The future of location-aided applications is shaped by the ubiquity of Internet-of-Things devices. As an increasing amount of commercial off-the-shelf radio devices support channel response collection, it is possible to achieve fine-grained position estimation at a relatively low cost. In this paper, we focus on the channel response-based positioning and tracking for various applications. We first give an overview of the state of the art (SOTA) of channel response-enabled localization, which is further classified into two categories, i.e., device-based and contact-free schemes. A taxonomy for these complementary approaches is provided concerning the involved techniques. Then, we present a micro-benchmark of channel response-based direct positioning and tracking for both device-based and contact-free schemes. Finally, some practical issues for real-world applications and future research opportunities are pointed out.
This letter considers the problem of end-to-end learning for joint optimization of transmitter precoding and receiver processing for mmWave downlink positioning. Considering a multiple-input single-output (MISO) scenario, we propose a novel autoencoder (AE) architecture to estimate user-equipment(UE) position with multiple base-stations (BSs) and demonstrate that end-to-end learning can match model-based design, both for angle of departure (AoD) and position estimation, under ideal conditions without model deficits and outperform it in the presence of hardware impairments.
Conventional automatic doors cannot distinguish between people wishing to pass through the door and people passing by the door, so they often open unnecessarily. This leads to the need to adopt new systems in both commercial and non-commercial environments: smart doors. In particular, a smart door system predicts the intention of people near the door based on the social context of the surrounding environment and then makes rational decisions about whether or not to open the door. This work proposes the first position paper related to smart doors, without bells and whistles. We first point out that the problem not only concerns reliability, climate control, safety, and mode of operation. Indeed, a system to predict the intention of people near the door also involves a deeper understanding of the social context of the scene through a complex combined analysis of proxemics and scene reasoning. Furthermore, we conduct an exhaustive literature review about automatic doors, providing a novel system formulation. Also, we present an analysis of the possible future application of smart doors, a description of the ethical shortcomings, and legislative issues.
Appropriate evaluation and experimental design are fundamental for empirical sciences, particularly in data-driven fields. Due to the successes in computational modeling of languages, for instance, research outcomes are having an increasingly immediate impact on end users. As the gap in adoption by end users decreases, the need increases to ensure that tools and models developed by the research communities and practitioners are reliable, trustworthy, and supportive of the users in their goals. In this position paper, we focus on the issues of evaluating visual text analytics approaches. We take an interdisciplinary perspective from the visualization and natural language processing communities, as we argue that the design and validation of visual text analytics include concerns beyond computational or visual/interactive methods on their own. We identify four key groups of challenges for evaluating visual text analytics approaches (data ambiguity, experimental design, user trust, and "big picture" concerns) and provide suggestions for research opportunities from an interdisciplinary perspective.
The design choices in the Transformer attention mechanism, including weak inductive bias and quadratic computational complexity, have limited its application for modeling long sequences. In this paper, we introduce Mega, a simple, theoretically grounded, single-head gated attention mechanism equipped with (exponential) moving average to incorporate inductive bias of position-aware local dependencies into the position-agnostic attention mechanism. We further propose a variant of Mega that offers linear time and space complexity yet yields only minimal quality loss, by efficiently splitting the whole sequence into multiple chunks with fixed length. Extensive experiments on a wide range of sequence modeling benchmarks, including the Long Range Arena, neural machine translation, auto-regressive language modeling, and image and speech classification, show that Mega achieves significant improvements over other sequence models, including variants of Transformers and recent state space models.
Multi-agent exploration of a bounded 3D environment with unknown initial positions of agents is a challenging problem. It requires quickly exploring the environments as well as robustly merging the sub-maps built by the agents. We take the view that the existing approaches are either aggressive or conservative: Aggressive strategies merge two sub-maps built by different agents together when overlap is detected, which can lead to incorrect merging due to the false-positive detection of the overlap and is thus not robust. Conservative strategies direct one agent to revisit an excessive amount of the historical trajectory of another agent for verification before merging, which can lower the exploration efficiency due to the repeated exploration of the same space. To intelligently balance the robustness of sub-map merging and exploration efficiency, we develop a new approach for lidar-based multi-agent exploration, which can direct one agent to repeat another agent's trajectory in an \emph{adaptive} manner based on the quality indicator of the sub-map merging process. Additionally, our approach extends the recent single-agent hierarchical exploration strategy to multiple agents in a \emph{cooperative} manner by planning for agents with merged sub-maps together to further improve exploration efficiency. Our experiments show that our approach is up to 50\% more efficient than the baselines on average while merging sub-maps robustly.
