Massive MIMO is a Reality -- What is Next? Five Promising Research Directions for Antenna Arrays

Massive MIMO (multiple-input multiple-output) is no longer a "wild" or "promising" concept for future cellular networks - in 2018 it became a reality. Base stations (BSs) with 64 fully digital transceiver chains were commercially deployed in several countries, the key ingredients of Massive MIMO have made it into the 5G standard, the signal processing methods required to achieve unprecedented spectral efficiency have been developed, and the limitation due to pilot contamination has been resolved. Even the development of fully digital Massive MIMO arrays for mmWave frequencies - once viewed prohibitively complicated and costly - is well underway. In a few years, Massive MIMO with fully digital transceivers will be a mainstream feature at both sub-6 GHz and mmWave frequencies. In this paper, we explain how the first chapter of the Massive MIMO research saga has come to an end, while the story has just begun. The coming wide-scale deployment of BSs with massive antenna arrays opens the door to a brand new world where spatial processing capabilities are omnipresent. In addition to mobile broadband services, the antennas can be used for other communication applications, such as low-power machine-type or ultra-reliable communications, as well as non-communication applications such as radar, sensing and positioning. We outline five new Massive MIMO related research directions: Extremely large aperture arrays, Holographic Massive MIMO, Six-dimensional positioning, Large-scale MIMO radar, and Intelligent Massive MIMO.Comment: 20 pages, 9 figures, submitted to Digital Signal Processin

A Tutorial on Environment-Aware Communications via Channel Knowledge Map for 6G

Sixth-generation (6G) mobile communication networks are expected to have dense infrastructures, large-dimensional channels, cost-effective hardware, diversified positioning methods, and enhanced intelligence. Such trends bring both new challenges and opportunities for the practical design of 6G. On one hand, acquiring channel state information (CSI) in real time for all wireless links becomes quite challenging in 6G. On the other hand, there would be numerous data sources in 6G containing high-quality location-tagged channel data, making it possible to better learn the local wireless environment. By exploiting such new opportunities and for tackling the CSI acquisition challenge, there is a promising paradigm shift from the conventional environment-unaware communications to the new environment-aware communications based on the novel approach of channel knowledge map (CKM). This article aims to provide a comprehensive tutorial overview on environment-aware communications enabled by CKM to fully harness its benefits for 6G. First, the basic concept of CKM is presented, and a comparison of CKM with various existing channel inference techniques is discussed. Next, the main techniques for CKM construction are discussed, including both the model-free and model-assisted approaches. Furthermore, a general framework is presented for the utilization of CKM to achieve environment-aware communications, followed by some typical CKM-aided communication scenarios. Finally, important open problems in CKM research are highlighted and potential solutions are discussed to inspire future work

