Multi-layer Unmanned Aerial Vehicle Networks: Modeling and Performance Analysis

Since various types of unmanned aerial vehicles (UAVs) with different hardware capabilities are introduced, we establish a foundation for the multi-layer aerial network (MAN). First, the MAN is modeled as K layer ANs, and each layer has UAVs with different densities, floating altitudes, and transmission power. To make the framework applicable for various scenarios in MAN, we consider the transmitter- and the receiver-oriented node association rules as well as the air-to-ground and air-to-air channel models, which form line of sight links with a location-dependent probability. We then newly analyze the association probability, the main link distance distribution, successful transmission probability (STP), and area spectral efficiency (ASE) of MAN. The upper bounds of the optimal densities that maximize STP and ASE are also provided. Finally, in the numerical results, we show the optimal UAV densities of an AN that maximize the ASE and the STP decrease with the altitude of the network. We also show that when the total UAV density is fixed for two layer AN, the use of single layer in higher(lower) altitude only for all UAVs can achieve better performance for low(high) total density case, otherwise, distributing UAVs in two layers, i.e., MAN, achieves better performance

Impact of an Interfering Node on Unmanned Aerial Vehicle Communications

Unlike terrestrial communications, unmanned aerial vehicle (UAV) communications have some advantages such as the line-of-sight (LoS) environment and flexible mobility. However, the interference will be still inevitable. In this paper, we analyze the effect of an interfering node on the UAV communications by considering the LoS probability and different channel fading for LoS and non-line-of-sight (NLoS) links, which are affected by the elevation angle of the communication link. We then derive a closed-form outage probability in the presence of an interfering node for all the possible scenarios and environments of main and interference links. After discussing the impacts of transmitting and interfering node parameters on the outage probability, we show the existence of the optimal height of the UAV that minimize the outage probability. We also show the NLoS environment can be better than the LoS environment if the average received power of the interference is more dominant than that of the transmitting signal on UAV communications. Finally, we analyze the outage probability for the case of multiple interfering nodes using stochastic geometry and the outage probability of the single interfering node case, and show the effect of the interfering node density on the optimal height of the UAV.Comment: 12 pages, 10 figures, this paper has been submitted in IEEE Transactions on Vehicular Technology. arXiv admin note: substantial text overlap with arXiv:1806.0984

ARM MOTIONS FOR DIFFERENT TARGET POSITIONS DURING TAEKWONDO ROUNDHOUSE KICKS

The purpose of this study was to investigate arm motions for five different target positions during Taekwondo roundhouse kicks. Nine Taekwondo experts performed roundhouse kicks at a target. A 3D motion analysis was conducted. One-way repeated ANOVA was used to compare the arm motion among five conditions. This study reveals that a higher kick needs the increased vertical separation of the right and left arm (elbow and wrist) in release phase. For a longer kick at Body level, elbows should be more vertically apart and wrists should be more horizontally apart in the release phase. Both attackers and counter attackers in Taekwondo athletes can use the arm swing characteristics at different target heights and distances

Learning Whole-body Manipulation for Quadrupedal Robot

We propose a learning-based system for enabling quadrupedal robots to manipulate large, heavy objects using their whole body. Our system is based on a hierarchical control strategy that uses the deep latent variable embedding which captures manipulation-relevant information from interactions, proprioception, and action history, allowing the robot to implicitly understand object properties. We evaluate our framework in both simulation and real-world scenarios. In the simulation, it achieves a success rate of 93.6 % in accurately re-positioning and re-orienting various objects within a tolerance of 0.03 m and 5 {\deg}. Real-world experiments demonstrate the successful manipulation of objects such as a 19.2 kg water-filled drum and a 15.3 kg plastic box filled with heavy objects while the robot weighs 27 kg. Unlike previous works that focus on manipulating small and light objects using prehensile manipulation, our framework illustrates the possibility of using quadrupeds for manipulating large and heavy objects that are ungraspable with the robot's entire body. Our method does not require explicit object modeling and offers significant computational efficiency compared to optimization-based methods. The video can be found at https://youtu.be/fO_PVr27QxU

Non-Terrestrial Networks for UAVs: Base Station Service Provisioning Schemes with Antenna Tilt

By focusing on unmanned aerial vehicle (UAV) communications in non-terrestrial networks (NTNs), this paper provides a guideline on the appropriate base station (BS) service provisioning scheme with considering the antenna tilt angle of BS. Specifically, two service provisioning schemes are considered including the inclusive-service BS (IS-BS) scheme, which makes BSs serve both ground users (GUs) and aerial users (AUs) (i.e., UAVs) simultaneously, and the exclusive-service BS (ES-BS) scheme, which has BSs for GUs and BSs for AUs. By considering the antenna tilt angle-based channel gain, we derive the network outage probability for both IS-BS and ES-BS schemes, and show the existence of the optimal tilt angle that minimizes the network outage probability after analyzing the conflict impact of the antenna tilt angle. We also analyze the impact of various network parameters, including the ratio of GUs to total users and densities of total and interfering BSs, on the network outage probability. Finally, we analytically and numerically show in which environments each service provisioning scheme can be superior to the other one

EFFECTS OF FOOT PLACEMENT ON RESULTANT JOINT MOMENTS OF LOWER EXTREMITY JOINTS DURING SQUAT

The purpose of this study was to investigate the effects of foot placement (stance width and foot angle) on normalized sagittal- and frontal-plane resultant joint moments (NRJM) of the lower extremity joints during the squat. Forty-two participants were recruited: male (n = 21) and female (n = 21). Three-dimensional motion analysis and inverse dynamics analysis were conducted. There was a significant interaction between the stance width and foot angle on the NRJM in the sagittal plane, whereas there were significant main effects of the stance width, foot angle, and gender on the NRJM in the frontal plane