The reconnaissance mode with the cooperation of two unmanned aerial vehicles (UAVs) equipped with airborne visual tracking platforms is a common practice for localizing a target. Apart from the random noises from sensors, the localization performance is much dependent on their cooperative trajectories. In our previous work, we have proposed a cooperative trajectory generating method that proves better than EKF based method. In this letter, an improved online trajectory generating method is proposed to enhance the previous one. First, the least square estimation method has been replaced with a geometric-optimization based estimation method, which can obtain a better estimation performance than the least square method proposed in our previous work; second, in the trajectory optimization phase, the position error caused by estimation method is also considered, which can further improve the optimization performance of the next way points of the two UAVs. The improved method can well be applied to the two-UAV trajectory planning for corporative target localization, and the simulation results confirm that the improved method achieves an obviously better localization performance than our previous method and the EKF-based method.

The Internet of Things (IoT) implicates an infrastructure that creates new value by connecting everything with communication networks, and its construction is rapidly progressing in anticipation of its great potential. Enhancing the security of IoT is an essential requirement for supporting IoT. For ensuring IoT security, it is desirable to create a situation that even a terminal component device with many restrictions in computing power and energy capacity can easily verify other devices and data and communicate securely by the use of public key cryptography. To concretely achieve the big goal of penetrating public key cryptographic technology to most IoT end devices, we elaborated the secure cryptographic unit (SCU) built in a low-end microcontroller chip. The SCU comprises a hardware cryptographic engine and a built-in access controlling functionality consisting of a software gate and hardware gate. This paper describes the outline of our SCU construction technology's research and development and prospects.

Locally repairable codes (LRCs) with availability have received considerable attention in recent years since they are able to solve many problems in distributed storage systems such as repairing multiple node failures and managing hot data. Constructing LRCs with locality r and availability t (also called (r, t)-LRCs) with new parameters becomes an interesting research subject in coding theory. The objective of this paper is to propose two generic constructions of cyclic (r, t)-LRCs via linearized polynomials over finite fields. These two constructions include two earlier ones of cyclic LRCs from trace functions and truncated trace functions as special cases and lead to LRCs with new parameters that can not be produced by earlier ones.

In the letter, two classes of optimal codebooks and asymptotically optimal codebooks in regard to the Levenshtein bound are presented, which are based on mutually unbiased bases (MUB) and approximately mutually unbiased bases (AMUB), respectively.

The purpose of this paper is to find an automated pricing algorithm to calculate the real cost of each product by considering the associate costs of the business. The methodology consists of two main stages. A brief semi-structured survey and a mathematical calculation the expenses and adding them to the original cost of the offered products and services. The output of this process obtains the minimum recommended selling price (MRSP) that the business should not go below, to increase the likelihood of generating profit and avoiding the unexpected loss. The contribution of this study appears in filling the gap by calculating the minimum recommended price automatically and assisting businesses to foresee future budgets. This contribution has a certain limitation, where it is unable to calculate the MRSP of the in-house created products from raw materials. It calculates the MRSP only for the products bought from the wholesaler to be sold by the retailer.

The spread of the Internet of Things (IoT) has led to the generation of large amounts of data, requiring massive communication, computing, and storage resources. Cloud computing plays an important role in realizing most IoT applications classified as massive machine type communication and cyber-physical control applications in vertical domains. To handle the increasing amount of IoT data, it is important to reduce the traffic concentrated in the cloud by distributing the computing and storage resources to the network edge side and to suppress the latency of the IoT applications. In this paper, we first present a recent literature review on fog/edge computing and data aggregation as representative traffic reduction technologies for efficiently utilizing communication, computing, and storage resources in IoT systems, and then focus on data aggregation control minimizing the latency in an IoT gateway. We then present a unified modeling for statistical and nonstatistical data aggregation and analyze its latency. We analytically derive the Laplace-Stieltjes transform and average of the stationary distribution of the latency and approximate the average latency; we subsequently apply it to an adaptive aggregation number control for the time-variant data arrival. The transient traffic characteristics, that is, the absorption of traffic fluctuations realizing a stable optimal latency, were clarified through a simulation with a time-variant Poisson input and non-Poisson inputs, such as a Beta input, which is a typical IoT traffic model.

With the spread of the broadband Internet and high-performance devices, various services have become available anytime, anywhere. As a result, attention is focused on the service quality and Quality of Experience (QoE) is emphasized as an evaluation index from the user's viewpoint. Since QoE is a subjective evaluation metric and deeply involved with user perception and expectation, quantitative and comparative research was difficult because the QoE study is still in its infancy. At present, after tremendous devoted efforts have contributed to this research area, a shape of the QoE management architecture has become clear. Moreover, not only for research but also for business, video streaming services are expected as a promising Internet service incorporating QoE. This paper reviews the present state of QoE studies with the above background and describes the future prospect of QoE. Firstly, the historical aspects of QoE is reviewed starting with QoS (Quality of Service). Secondly, a QoE management architecture is proposed in this paper, which consists of QoE measurement, QoE assessment, QoS-QoE mapping, QoE modeling, and QoE adaptation. Thirdly, QoE studies related with video streaming services are introduced, and finally individual QoE and physiology-based QoE measurement methodologies are explained as future prospect in the field of QoE studies.

The development of deep learning and neural networks has brought broad prospects to computer vision and natural language processing. The image captioning task combines cutting-edge methods in two fields. By building an end-to-end encoder-decoder model, its description performance can be greatly improved. In this paper, the multi-branch deep convolutional neural network is used as the encoder to extract image features, and the recurrent neural network is used to generate descriptive text that matches the input image. We conducted experiments on Flickr8k, Flickr30k and MSCOCO datasets. According to the analysis of the experimental results on evaluation metrics, the model proposed in this paper can effectively achieve image caption, and its performance is better than classic image captioning models such as neural image annotation models.