Linear Transmit-Receive Strategies for Multi-user MIMO Wireless Communications

Die Notwendigkeit zur Unterdrueckung von Interferenzen auf der einen Seite und zur Ausnutzung der durch Mehrfachzugriffsverfahren erzielbaren Gewinne auf der anderen Seite rueckte die raeumlichen Mehrfachzugriffsverfahren (Space Division Multiple Access, SDMA) in den Fokus der Forschung. Ein Vertreter der raeumlichen Mehrfachzugriffsverfahren, die lineare Vorkodierung, fand aufgrund steigender Anzahl an Nutzern und Antennen in heutigen und zukuenftigen Mobilkommunikationssystemen besondere Beachtung, da diese Verfahren das Design von Algorithmen zur Vorcodierung vereinfachen. Aus diesem Grund leistet diese Dissertation einen Beitrag zur Entwicklung linearer Sende- und Empfangstechniken fuer MIMO-Technologie mit mehreren Nutzern. Zunaechst stellen wir ein Framework zur Approximation des Datendurchsatzes in Broadcast-MIMO-Kanaelen mit mehreren Nutzern vor. In diesem Framework nehmen wir das lineare Vorkodierverfahren regularisierte Blockdiagonalisierung (RBD) an. Durch den Vergleich von Dirty Paper Coding (DPC) und linearen Vorkodieralgorithmen (z.B. Zero Forcing (ZF) und Blockdiagonalisierung (BD)) ist es uns moeglich, untere und obere Schranken fuer den Unterschied bezueglich Datenraten und bezueglich Leistung zwischen beiden anzugeben. Im Weiteren entwickeln wir einen Algorithmus fuer koordiniertes Beamforming (Coordinated Beamforming, CBF), dessen Loesung sich in geschlossener Form angeben laesst. Dieser CBF-Algorithmus basiert auf der SeDJoCo-Transformation und loest bisher vorhandene Probleme im Bereich CBF. Im Anschluss schlagen wir einen iterativen CBF-Algorithmus namens FlexCoBF (flexible coordinated beamforming) fuer MIMO-Broadcast-Kanaele mit mehreren Nutzern vor. Im Vergleich mit bis dato existierenden iterativen CBF-Algorithmen kann als vielversprechendster Vorteil die freie Wahl der linearen Sende- und Empfangsstrategie herausgestellt werden. Das heisst, jede existierende Methode der linearen Vorkodierung kann als Sendestrategie genutzt werden, waehrend die Strategie zum Empfangsbeamforming frei aus MRC oder MMSE gewaehlt werden darf. Im Hinblick auf Szenarien, in denen Mobilfunkzellen in Clustern zusammengefasst sind, erweitern wir FlexCoBF noch weiter. Hier wurde das Konzept der koordinierten Mehrpunktverbindung (Coordinated Multipoint (CoMP) transmission) integriert. Zuletzt stellen wir drei Moeglichkeiten vor, Kanalzustandsinformationen (Channel State Information, CSI) unter verschiedenen Kanalumstaenden zu erlangen. Die Qualitaet der Kanalzustandsinformationen hat einen starken Einfluss auf die Guete des Uebertragungssystems. Die durch unsere neuen Algorithmen erzielten Verbesserungen haben wir mittels numerischer Simulationen von Summenraten und Bitfehlerraten belegt.In order to combat interference and exploit large multiplexing gains of the multi-antenna systems, a particular interest in spatial division multiple access (SDMA) techniques has emerged. Linear precoding techniques, as one of the SDMA strategies, have obtained more attention due to the fact that an increasing number of users and antennas involved into the existing and future mobile communication systems requires a simplification of the precoding design. Therefore, this thesis contributes to the design of linear transmit and receive strategies for multi-user MIMO broadcast channels in a single cell and clustered multiple cells. First, we present a throughput approximation framework for multi-user MIMO broadcast channels employing regularized block diagonalization (RBD) linear precoding. Comparing dirty paper coding (DPC) and linear precoding algorithms (e.g., zero forcing (ZF) and block diagonalization (BD)), we further quantify lower and upper bounds of the rate and power offset between them as a function of the system parameters such as the number of users and antennas. Next, we develop a novel closed-form coordinated beamforming (CBF) algorithm (i.e., SeDJoCo based closed-form CBF) to solve the existing open problem of CBF. Our new algorithm can support a MIMO system with an arbitrary number of users and transmit antennas. Moreover, the application of our new algorithm is not only for CBF, but also for blind source separation (BSS), since the same mathematical model has been used in BSS application.Then, we further propose a new iterative CBF algorithm (i.e., flexible coordinated beamforming (FlexCoBF)) for multi-user MIMO broadcast channels. Compared to the existing iterative CBF algorithms, the most promising advantage of our new algorithm is that it provides freedom in the choice of the linear transmit and receive beamforming strategies, i.e., any existing linear precoding method can be chosen as the transmit strategy and the receive beamforming strategy can be flexibly chosen from MRC or MMSE receivers. Considering clustered multiple cell scenarios, we extend the FlexCoBF algorithm further and introduce the concept of the coordinated multipoint (CoMP) transmission. Finally, we present three strategies for channel state information (CSI) acquisition regarding various channel conditions and channel estimation strategies. The CSI knowledge is required at the base station in order to implement SDMA techniques. The quality of the obtained CSI heavily affects the system performance. The performance enhancement achieved by our new strategies has been demonstrated by numerical simulation results in terms of the system sum rate and the bit error rate

Tensor-based signal processing with applications to MIMO-ODFM systems and intelligent reflecting surfaces

