and portable across an
array of heterogeneous hardware devices. These constraints are often at odds;
in order to better accommodate them we propose a new high-level intermediate
representation (IR) called Relay. Relay is being designed as a
purely-functional, statically-typed language with the goal of balancing
efficient compilation, expressiveness, and portability. We discuss the goals of
Relay and highlight its important design constraints. Our prototype is part of
the open source NNVM compiler framework, which powers Amazon's deep learning
framework MxNet
MU-MIMO Communications with MIMO Radar: From Co-existence to Joint Transmission
Beamforming techniques are proposed for a joint multi-input-multi-output
(MIMO) radar-communication (RadCom) system, where a single device acts both as
a radar and a communication base station (BS) by simultaneously communicating
with downlink users and detecting radar targets. Two operational options are
considered, where we first split the antennas into two groups, one for radar
and the other for communication. Under this deployment, the radar signal is
designed to fall into the null-space of the downlink channel. The communication
beamformer is optimized such that the beampattern obtained matches the radar's
beampattern while satisfying the communication performance requirements. To
reduce the optimizations' constraints, we consider a second operational option,
where all the antennas transmit a joint waveform that is shared by both radar
and communications. In this case, we formulate an appropriate probing
beampattern, while guaranteeing the performance of the downlink communications.
By incorporating the SINR constraints into objective functions as penalty
terms, we further simplify the original beamforming designs to weighted
optimizations, and solve them by efficient manifold algorithms. Numerical
results show that the shared deployment outperforms the separated case
significantly, and the proposed weighted optimizations achieve a similar
performance to the original optimizations, despite their significantly lower
computational complexity.Comment: 15 pages, 15 figures. This work has been submitted to the IEEE for
possible publication. Copyright may be transferred without notice, after
which this version may no longer be accessibl
Feedback Control of an Exoskeleton for Paraplegics: Toward Robustly Stable Hands-free Dynamic Walking
This manuscript presents control of a high-DOF fully actuated lower-limb
exoskeleton for paraplegic individuals. The key novelty is the ability for the
user to walk without the use of crutches or other external means of
stabilization. We harness the power of modern optimization techniques and
supervised machine learning to develop a smooth feedback control policy that
provides robust velocity regulation and perturbation rejection. Preliminary
evaluation of the stability and robustness of the proposed approach is
demonstrated through the Gazebo simulation environment. In addition,
preliminary experimental results with (complete) paraplegic individuals are
included for the previous version of the controller.Comment: Submitted to IEEE Control System Magazine. This version addresses
reviewers' concerns about the robustness of the algorithm and the motivation
for using such exoskeleton
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