Thirty Years of Machine Learning: The Road to Pareto-Optimal Wireless Networks

Future wireless networks have a substantial potential in terms of supporting a broad range of complex compelling applications both in military and civilian fields, where the users are able to enjoy high-rate, low-latency, low-cost and reliable information services. Achieving this ambitious goal requires new radio techniques for adaptive learning and intelligent decision making because of the complex heterogeneous nature of the network structures and wireless services. Machine learning (ML) algorithms have great success in supporting big data analytics, efficient parameter estimation and interactive decision making. Hence, in this article, we review the thirty-year history of ML by elaborating on supervised learning, unsupervised learning, reinforcement learning and deep learning. Furthermore, we investigate their employment in the compelling applications of wireless networks, including heterogeneous networks (HetNets), cognitive radios (CR), Internet of things (IoT), machine to machine networks (M2M), and so on. This article aims for assisting the readers in clarifying the motivation and methodology of the various ML algorithms, so as to invoke them for hitherto unexplored services as well as scenarios of future wireless networks.Comment: 46 pages, 22 fig

Correlation-based communication in wireless multimedia sensor networks

Wireless multimedia sensor networks (WMSNs) are networks of interconnected devices that allow retrieving video and audio streams, still images, and scalar data from the environment. In a densely deployed WMSN, there exists correlation among the observations of camera sensors with overlapped coverage areas, which introduces substantial data redundancy in the network. In this dissertation, efficient communication schemes are designed for WMSNs by leveraging the correlation of visual information observed by camera sensors. First, a spatial correlation model is developed to estimate the correlation of visual information and the joint entropy of multiple correlated camera sensors. The compression performance of correlated visual information is then studied. An entropy-based divergence measure is proposed to predict the compression efficiency of performing joint coding on the images from correlated cameras. Based on the predicted compression efficiency, a clustered coding technique is proposed that maximizes the overall compression gain of the visual information gathered in WMSNs. The correlation of visual information is then utilized to design a network scheduling scheme to maximize the lifetime of WMSNs. Furthermore, as many WMSN applications require QoS support, a correlation-aware QoS routing algorithm is introduced that can efficiently deliver visual information under QoS constraints. Evaluation results show that, by utilizing the correlation of visual information in the communication process, the energy efficiency and networking performance of WMSNs could be improved significantly.PhDCommittee Chair: Akyildiz, Ian; Committee Member: Ammar, Mostafa; Committee Member: Ji, Chuanyi; Committee Member: Li, Ye; Committee Member: Romberg, Justi

Robotic Grasping of Large Objects for Collaborative Manipulation

In near future, robots are envisioned to work alongside humans in professional and domestic environments without significant restructuring of workspace. Robotic systems in such setups must be adept at observation, analysis and rational decision making. To coexist in an environment, humans and robots will need to interact and cooperate for multiple tasks. A fundamental such task is the manipulation of large objects in work environments which requires cooperation between multiple manipulating agents for load sharing. Collaborative manipulation has been studied in the literature with the focus on multi-agent planning and control strategies. However, for a collaborative manipulation task, grasp planning also plays a pivotal role in cooperation and task completion. In this work, a novel approach is proposed for collaborative grasping and manipulation of large unknown objects. The manipulation task was defined as a sequence of poses and expected external wrench acting on the target object. In a two-agent manipulation task, the proposed approach selects a grasp for the second agent after observing the grasp location of the first agent. The solution is computed in a way that it minimizes the grasp wrenches by load sharing between both agents. To verify the proposed methodology, an online system for human-robot manipulation of unknown objects was developed. The system utilized depth information from a fixed Kinect sensor for perception and decision making for a human-robot collaborative lift-up. Experiments with multiple objects substantiated that the proposed method results in an optimal load sharing despite limited information and partial observability