Der Einsatz von Tensor-Algebra-Techniken in der Signalverarbeitung hat in den letzten zwei Jahrzehnten zugenommen. Anwendungen wie Bildverarbeitung, biomedizinische Signalverarbeitung, radar, maschinelles Lernen, deep Learning und Kommunikation im Allgemeinen verwenden weitgehend tensorbasierte Verarbeitungstechniken zur Wiederherstellung, Schätzung und Klassifizierung von Signalen. Einer der Hauptgründe für den Einsatz der Tensorsignalverarbeitung ist die Ausnutzung der mehrdimensionalen Struktur von Signalen, wobei die Einzigartigkeitseigenschaften der Tensor-Zerlegung profitieren. Bei der drahtlosen Kommunikation beispielsweise können die Signale mehrere "Dimensionen" haben, wie Raum, Zeit, Frequenz, Polarisation, usw. Diese Arbeit ist in zwei Teile gegliedert. Im ersten Teil betrachten wir die Anwendung von Tensor-basierten Algorithmen für multiple-input multiple-output (MIMO) orthogonal frequency division multiplexing (OFDM) Systeme unter Berücksichtigung von Vorhandensein von Phasenrauschenstörungen. In diesem Teil schlagen wir einen zweistufigen tensorbasierten Empfänger für eine gemeinsame Kanal-, Phasenrausch- und Datenschätzung in MIMO-OFDM-Systemen vor. In der ersten Stufe zeigen wir, dass das empfangene Signal auf den Pilotunterträgern als PARAFAC-Tensor dritter Ordnung modelliert werden kann. Auf der Grundlage dieses Modells werden zwei Algorithmen für die Schätzung der Phasen- und Kanalrauschen in den Pilotton vorgeschlagen. In der zweiten Stufe werden die übertragenen Daten geschätzt. Zu diesem Zweck schlagen wir einen Zero Forcing (ZF)-Empfänger vor, der sich die Tensorstruktur des empfangenen Signals auf den Datenträgern zunutze macht, indem er den vorgeschlagenen selektiven Kronecker-Produkt-Operators (SKP) kapitalisiert. Die Simulationsergebnisse zeigen, dass der vorgeschlagene Empfänger sowohl bei der Symbolfehlerrate als auch beim normalisierten mittleren quadratischen Fehler des geschätzten Kanal- und Phasenrauschmatrizen eine bessere Leistung im Vergleich zum Stand der Technik erzielt. Der zweite Teil dieser Arbeit befasst sich mit der Anwendung der Tensormodellierung zur Reduzierung des Kontrollsignalisierungsoverhead in zukünftigen drahtlosen Systemen, die durch intelligent reconfigurable surfaces (IRSs) unterstützt werden. Zu diesem Zweck schlagen wir eine Annäherung an die nahezu optimalen IRS-Phasenverschiebungen vor, die sonst einen prohibitiv hohen Kommunikationsoverhead auf den BS-IRS-Kontrollverbindungen verursachen würde. Die Hauptidee besteht darin, den optimalen Phasenvektor des IRSs, der Hunderte oder Tausende von Elementen haben kann, durch ein Tensormodell mit niedrigem Rang darzustellen. Dies wird erreicht durch Faktorisierung einer tensorisierten Version des IRS-Phasenverschiebungsvektors, wobei jede Komponente als Kronecker-Produkt einer vordefinierten Anzahl von Faktoren mit kleinerer Größe modelliert wird, die durch Tensor Zerlegungsalgorithmen erhaltet werden können. Wir zeigen, dass die vorgeschlagenen Low-Rank-Modelle die Rückkopplungsanforderungen für die BS-IRS-Kontrollverbindungen drastisch reduzieren. Die Simulationsergebnisse zeigen, dass die vorgeschlagene Methode besonders in Szenarien mit einer starken Sichtverbindung attraktiv sind. In diesem Fall wird fast die gleiche spektrale Effizienz erreicht wie in den Fällen mit nahezu optimalen Phasenverschiebungen, jedoch mit einem drastisch reduzierten Kommunikations-Overhead.The use of tensor algebra techniques in signal processing has been growing over the last two decades. Applications like image processing, biomedical signal processing, radar, machine/deep learning, and communications in general, largely employ tensor-based techniques for recovery, estimating, and classifying signals. One of the main reasons for using tensor signal processing is the exploitation of the multidimensional structure of signals, while benefiting from the uniqueness properties of tensor decomposition. For example, in wireless communications, the signals can have several “dimensions", e.g., space, time, frequency, polarization, beamspace, etc. This thesis is divided into two parts, first, in the application of a tensor-based algorithm in multiple-input multiple-output (MIMO)-orthogonal frequency division multiplexing (OFDM) systems with the presence of phase-noise impairments. In this first part, we propose a two-stage tensor-based receiver for a joint channel, phase-noise, and data estimation in MIMO-OFDM systems. In the first stage, we show that the received signal at the pilot subcarriers can be modeled as a third-order PARAFAC tensor. Based on this model, we propose two algorithms for channel and phase-noise estimation at the pilot subcarriers. The second stage consists of data estimation, for which we propose a ZF receiver that capitalizes on the tensor structure of the received signal at the data subcarriers using the proposed SKP operator. Numerical simulations show that the proposed receivers achieves an improved performance compared to the state-of-art receivers in terms of symbol error rate (SER) and normalized mean square error (NMSE) of the estimated channel and phase-noise matrices. The second part of this thesis focuses on the application of tensor modeling to reduce the control signaling overhead in future wireless systems aided by intelligent reconfigurable surfaces (IRS). To this end, we propose a low-rank approximation of the near-optimal IRS phase-shifts, which would incur prohibitively high communication overhead on the BS-IRS controller links. The key idea is to represent the potentially large IRS phase-shift vector using a low-rank tensor model. This is achieved by factorizing a tensorized version of the IRS phase-shift vector, where each component is modeled as the Kronecker product of a predefined number of factors of smaller sizes, which can be obtained via tensor decomposition algorithms. We show that the proposed low-rank models drastically reduce the required feedback requirements associated with the BS-IRS control links. Simulation results indicate that the proposed method is especially attractive in scenarios with a strong line of sight component, in which case nearly the same spectral efficiency is reached as in the cases with near-optimal phase-shifts, but with a drastically reduced communication overhead