The subject of international institutions and power politics continues to occupy a central position in the field of International Relations and to the world politics. It revolves around key questions on how rising states, regional powers and small states leverage international institutions for achieving social, political, economic gains for themselves. Taking into account one of the rising powers China and the role of international institutions in the contemporary international politics, this paper aims to demonstrate, how in pursuit of power politics, various states (Small, Regional and Great powers) utilise international institutions by making them adapt to the new power realities critical to world politics.
Images of near-field SAR contains spatial-variant sidelobes and clutter, subduing the image quality. Current image restoration methods are only suitable for small observation angle, due to their assumption of 2D spatial-invariant degradation operation. This limits its potential for large-scale objects imaging, like the aircraft. To ease this restriction, in this work an image restoration method based on the 2D spatial-variant deconvolution is proposed. First, the image degradation is seen as a complex convolution process with 2D spatial-variant operations. Then, to restore the image, the process of deconvolution is performed by cyclic coordinate descent algorithm. Experiments on simulation and measured data validate the effectiveness and superiority of the proposed method. Compared with current methods, higher precision estimation of the targets' amplitude and position is obtained.
Ultrasound localization microscopy (ULM) refers to a promising medical imaging modality that systematically leverages the advantages of contrast-enhanced ultrasound (CEUS) to surpass the diffraction barrier and delineate the microvascular map. Localization and tracking of microbubbles (MBs), two significant steps of ULM, facilitate generating the vascular map and the velocity distribution, respectively. Herein, we propose a novel MB tracking technique considering temporal pairing as a bubble-set registration problem. Iterative registration is performed between the bubble sets in two consecutive time instants by analytically optimizing a cost function that takes position and point-spread function (PSF) similarities as well as physically plausible levels of bubbles' movement into account. Furthermore, we infer MBs' parity in a fuzzy manner instead of binary. The proposed technique performs well in validation experiments with two synthetic and two in vivo datasets provided by the Ultrasound Localisation and TRacking Algorithms for Super Resolution (ULTRA-SR) Challenge.
Accurate and agile trajectory tracking in sub-gram Micro Aerial Vehicles (MAVs) is challenging, as the small scale of the robot induces large model uncertainties, demanding robust feedback controllers, while the fast dynamics and computational constraints prevent the deployment of computationally expensive strategies. In this work, we present an approach for agile and computationally efficient trajectory tracking on the MIT SoftFly, a sub-gram MAV (0.7 grams). Our strategy employs a cascaded control scheme, where an adaptive attitude controller is combined with a neural network policy trained to imitate a trajectory tracking robust tube model predictive controller (RTMPC). The neural network policy is obtained using our recent work, which enables the policy to preserve the robustness of RTMPC, but at a fraction of its computational cost. We experimentally evaluate our approach, achieving position Root Mean Square Errors lower than 1.8 cm even in the more challenging maneuvers, obtaining a 60% reduction in maximum position error compared to our previous work, and demonstrating robustness to large external disturbances
RGB-Thermal salient object detection (SOD) combines two spectra to segment visually conspicuous regions in images. Most existing methods use boundary maps to learn the sharp boundary. These methods ignore the interactions between isolated boundary pixels and other confident pixels, leading to sub-optimal performance. To address this problem,we propose a position-aware relation learning network (PRLNet) for RGB-T SOD based on swin transformer. PRLNet explores the distance and direction relationships between pixels to strengthen intra-class compactness and inter-class separation, generating salient object masks with clear boundaries and homogeneous regions. Specifically, we develop a novel signed distance map auxiliary module (SDMAM) to improve encoder feature representation, which takes into account the distance relation of different pixels in boundary neighborhoods. Then, we design a feature refinement approach with directional field (FRDF), which rectifies features of boundary neighborhood by exploiting the features inside salient objects. FRDF utilizes the directional information between object pixels to effectively enhance the intra-class compactness of salient regions. In addition, we constitute a pure transformer encoder-decoder network to enhance multispectral feature representation for RGB-T SOD. Finally, we conduct quantitative and qualitative experiments on three public benchmark datasets.The results demonstrate that our proposed method outperforms the state-of-the-art methods.