Resource Management in Multicarrier Based Cognitive Radio Systems

The ever-increasing growth of the wireless application and services affirms the importance of the effective usage of the limited radio spectrum. Existing spectrum management policies have led to significant spectrum under-utilization. Recent measurements showed that large range of the spectrum is sparsely used in both temporal and spatial manner. This conflict between the inefficient usage of the spectrum and the continuous evolution in the wireless communication calls upon the development of more flexible management policies. Cognitive radio (CR) with the dynamic spectrum access (DSA) is considered to be a key technology in making the best solution of this conflict by allowing a group of secondary users (SUs) to share the radio spectrum originally allocated to the primary user (PUs). The operation of CR should not negatively alter the performance of the PUs. Therefore, the interference control along with the highly dynamic nature of PUs activities open up new resource allocation problems in CR systems. The resource allocation algorithms should ensure an effective share of the temporarily available frequency bands and deliver the solutions in timely fashion to cope with quick changes in the network. In this dissertation, the resource management problem in multicarrier based CR systems is considered. The dissertation focuses on three main issues: 1) design of efficient resource allocation algorithms to allocate subcarriers and powers between SUs such that no harmful interference is introduced to PUs, 2) compare the spectral efficiency of using different multicarrier schemes in the CR physical layer, specifically, orthogonal frequency division multiplexing (OFDM) and filter bank multicarrier (FBMC) schemes, 3) investigate the impact of the different constraints values on the overall performance of the CR system. Three different scenarios are considered in this dissertation, namely downlink transmission, uplink transmission, and relayed transmission. For every scenario, the optimal solution is examined and efficient sub-optimal algorithms are proposed to reduce the computational burden of obtaining the optimal solution. The suboptimal algorithms are developed by separate the subcarrier and power allocation into two steps in downlink and uplink scenarios. In the relayed scenario, dual decomposition technique is used to obtain an asymptotically optimal solution, and a joint heuristic algorithm is proposed to find the suboptimal solution. Numerical simulations show that the proposed suboptimal algorithms achieve a near optimal performance and perform better than the existing algorithms designed for cognitive and non-cognitive systems. Eventually, the ability of FBMC to overcome the OFDM drawbacks and achieve more spectral efficiency is verified which recommends the consideration of FBMC in the future CR systems.El crecimiento continuo de las aplicaciones y servicios en sistemas inal´ambricos, indica la importancia y necesidad de una utilizaci´on eficaz del espectro radio. Las pol´ıticas actuales de gesti´on del espectro han conducido a una infrautilizaci´on del propio espectro radioel´ectrico. Recientes mediciones en diferentes entornos han mostrado que gran parte del espectro queda poco utilizado en sus ambas vertientes, la temporal, y la espacial. El permanente conflicto entre el uso ineficiente del espectro y la evoluci´on continua de los sistemas de comunicaci´on inal´ambrica, hace que sea urgente y necesario el desarrollo de esquemas de gesti´on del espectro m´as flexibles. Se considera el acceso din´amico (DSA) al espectro en los sistemas cognitivos como una tecnolog´ıa clave para resolver este conflicto al permitir que un grupo de usuarios secundarios (SUs) puedan compartir y acceder al espectro asignado inicialmente a uno o varios usuarios primarios (PUs). Las operaciones de comunicaci´on llevadas a cabo por los sistemas radio cognitivos no deben en ning´un caso alterar (interferir) los sistemas primarios. Por tanto, el control de la interferencia junto al gran dinamismo de los sistemas primarios implica nuevos retos en el control y asignaci´on de los recursos radio en los sistemas de comunicaci´on CR. Los algoritmos de gesti´on y asignaci´on de recursos (Radio Resource Management-RRM) deben garantizar una participaci´on efectiva de las bandas con frecuencias disponibles temporalmente, y ofrecer en cada momento oportunas soluciones para hacer frente a los distintos cambios r´apidos que influyen en la misma red. En esta tesis doctoral, se analiza el problema de la gesti´on de los recursos radio en sistemas multiportadoras CR, proponiendo varias soluciones para su uso eficaz y coexistencia con los PUs. La tesis en s´ı, se centra en tres l´ıneas principales: 1) el dise˜no de algoritmos eficientes de gesti´on de recursos para la asignaci´on de sub-portadoras y distribuci´on de la potencia en sistemas segundarios, evitando asi cualquier interferencia que pueda ser perjudicial para el funcionamiento normal de los usuarios de la red primaria, 2) analizar y comparar la eficiencia espectral alcanzada a la hora de utilizar diferentes esquema de transmisi´on multiportadora en la capa f´ısica del sistema CR, espec´ıficamente en sistemas basados en OFDM y los basados en banco de filtros multiportadoras (Filter bank Multicarrier-FBMC), 3) investigar el impacto de las diferentes limitaciones en el rendimiento total del sistema de CR. Los escenarios considerados en esta tesis son tres, es decir; modo de transmisi´on descendente (downlink), modo de transmisi´on ascendente (uplink), y el modo de transmisi´on ”Relay”. En cada escenario, la soluci´on ´optima es examinada y comparada con algoritmos sub- ´optimos que tienen como objetivo principal reducir la carga computacional. Los algoritmos sub-´optimos son llevados a cabo en dos fases mediante la separaci´on del propio proceso de distribuci´on de subportadoras y la asignaci´on de la potencia en los modos de comunicaci´on descendente (downlink), y ascendente (uplink). Para los entornos de tipo ”Relay”, se ha utilizado la t´ecnica de doble descomposici´on (dual decomposition) para obtener una soluci´on asint´oticamente ´optima. Adem´as, se ha desarrollado un algoritmo heur´ıstico para poder obtener la soluci´on ´optima con un reducido coste computacional. Los resultados obtenidos mediante simulaciones num´ericas muestran que los algoritmos sub-´optimos desarrollados logran acercarse a la soluci´on ´optima en cada uno de los entornos analizados, logrando as´ı un mayor rendimiento que los ya existentes y utilizados tanto en entornos cognitivos como no-cognitivos. Se puede comprobar en varios resultados obtenidos en la tesis la superioridad del esquema multiportadora FBMC sobre los sistemas basados en OFDM para los entornos cognitivos, causando una menor interferencia que el OFDM en los sistemas primarios, y logrando una mayor eficiencia espectral. Finalmente, en base a lo analizado en esta tesis, podemos recomendar al esquema multiportadora FBMC como una id´onea y potente forma de comunicaci´on para las futuras redes cognitivas

Design and Analysis of a Single-Camera Omnistereo Sensor for Quadrotor Micro Aerial Vehicles (MAVs)

We describe the design and 3D sensing performance of an omnidirectional stereo (omnistereo) vision system applied to Micro Aerial Vehicles (MAVs). The proposed omnistereo sensor employs a monocular camera that is co-axially aligned with a pair of hyperboloidal mirrors (a vertically-folded catadioptric configuration). We show that this arrangement provides a compact solution for omnidirectional 3D perception while mounted on top of propeller-based MAVs (not capable of large payloads). The theoretical single viewpoint (SVP) constraint helps us derive analytical solutions for the sensor’s projective geometry and generate SVP-compliant panoramic images to compute 3D information from stereo correspondences (in a truly synchronous fashion). We perform an extensive analysis on various system characteristics such as its size, catadioptric spatial resolution, field-of-view. In addition, we pose a probabilistic model for the uncertainty estimation of 3D information from triangulation of back-projected rays. We validate the projection error of the design using both synthetic and real-life images against ground-truth data. Qualitatively, we show 3D point clouds (dense and sparse) resulting out of a single image captured from a real-life experiment. We expect the reproducibility of our sensor as its model parameters can be optimized to satisfy other catadioptric-based omnistereo vision under different circumstances