Lens antenna arrays: an efficient framework for sparse-aware large-MIMO communications

The recent increase in the demand for higher data transmission rates in wireless communications has entailed many implementation issues that can only be resolved by going through a full paradigm shift. Making use of the millimetric spectrum bands is a very attractive solution to the shortage of radio resources but, to garner all their potential, new techniques must be developed. Most of them are contained in the Massive Multiple Input Multiple Output (M-MIMO) framework: the idea of using very large antenna arrays for cellular communications. In this thesis, we propose the usage of Lens Antenna Arrays (LAA) to avoid the unbearable power and infrastructure costs posed by traditional M-MIMO architectures. This novel communication system exploits the angular-dependent power focusing capabilities of an electromagnetic lens to discern between waves with different angles of arrival and departure, without explicit signal processing. The work presented in this document motivates the use of LAAs in mmWave communications, studies some of their mathematical properties and proposes their application in noncoherent schemes. Numerical results validate the performance of this novel kind of systems and confirm their strengths in both multi-user and block fading settings. LAAs that use noncoherent methods appear to be very suitable for vehicular communications and densely populated cellular networks.En los últimos tiempos, el incremento en la demanda de mayor velocidad de transmisión de datos en redes de comunicación inalámbricas ha conllevado varios problemas de implementación que solo se podrán resolver a través de un cambio total de paradigma. Utilizar bandas milimétricas del espectro es una solución muy atractiva a la escasez de recursos de radio pero, para poder extraer todo su potencial, es necesario desarrollar nuevas técnicas. La mayor parte de éstas pasa por la infraestructura Massive Multiple Input Multiple Output (M-MIMO): la idea de usar matrices de antenas muy grandes para comunicaciones celulares. En esta tesis, proponemos el uso de matrices de antenas con lente, o Lens Antenna Arrays (LAA), para evitar los inasumibles costes energéticos y de instalación propios de las arquitecturas M-MIMO tradicionales. Este novedoso sistema de comunicaciones explota las capacidades de concentración de energía con dependencia angular de las lentes electromagnéticas para distinguir entre ondas con distintas direcciones de llegada y de salida, sin procesado de la señal explícito. El trabajo presentado en este documento motiva el uso de los LAAs en comunicaciones en bandas milimétricas (mmWave), estudia varias propiedades matemáticas y propone su aplicación en esquemas no coherentes. Resultados numéricos validan su ejecución y confirman sus fortalezas en entornos multiusuario y con desvanecimiento en bloque. Los LAAs que utilizan métodos no coherentes parecen ser idóneos para comunicaciones vehiculares y para redes celulares altamente pobladas.En els darrers temps, l'increment en la demanda de major velocitat de transmissió de dades en xarxes de comunicació inalàmbriques ha comportat diversos problemes d'implementació que tan sols es podran resoldre a través d'un canvi total de paradigma. Utilitzar les bandes mil·limètriques de l'espectre és una solució molt atractiva a l'escassetat de recursos de ràdio però, per tal d'extreure'n tot el seu potencial, és necessari desenvolupar noves tècniques. La majoria d'aquestes passa per la infraestructura Massive Multiple Input Multiple Output (M-MIMO): la idea d'utilitzar matrius d'antenes molt grans per a comunicacions cel·lulars. En aquesta tesi, proposem l'ús de matrius d'antenes amb lent, o Lens Antenna Arrays (LAA), per tal d'evitar els inassumibles costos energètics i d'instal·lació propis d'arquitectures M-MIMO tradicionals. Aquest innovador sistema de comunicacions explota les capacitats de concentració d'energia amb dependència angular de les lents electromagnètiques per tal de distingir entre ones amb diferents direccions d'arribada i de sortida, sense processament de senyal explícit. El treball presentat en aquest document motiva l'ús dels LAAs per comunicacions en bandes mil·limètriques (mmWave), n'estudia diverses propietats matemàtiques i proposa la seva aplicació en esquemes no coherents. Resultats numèrics en validen l'execució i confirmen les seves fortaleses en entorns multi-usuari i amb esvaïment en bloc. Els LAAs que utilitzen mètodes no coherents semblen ser idonis per a comunicacions vehiculars i per a xarxes cel·lulars altament poblades