This paper considers the problem of estimating the position and orientation of a user equipped with a three-dimensional (3D) array receiving downlink far-field THz signals from multiple base stations with known positions and orientations. We derive the Cram\'er-Rao Bound for the localization problem and define the coverage of the considered system. We compare the error lower bound distributions of the conventional planar array and the 3D array configurations at different user equipment (UE) positions and orientations. Our numerical results obtained for array configurations with an equal number of elements show very limited coverage of the planar-array configuration, especially across the UE orientation range. Conversely, a 3D array configuration offers an overall higher coverage with minor performance loss in certain UE positions and orientations.
The success of the reconfiguration of existing manufacturing systems, so called brownfield systems, heavily relies on the knowledge about the system. Reconfiguration can be planned, supported and simplified with the Digital Twin of the system providing this knowledge. However, digital models as the basis of a Digital Twin are usually missing for these plants. This article presents a data-driven approach to gain knowledge about a brownfield system to create the digital models of a Digital Twin and their relations. Finally, a proof of concept shows that process data and position data as data sources deliver the relations between the models of the Digital Twin.
Ventricular tachycardia (VT) can be one cause of sudden cardiac death affecting 4.25 million persons per year worldwide. A curative treatment is catheter ablation in order to inactivate the abnormally triggering regions. To facilitate and expedite the localization during the ablation procedure, we present two novel localization techniques based on convolutional neural networks (CNNs). In contrast to existing methods, e.g. using ECG imaging, our approaches were designed to be independent of the patient-specific geometries and directly applicable to surface ECG signals, while also delivering a binary transmural position. One method outputs ranked alternative solutions. Results can be visualized either on a generic or patient geometry. The CNNs were trained on a data set containing only simulated data and evaluated both on simulated and clinical test data. On simulated data, the median test error was below 3mm. The median localization error on the clinical data was as low as 32mm. The transmural position was correctly detected in up to 82% of all clinical cases. Using the ranked alternative solutions, the top-3 median error dropped to 20mm on clinical data. These results demonstrate a proof of principle to utilize CNNs to localize the activation source without the intrinsic need of patient-specific geometrical information. Furthermore, delivering multiple solutions can help the physician to find the real activation source amongst more than one possible locations. With further optimization, these methods have a high potential to speed up clinical interventions. Consequently they could decrease procedural risk and improve VT patients' outcomes.
Human cognition has compositionality. We understand a scene by decomposing the scene into different concepts (e.g., shape and position of an object) and learning the respective laws of these concepts, which may be either natural (e.g., laws of motion) or man-made (e.g., laws of a game). The automatic parsing of these laws indicates the model's ability to understand the scene, which makes law parsing play a central role in many visual tasks. This paper proposes a deep latent variable model for Compositional LAw Parsing (CLAP), which achieves the human-like compositionality ability through an encoding-decoding architecture to represent concepts in the scene as latent variables. CLAP employs concept-specific latent random functions instantiated with Neural Processes to capture the law of concepts. Our experimental results demonstrate that CLAP outperforms the baseline methods in multiple visual tasks such as intuitive physics, abstract visual reasoning, and scene representation. The law manipulation experiments illustrate CLAP's interpretability by modifying specific latent random functions on samples. For example, CLAP learns the laws of position-changing and appearance constancy from the moving balls in a scene, making it possible to exchange laws between samples or compose existing laws into novel laws.
This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime. The core algorithmic idea is to learn a single policy that can adapt online at test time not only to the disturbances applied to the drone, but also to the robot dynamics and hardware in the same framework. We achieve this by training a neural network to estimate a latent representation of the robot and environment parameters, which is used to condition the behaviour of the controller, also represented as a neural network. We train both networks exclusively in simulation with the goal of flying the quadcopters to goal positions and avoiding crashes to the ground. We directly deploy the same controller trained in the simulation without any modifications on two quadcopters in the real world with differences in mass, size, motors, and propellers with mass differing by 4.5 times. In addition, we show rapid adaptation to sudden and large disturbances up to one-third of the mass of the quadcopters. We perform an extensive evaluation in both simulation and the physical world, where we outperform a state-of-the-art learning-based adaptive controller and a traditional PID controller specifically tuned to each platform individually. Video results can be found at https://youtu.be/U-c-LbTfvoA.
