In silico case studies of compliant robots: AMARSI deliverable 3.3

In the deliverable 3.2 we presented how the morphological computing ap- proach can significantly facilitate the control strategy in several scenarios, e.g. quadruped locomotion, bipedal locomotion and reaching. In particular, the Kitty experimental platform is an example of the use of morphological computation to allow quadruped locomotion. In this deliverable we continue with the simulation studies on the application of the different morphological computation strategies to control a robotic system

On the Benefit of Information Centric Networks for Traffic Engineering

Current Internet performs traffic engineering (TE) by estimating traffic matrices on a regular schedule, and allocating flows based upon weights computed from these matrices. This means the allocation is based upon a guess of the traffic in the network based on its history. Information-Centric Networks on the other hand provide a finer-grained description of the traffic: a content between a client and a server is uniquely identified by its name, and the network can therefore learn the size of different content items, and perform traffic engineering and resource allocation accordingly. We claim that Information-Centric Networks can therefore provide a better handle to perform traffic engineering, resulting in significant performance gain. We present a mechanism to perform such resource allocation. We see that our traffic engineering method only requires knowledge of the flow size (which, in ICN, can be learned from previous data transfers) and outperforms a min-MLU allocation in terms of response time. We also see that our method identifies the traffic allocation patterns similar to that of min-MLU without having access to the traffic matrix ahead of time. We show a very significant gain in response time where min MLU is almost 50% slower than our ICN-based TE method

Dynamic Resource Allocation in Cognitive Radio Networks: A Convex Optimization Perspective

This article provides an overview of the state-of-art results on communication resource allocation over space, time, and frequency for emerging cognitive radio (CR) wireless networks. Focusing on the interference-power/interference-temperature (IT) constraint approach for CRs to protect primary radio transmissions, many new and challenging problems regarding the design of CR systems are formulated, and some of the corresponding solutions are shown to be obtainable by restructuring some classic results known for traditional (non-CR) wireless networks. It is demonstrated that convex optimization plays an essential role in solving these problems, in a both rigorous and efficient way. Promising research directions on interference management for CR and other related multiuser communication systems are discussed.Comment: to appear in IEEE Signal Processing Magazine, special issue on convex optimization for signal processin

Energy-Efficient Power Control in Impulse Radio UWB Wireless Networks

In this paper, a game-theoretic model for studying power control for wireless data networks in frequency-selective multipath environments is analyzed. The uplink of an impulse-radio ultrawideband system is considered. The effects of self-interference and multiple-access interference on the performance of generic Rake receivers are investigated for synchronous systems. Focusing on energy efficiency, a noncooperative game is proposed in which users in the network are allowed to choose their transmit powers to maximize their own utilities, and the Nash equilibrium for the proposed game is derived. It is shown that, due to the frequency selective multipath, the noncooperative solution is achieved at different signal-to-interference-plus-noise ratios, depending on the channel realization and the type of Rake receiver employed. A large-system analysis is performed to derive explicit expressions for the achieved utilities. The Pareto-optimal (cooperative) solution is also discussed and compared with the noncooperative approach.Comment: Submitted to the IEEE Journal on Selected Topics in Signal Processing - Special issue on Performance Limits of Ultra-Wideband System

Energy-Aware Competitive Power Allocation for Heterogeneous Networks Under QoS Constraints

This work proposes a distributed power allocation scheme for maximizing energy efficiency in the uplink of orthogonal frequency-division multiple access (OFDMA)-based heterogeneous networks (HetNets). The user equipment (UEs) in the network are modeled as rational agents that engage in a non-cooperative game where each UE allocates its available transmit power over the set of assigned subcarriers so as to maximize its individual utility (defined as the user's throughput per Watt of transmit power) subject to minimum-rate constraints. In this framework, the relevant solution concept is that of Debreu equilibrium, a generalization of Nash equilibrium which accounts for the case where an agent's set of possible actions depends on the actions of its opponents. Since the problem at hand might not be feasible, Debreu equilibria do not always exist. However, using techniques from fractional programming, we provide a characterization of equilibrial power allocation profiles when they do exist. In particular, Debreu equilibria are found to be the fixed points of a water-filling best response operator whose water level is a function of minimum rate constraints and circuit power. Moreover, we also describe a set of sufficient conditions for the existence and uniqueness of Debreu equilibria exploiting the contraction properties of the best response operator. This analysis provides the necessary tools to derive a power allocation scheme that steers the network to equilibrium in an iterative and distributed manner without the need for any centralized processing. Numerical simulations are then used to validate the analysis and assess the performance of the proposed algorithm as a function of the system parameters.Comment: 37 pages, 12 figures, to appear IEEE Trans. Wireless Commu