On the Capacity of the Noncausal Relay Channel

This paper studies the noncausal relay channel, also known as the relay channel with unlimited lookahead, introduced by El Gamal, Hassanpour, and Mammen. Unlike the standard relay channel model, where the relay encodes its signal based on the previous received output symbols, the relay in the noncausal relay channel encodes its signal as a function of the entire received sequence. In the existing coding schemes, the relay uses this noncausal information solely to recover the transmitted message and then cooperates with the sender to communicate this message to the receiver. However, it is shown in this paper that by applying the Gelfand--Pinsker coding scheme, the relay can take further advantage of the noncausally available information, which can achieve strictly higher rates than existing coding schemes. This paper also provides a new upper bound on the capacity of the noncausal relay that strictly improves upon the cutset bound. These new lower and upper bounds on the capacity coincide for the class of degraded noncausal relay channels and establish the capacity for this class.Comment: To appear in the IEEE Transactions on Information Theor

A joint time-invariant filtering approach to the linear Gaussian relay problem

In this paper, the linear Gaussian relay problem is considered. Under the linear time-invariant (LTI) model the problem is formulated in the frequency domain based on the Toeplitz distribution theorem. Under the further assumption of realizable input spectra, the LTI Gaussian relay problem is converted to a joint design problem of source and relay filters under two power constraints, one at the source and the other at the relay, and a practical solution to this problem is proposed based on the projected subgradient method. Numerical results show that the proposed method yields a noticeable gain over the instantaneous amplify-and-forward (AF) scheme in inter-symbol interference (ISI) channels. Also, the optimality of the AF scheme within the class of one-tap relay filters is established in flat-fading channels.Comment: 30 pages, 10 figure

The capacity for the linear time-invariant Gaussian relay channel

In this paper, the Gaussian relay channel with linear time-invariant relay filtering is considered. Based on spectral theory for stationary processes, the maximum achievable rate for this subclass of linear Gaussian relay operation is obtained in finite-letter characterization. The maximum rate can be achieved by dividing the overall frequency band into at most eight subbands and by making the relay behave as an instantaneous amplify-and-forward relay at each subband. Numerical results are provided to evaluate the performance of LTI relaying.Comment: 5 pages, 3 figures. Submitted to ICASSP 201

Lecture Notes on Network Information Theory

These lecture notes have been converted to a book titled Network Information Theory published recently by Cambridge University Press. This book provides a significantly expanded exposition of the material in the lecture notes as well as problems and bibliographic notes at the end of each chapter. The authors are currently preparing a set of slides based on the book that will be posted in the second half of 2012. More information about the book can be found at http://www.cambridge.org/9781107008731/. The previous (and obsolete) version of the lecture notes can be found at http://arxiv.org/abs/1001.3404v4/

Distributed approaches for coverage missions with multiple heterogeneous UAVs for coastal areas.