It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a target position or along a target trajectory requires accurate forward and inverse models. Here we show that by learning the transition (forward) model from interaction, we can use it to drive the learning of an amortized policy. Hence, we revisit policy optimization in relation to the deep active inference framework and describe a modular neural network architecture that simultaneously learns the system dynamics from prediction errors and the stochastic policy that generates suitable continuous control commands to reach a desired reference position. We evaluated the model by comparing it against the baseline of a linear quadratic regulator, and conclude with additional steps to take toward human-like motor control.
Beam management is a challenging task for millimeter wave (mmWave) and sub-terahertz communication systems, especially in scenarios with highly-mobile users. Leveraging external sensing modalities such as vision, LiDAR, radar, position, or a combination of them, to address this beam management challenge has recently attracted increasing interest from both academia and industry. This is mainly motivated by the dependency of the beam direction decision on the user location and the geometry of the surrounding environment -- information that can be acquired from the sensory data. To realize the promised beam management gains, such as the significant reduction in beam alignment overhead, in practice, however, these solutions need to account for important aspects. For example, these multi-modal sensing aided beam selection approaches should be able to generalize their learning to unseen scenarios and should be able to operate in realistic dense deployments. The "Multi-Modal Beam Prediction Challenge 2022: Towards Generalization" competition is offered to provide a platform for investigating these critical questions. In order to facilitate the generalizability study, the competition offers a large-scale multi-modal dataset with co-existing communication and sensing data collected across multiple real-world locations and different times of the day. In this paper, along with the detailed descriptions of the problem statement and the development dataset, we provide a baseline solution that utilizes the user position data to predict the optimal beam indices. The objective of this challenge is to go beyond a simple feasibility study and enable necessary research in this direction, paving the way towards generalizable multi-modal sensing-aided beam management for real-world future communication systems.
The delta robot is becoming a popular choice for the mechanical design of fused filament fabrication 3D printers because it can reach higher speeds than traditional serial-axis designs. Like serial 3D printers, delta printers suffer from undesirable vibration at high speeds which degrades the quality of fabricated parts. This undesirable vibration has been suppressed in serial printers using linear model-inversion feedforward control methods like the filtered B-splines (FBS) approach. However, techniques like the FBS approach are computationally challenging to implement on delta 3D printers because of their coupled, position-dependent dynamics. In this paper, we propose a methodology to address the computational bottlenecks by (1) parameterizing the position-dependent portions of the dynamics offline to enable efficient online model generation, (2) computing real-time models at sampled points (instead of every point) along the given trajectory, and (3) employing QR factorization to reduce the number of floating-point arithmetic operations associated with matrix inversion. In simulations, we report a computation time reduction of up to 23x using the proposed method, while maintaining high accuracy, when compared to a controller using the computationally expensive exact LPV model. In experiments, we demonstrate significant quality improvements on parts printed at various positions on the delta 3D printer using our proposed controller compared to a baseline alternative, which uses an LTI model from one position. Through acceleration measurements during printing, we also show that the print quality boost of the proposed controller is due to vibration reductions of more than 20\% when compared to the baseline controller.
The ever increasing need for performance results in increasingly rigorous demands on throughput and positioning accuracy of high-precision motion systems, which often suffer from position dependent effects that originate from relative actuation and sensing of the moving-body. Due to the highly stiff mechanical design, such systems are typically controlled using rigid body control design approaches. Nonetheless, the presence of position dependent flexible dynamics severely limits attainable position tracking performance. This paper presents two extensions of the conventional rigid body control framework towards active control of position dependent flexible dynamics. Additionally, a novel control design approach is presented, which allows for shaping of the full closed-loop system by means of structured $H_\infty$ co-design. The effectiveness of the approach is validated through simulation using a high-fidelity model of a state-of-the-art moving-magnet planar actuator.