Power Scaling of Uplink Massive MIMO Systems with Arbitrary-Rank Channel Means

This paper investigates the uplink achievable rates of massive multiple-input multiple-output (MIMO) antenna systems in Ricean fading channels, using maximal-ratio combining (MRC) and zero-forcing (ZF) receivers, assuming perfect and imperfect channel state information (CSI). In contrast to previous relevant works, the fast fading MIMO channel matrix is assumed to have an arbitrary-rank deterministic component as well as a Rayleigh-distributed random component. We derive tractable expressions for the achievable uplink rate in the large-antenna limit, along with approximating results that hold for any finite number of antennas. Based on these analytical results, we obtain the scaling law that the users' transmit power should satisfy, while maintaining a desirable quality of service. In particular, it is found that regardless of the Ricean $K$-factor, in the case of perfect CSI, the approximations converge to the same constant value as the exact results, as the number of base station antennas, $M$, grows large, while the transmit power of each user can be scaled down proportionally to $1/M$. If CSI is estimated with uncertainty, the same result holds true but only when the Ricean $K$-factor is non-zero. Otherwise, if the channel experiences Rayleigh fading, we can only cut the transmit power of each user proportionally to $1/\sqrt M$. In addition, we show that with an increasing Ricean $K$-factor, the uplink rates will converge to fixed values for both MRC and ZF receivers

Power Allocation Schemes for Multicell Massive MIMO Systems

This paper investigates the sum-rate gains brought by power allocation strategies in multicell massive multipleinput multiple-output systems, assuming time-division duplex transmission. For both uplink and downlink, we derive tractable expressions for the achievable rate with zero-forcing receivers and precoders respectively. To avoid high complexity joint optimization across the network, we propose a scheduling mechanism for power allocation, where in a single time slot, only cells that do not interfere with each other adjust their transmit powers. Based on this, corresponding transmit power allocation strategies are derived, aimed at maximizing the sum rate per-cell. These schemes are shown to bring considerable gains over equal power allocation for practical antenna configurations (e.g., up to a few hundred). However, with fixed number of users (N), these gains diminish as M turns to infinity, and equal power allocation becomes optimal. A different conclusion is drawn for the case where both M and N grow large together, in which case: (i) improved rates are achieved as M grows with fixed M/N ratio, and (ii) the relative gains over the equal power allocation diminish as M/N grows. Moreover, we also provide applicable values of M/N under an acceptable power allocation gain threshold, which can be used as to determine when the proposed power allocation schemes yield appreciable gains, and when they do not. From the network point of view, the proposed scheduling approach can achieve almost the same performance as the joint power allocation after one scheduling round, with much reduced complexity

An Angular Position-Based Two-Stage Friction Modeling and Compensation Method for RV Transmission System

In RV transmission system (RVTS), friction is closely related to rotational speed and angular position. However, classical friction models do not consider the influence of angular position on friction, resulting in limited accuracy in describing the RVTS frictional behavior. For this reason, this paper proposes an angular position-based two-stage friction model for RVTS, and achieves a more accurate representation of friction of RVTS. The proposed model consists of two parts, namely pre-sliding model and sliding model, which are divided by the maximum elastic deformation recovery angle of RVTS obtained from loading-unloading tests. The pre-sliding friction behavior is regarded as a spring model, whose stiffness is determined by the angular position and the acceleration when the velocity crosses zero, while the sliding friction model is established by the angular-segmented Stribeck function, and the friction parameters of the adjacent segment are linearly smoothed. A feedforward compensation based on the proposed model was performed on the RVTS, and its control performance was compared with that using the classical Stribeck model. The comparison results show that when using the proposed friction model, the low-speed-motion smoothness of the RVTS can be improved by 14.2%, and the maximum zero-crossing speed error can be reduced by 37.5%, which verifies the validity of the proposed friction model, as well as the compensation method

Correlated Mutation Analysis on the Catalytic Domains of Serine/Threonine Protein Kinases

BACKGROUND:Protein kinases (PKs) have emerged as the largest family of signaling proteins in eukaryotic cells and are involved in every aspect of cellular regulation. Great progresses have been made in understanding the mechanisms of PKs phosphorylating their substrates, but the detailed mechanisms, by which PKs ensure their substrate specificity with their structurally conserved catalytic domains, still have not been adequately understood. Correlated mutation analysis based on large sets of diverse sequence data may provide new insights into this question. METHODOLOGY/PRINCIPAL FINDINGS:Statistical coupling, residue correlation and mutual information analyses along with clustering were applied to analyze the structure-based multiple sequence alignment of the catalytic domains of the Ser/Thr PK family. Two clusters of highly coupled sites were identified. Mapping these positions onto the 3D structure of PK catalytic domain showed that these two groups of positions form two physically close networks. We named these two networks as theta-shaped and gamma-shaped networks, respectively. CONCLUSIONS/SIGNIFICANCE:The theta-shaped network links the active site cleft and the substrate binding regions, and might participate in PKs recognizing and interacting with their substrates. The gamma-shaped network is mainly situated in one side of substrate binding regions, linking the activation loop and the substrate binding regions. It might play a role in supporting the activation loop and substrate binding regions before catalysis, and participate in product releasing after phosphoryl transfer. Our results exhibit significant correlations with experimental observations, and can be used as a guide to further experimental and theoretical studies on the mechanisms of PKs interacting with their substrates