This Thesis focuses on a high-level framework proposal for heterogeneous aerial, fixed wing teams of robots, which operate in complex coastal areas. Recent advances in the computational capabilities of modern processors along with the decrement of small scale aerial platform manufacturing costs, have given researchers the opportunity to propose efficient and low-cost solutions to a wide variety of problems. Regarding marine sciences and more generally coastal or sea operations, the use of aerial robots brings forth a number of advantages, including information redundancy and operator safety. This Thesis initially deals with complex coastal decomposition in relation with a vehicles’ on-board sensor. This decomposition decreases the computational complexity of planning a flight path, while respecting various aerial or ground restrictions. The sensor-based area decomposition also facilitates a team-wide heterogeneous solution for any team of aerial vehicles. Then, it proposes a novel algorithmic approach of partitioning any given complex area, for an arbitrary number of Unmanned Aerial Vehicles (UAV). This partitioning schema, respects the relative flight autonomy capabilities of the robots, providing them a corresponding region of interest. In addition, a set of algorithms is proposed for obtaining coverage waypoint plans for those areas. These algorithms are designed to afford the non-holonomic nature of fixed-wing vehicles and the restrictions their dynamics impose. Moreover, this Thesis also proposes a variation of a well-known path tracking algorithm, in order to further reduce the flight error of waypoint following, by introducing intermediate waypoints and providing an autopilot parametrisation. Finally, a marine studies test case of buoy information extraction is presented, demonstrating in that manner the flexibility and modular nature of the proposed framework.Esta tesis se centra en la propuesta de un marco de alto nivel para equipos heterogéneos de robots de ala fija que operan en áreas costeras complejas. Los avances recientes en las capacidades computacionales de los procesadores modernos, junto con la disminución de los costes de fabricación de plataformas aéreas a pequeña escala, han brindado a los investigadores la oportunidad de proponer soluciones eficientes y de bajo coste para enfrentar un amplio abanico de cuestiones. Con respecto a las ciencias marinas y, en términos más generales, a las operaciones costeras o marítimas, el uso de robots aéreos conlleva una serie de ventajas, incluidas la redundancia de la información y la seguridad del operador. Esta tesis trata inicialmente con la descomposición de áreas costeras complejas en relación con el sensor a bordo de un vehículo. Esta descomposición disminuye la complejidad computacional de la planificación de una trayectoria de vuelo, al tiempo que respeta varias restricciones aéreas o terrestres. La descomposición del área basada en sensores también facilita una solución heterogénea para todo el equipo para cualquier equipo de vehículos aéreos. Luego, propone un novedoso enfoque algorítmico de partición de cualquier área compleja dada, para un número arbitrario de vehículos aéreos no tripulados (UAV). Este esquema de partición respeta las capacidades relativas de autonomía de vuelo de los robots, proporcionándoles una región de interés correspondiente. Además, se propone un conjunto de algoritmos para obtener planes de puntos de cobertura para esas áreas. Estos algoritmos están diseñados teniendo en cuenta la naturaleza no holonómica de los vehículos de ala fija y las restricciones que impone su dinámica. En ese sentido, esta Tesis también ofrece una variación de un algoritmo de seguimiento de rutas bien conocido, con el fin de reducir aún más el error de vuelo del siguiente punto de recorrido, introduciendo puntos intermedios y proporcionando una parametrización del piloto automático. Finalmente, se presenta un caso de prueba de estudios marinos de extracción de información de boyas, que demuestra de esa manera la flexibilidad y el carácter modular del marco propuesto

The Automated Wingman: An Airborne Companion for Users of DIS Compatible Flight Simulators

A major problem encountered by users of distributed virtual environments is the lack of simulators available to populate these environments. This problem is usually remedied by using computer generated entities. Unfortunately, these entities often lack adequate human behavior and are readily identified as non-human. This violates the realism premise of distributed virtual reality and is a major problem, especially in training situations. This thesis addresses the problem by presenting a computer generated entity called the Automated Wingman. The Automated Wingman is a semi-automated computer generated aircraft simulator that operates under the control of a designated lead simulator and integrates distributed virtual environments with intelligence. Access to distributed virtual environments is provided through the DIS protocol suite while human behavior is obtained through the use of a fuzzy expert system and a voice interface. The fuzzy expert system is designed around a hierarchy of knowledgebases. Each of these knowledge bases contains a set of fuzzy logic based linguistic variables that control the actions of the Automated Wingman. The voice interface allows the pilot of the lead simulator to direct the activity of the Automated Wingman. This thesis describes the design of the Automated Wingman and presents the current status of its implementation

Building a 3D Printer: Motors and Controls

3D printers require a reliable and robust control system to provide the proper quality of printed parts. The goal of this project was to design and implement the electronic and software controls for the large scale 3D printer. This system must be able to run all three print heads as well as color mixing in the central diamond print head. The resulting design for the control system utilized a RUMBA control board running with Repetier-Firmware as the printer firmware. A separate system was designed for the heat beds, which used an Arduino Uno to control a set of relays to maintain the set temperature to the heat beds