Orthogonal frequency division multiplexing multiple-input multiple-output automotive radar with novel signal processing algorithms

Advanced driver assistance systems that actively assist the driver based on environment perception achieved significant advances in recent years. Along with this development, autonomous driving became a major research topic that aims ultimately at development of fully automated, driverless vehicles. Since such applications rely on environment perception, their ever increasing sophistication imposes growing demands on environmental sensors. Specifically, the need for reliable environment sensing necessitates the development of more sophisticated, high-performance radar sensors. A further vital challenge in terms of increased radar interference arises with the growing market penetration of the vehicular radar technology. To address these challenges, in many respects novel approaches and radar concepts are required. As the modulation is one of the key factors determining the radar performance, the research of new modulation schemes for automotive radar becomes essential. A topic that emerged in the last years is the radar operating with digitally generated waveforms based on orthogonal frequency division multiplexing (OFDM). Initially, the use of OFDM for radar was motivated by the combination of radar with communication via modulation of the radar waveform with communication data. Some subsequent works studied the use of OFDM as a modulation scheme in many different radar applications - from adaptive radar processing to synthetic aperture radar. This suggests that the flexibility provided by OFDM based digital generation of radar waveforms can potentially enable novel radar concepts that are well suited for future automotive radar systems. This thesis aims to explore the perspectives of OFDM as a modulation scheme for high-performance, robust and adaptive automotive radar. To this end, novel signal processing algorithms and OFDM based radar concepts are introduced in this work. The main focus of the thesis is on high-end automotive radar applications, while the applicability for real time implementation is of primary concern. The first part of this thesis focuses on signal processing algorithms for distance-velocity estimation. As a foundation for the algorithms presented in this thesis, a novel and rigorous signal model for OFDM radar is introduced. Based on this signal model, the limitations of the state-of-the-art OFDM radar signal processing are pointed out. To overcome these limitations, we propose two novel signal processing algorithms that build upon the conventional processing and extend it by more sophisticated modeling of the radar signal. The first method named all-cell Doppler compensation (ACDC) overcomes the Doppler sensitivity problem of OFDM radar. The core idea of this algorithm is the scenario-independent correction of Doppler shifts for the entire measurement signal. Since Doppler effect is a major concern for OFDM radar and influences the radar parametrization, its complete compensation opens new perspectives for OFDM radar. It not only achieves an improved, Doppler-independent performance, it also enables more favorable system parametrization. The second distance-velocity estimation algorithm introduced in this thesis addresses the issue of range and Doppler frequency migration due to the target’s motion during the measurement. For the conventional radar signal processing, these migration effects set an upper limit on the simultaneously achievable distance and velocity resolution. The proposed method named all-cell migration compensation (ACMC) extends the underlying OFDM radar signal model to account for the target motion. As a result, the effect of migration is compensated implicitly for the entire radar measurement, which leads to an improved distance and velocity resolution. Simulations show the effectiveness of the proposed algorithms in overcoming the two major limitations of the conventional OFDM radar signal processing. As multiple-input multiple-output (MIMO) radar is a well-established technology for improving the direction-of-arrival (DOA) estimation, the second part of this work studies the multiplexing methods for OFDM radar that enable simultaneous use of multiple transmit antennas for MIMO radar processing. After discussing the drawbacks of known multiplexing methods, we introduce two advanced multiplexing schemes for OFDM-MIMO radar based on non-equidistant interleaving of