Mechanistic study of pre-eclampsia and macrophage-associated molecular networks: bioinformatics insights from multiple datasets

BackgroundPre-eclampsia is a pregnancy-related disorder characterized by hypertension and proteinuria, severely affecting the health and quality of life of patients. However, the molecular mechanism of macrophages in pre-eclampsia is not well understood.MethodsIn this study, the key biomarkers during the development of pre-eclampsia were identified using bioinformatics analysis. The GSE75010 and GSE74341 datasets from the GEO database were obtained and merged for differential analysis. A weighted gene co-expression network analysis (WGCNA) was constructed based on macrophage content, and machine learning methods were employed to identify key genes. Immunoinfiltration analysis completed by the CIBERSORT method, R package “ClusterProfiler” to explore functional enrichment of these intersection genes, and potential drug predictions were conducted using the CMap database. Lastly, independent analysis of protein levels, localization, and quantitative analysis was performed on placental tissues collected from both preeclampsia patients and healthy control groups.ResultsWe identified 70 differentially expressed NETs genes and found 367 macrophage-related genes through WGCNA analysis. Machine learning identified three key genes: FNBP1L, NMUR1, and PP14571. These three key genes were significantly associated with immune cell content and enriched in multiple signaling pathways. Specifically, these genes were upregulated in PE patients. These findings establish the expression patterns of three key genes associated with M2 macrophage infiltration, providing potential targets for understanding the pathogenesis and treatment of PE. Additionally, CMap results suggested four potential drugs, including Ttnpb, Doxorubicin, Tyrphostin AG 825, and Tanespimycin, which may have the potential to reverse pre-eclampsia.ConclusionStudying the expression levels of three key genes in pre-eclampsia provides valuable insights into the prevention and treatment of this condition. We propose that these genes play a crucial role in regulating the maternal-fetal immune microenvironment in PE patients, and the pathways associated with these genes offer potential avenues for exploring the molecular mechanisms underlying preeclampsia and identifying therapeutic targets. Additionally, by utilizing the Connectivity Map database, we identified drug targets like Ttnpb, Doxorubicin, Tyrphostin AG 825, and Tanespimycin as potential clinical treatments for preeclampsia

CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms

Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized system to facilitate collaborative LiDAR-ranging-inertial state estimation, enabling robotic swarms to operate without the need for anchor deployment. The system efficiently distributes computationally intensive tasks to a central server, thereby reducing the computational burden on individual robots for local odometry calculations. The server back-end establishes a global reference by leveraging shared data and refining joint pose graph optimization through place recognition, global optimization techniques, and removal of outlier data to ensure precise and robust collaborative state estimation. Extensive evaluations of our system, utilizing both publicly available datasets and our custom datasets, demonstrate significant enhancements in the accuracy of collaborative SLAM estimates. Moreover, our system exhibits remarkable proficiency in large-scale missions, seamlessly enabling ten robots to collaborate effectively in performing SLAM tasks. In order to contribute to the research community, we will make our code open-source and accessible at \url{https://github.com/PengYu-team/Co-LRIO}

S3E: A Large-scale Multimodal Dataset for Collaborative SLAM

With the advanced request to employ a team of robots to perform a task collaboratively, the research community has become increasingly interested in collaborative simultaneous localization and mapping. Unfortunately, existing datasets are limited in the scale and variation of the collaborative trajectories, even though generalization between inter-trajectories among different agents is crucial to the overall viability of collaborative tasks. To help align the research community's contributions with realistic multiagent ordinated SLAM problems, we propose S3E, a large-scale multimodal dataset captured by a fleet of unmanned ground vehicles along four designed collaborative trajectory paradigms. S3E consists of 7 outdoor and 5 indoor sequences that each exceed 200 seconds, consisting of well temporal synchronized and spatial calibrated high-frequency IMU, high-quality stereo camera, and 360 degree LiDAR data. Crucially, our effort exceeds previous attempts regarding dataset size, scene variability, and complexity. It has 4x as much average recording time as the pioneering EuRoC dataset. We also provide careful dataset analysis as well as baselines for collaborative SLAM and single counterparts. Data and more up-to-date details are found at https://github.com/PengYu-Team/S3E