OFDM subcarriers. These multiplexing approaches exploit the multicarrier structure of OFDM for generation of orthogonal waveforms that enable a simultaneous operation of multiple MIMO channels occupying the same bandwidth. The primary advantage of these methods is that despite multiplexing they maintain all original radar parameters (resolution and unambiguous range in distance and velocity) for each individual MIMO channel. To obtain favorable interleaving patterns with low sidelobes, we propose an optimization approach based on genetic algorithms. Furthermore, to overcome the drawback of increased sidelobes due to subcarrier interleaving, we study the applicability of sparse processing methods for the distance-velocity estimation from measurements of non-equidistantly interleaved OFDM-MIMO radar. We introduce a novel sparsity based frequency estimation algorithm designed for this purpose. The third topic addressed in this work is the robustness of OFDM radar to interference from other radar sensors. In this part of the work we study the interference robustness of OFDM radar and propose novel interference mitigation techniques. The first interference suppression algorithm we introduce exploits the robustness of OFDM to narrowband interference by dropping subcarriers strongly corrupted by interference from evaluation. To avoid increase of sidelobes due to missing subcarriers, their values are reconstructed from the neighboring ones based on linear prediction methods. As a further measure for increasing the interference robustness in a more universal manner, we propose the extension of OFDM radar with cognitive features. We introduce the general concept of cognitive radar that is capable of adapting to the current spectral situation for avoiding interference. Our work focuses mainly on waveform adaptation techniques; we propose adaptation methods that allow dynamic interference avoidance without affecting adversely the estimation performance. The final part of this work focuses on prototypical implementation of OFDM-MIMO radar. With the constructed prototype, the feasibility of OFDM for high-performance radar applications is demonstrated. Furthermore, based on this radar prototype the algorithms presented in this thesis are validated experimentally. The measurements confirm the applicability of the proposed algorithms and concepts for real world automotive radar implementations

6G Wireless Systems: Vision, Requirements, Challenges, Insights, and Opportunities

Mobile communications have been undergoing a generational change every ten years or so. However, the time difference between the so-called "G's" is also decreasing. While fifth-generation (5G) systems are becoming a commercial reality, there is already significant interest in systems beyond 5G, which we refer to as the sixth-generation (6G) of wireless systems. In contrast to the already published papers on the topic, we take a top-down approach to 6G. We present a holistic discussion of 6G systems beginning with lifestyle and societal changes driving the need for next generation networks. This is followed by a discussion into the technical requirements needed to enable 6G applications, based on which we dissect key challenges, as well as possibilities for practically realizable system solutions across all layers of the Open Systems Interconnection stack. Since many of the 6G applications will need access to an order-of-magnitude more spectrum, utilization of frequencies between 100 GHz and 1 THz becomes of paramount importance. As such, the 6G eco-system will feature a diverse range of frequency bands, ranging from below 6 GHz up to 1 THz. We comprehensively characterize the limitations that must be overcome to realize working systems in these bands; and provide a unique perspective on the physical, as well as higher layer challenges relating to the design of next generation core networks, new modulation and coding methods, novel multiple access techniques, antenna arrays, wave propagation, radio-frequency transceiver design, as well as real-time signal processing. We rigorously discuss the fundamental changes required in the core networks of the future that serves as a major source of latency for time-sensitive applications. While evaluating the strengths and weaknesses of key 6G technologies, we differentiate what may be achievable over the next decade, relative to what is possible.Comment: Accepted for Publication into the Proceedings of the IEEE; 32 pages, 10 figures, 5 table