Millimeter wave provides high data rates for Vehicle-to-Everything (V2X) communications. This paper motivates millimeter wave to support automated driving and begins by explaining V2X use cases that support automated driving with references to several standardization bodies. The paper gives a classification of existing V2X standards: IEEE802.11p and LTE V2X, along with the status of their commercial deployment. Then, the paper provides a detailed assessment on how millimeter wave V2X enables the use case of cooperative perception. The explanations provide detailed rate calculations for this use case and show that millimeter wave is the only technology able to achieve the requirements. Furthermore, specific challenges related to millimeter wave for V2X are described, including coverage enhancement and beam alignment. The paper concludes with some results from three studies, i.e. IEEE802.11ad (WiGig) based V2X, extension of 5G NR (New Radio) toward mmWave V2X, and prototypes of intelligent street with mmWave V2X.

IoT devices operate with a battery and have embedded firmware in flash memory. If the embedded firmware is not kept up to date, there is a possibility of problems that cannot be linked with other IoT networks, so it is necessary to maintain the latest firmware with frequent updates. However, because firmware updates require developers and equipment, they consume manpower and time. Additionally, because the device must be active during the update, a low-power operation is not possible due to frequent flash memory access. In addition, if an unexpected interruption occurs during an update, the device is unavailable and requires a reliable update. Therefore, this paper aims to improve the reliability of updates and low-power operation by proposing a technique of performing firmware updates at high speed. In this paper, we propose a technique to update only a part of the firmware stored in nonvolatile flash memory without pre-processing to generate delta files. The firmware is divided into function blocks, and their addresses are collectively managed in a separate area called a function map. When updating the firmware, only the new function block to be updated is transmitted from the host downloader, and the bootloader proceeds with the update using the function block stored in the flash memory. Instead of transmitting the entire new firmware and writing it in the memory, using only function block reduces the amount of resources required for updating. Function-blocks can be called indirectly through a function map, so that the update can be completed by modifying only the function map regardless of the physical location. Our evaluation results show that the proposed technique effectively reduces the time cost, energy consumption, and additional memory usage overhead that can occur when updating firmware.

We investigated the function in the Lateral Geniculate Nucleus of avoidance behavior due to the inconsistency between binocular retinal images due to blue from vergence eye movement based on avoidance behavior caused by the inconsistency of binocular retinal images when watching the rim of a blue-yellow equiluminance column.

This paper formulates minimal word-line (WL) delay time with pre-emphasis pulses to design the pulse width as a function of the overdrive voltage for large memory arrays such as 3D NAND. Circuit theory for a single RC line only with capacitance to ground and that only with coupling capacitance as well as a general case where RC lines have both grounded and coupling capacitance is discussed to provide an optimum pre-emphasis pulse width to minimize the delay time. The theory is expanded to include the cases where the resistance of the RC line driver is not negligibly small. The minimum delay time formulas of a single RC delay line and capacitive coupling RC lines was in good agreement (i.e. within 5% error) with measurement. With this research, circuit designers can estimate an optimum pre-emphasis pulse width and the delay time for an RC line in the initial design phase.

We propose a video magnification method for magnifying subtle color and motion changes under the presence of non-meaningful background motions. We use frequency variability to design a filter that passes only meaningful subtle changes and removes non-meaningful ones; our method obtains more impressive magnification results without artifacts than compared methods.

In this study, we present a novel method for removing smoke from videos based on a single image sequence. Smoke is a significant artifact in images or videos because it can reduce the visibility in disaster scenes. Our proposed method for removing smoke involves two main processes: (1) the development of a smoke imaging model and (2) smoke removal using spatio-temporal pixel compensation. First, we model the optical phenomena in natural scenes including smoke, which is called a smoke imaging model. Our smoke imaging model is developed by extending conventional haze imaging models. We then remove the smoke from a video in a frame-by-frame manner based on the smoke imaging model. Next, we refine the appearance of the smoke-free video by spatio-temporal pixel compensation, where we align the smoke-free frames using the corresponding pixels. To obtain the corresponding pixels, we use SIFT and color features with distance constraints. Finally, in order to obtain a clear video, we refine the pixel values based on the spatio-temporal weightings of the corresponding pixels in the smoke-free frames. We used simulated and actual smoke videos in our validation experiments. The experimental results demonstrated that our method can obtain effective smoke removal results from dynamic scenes. We also quantitatively assessed our method based on a temporal coherence measure.

In this paper, we propose an active calibration algorithm to tackle both gain-phase errors and position perturbations. Unlike many other active calibration methods, which fix the array while changing the location of the source, our approach rotates the array but does not change the location of the source, and knowledge of the direction-of-arrival (DOA) of the far-field calibration source is not required. The superiority of the proposed method lies in the fact that measurement of the direction of a far-field calibration source is not easy to carry out, while measurement of the rotation angle via the proposed calibration strategy is convenient and accurate. To obtain the receiving data from different directions, the sensor array is rotated to three different positions with known rotation angles. Based on the eigen-decomposition of the data covariance matrices, we can use the direction of the auxiliary source to represent the gain-phase errors and position perturbations. After that, we estimate the DOA of the calibration source by a one-dimensional search. Finally, the sensor gain-phase errors and position perturbations are calculated by using the estimated direction of the calibration source. Simulations verify the effectiveness and performance of the algorithm.

This letter presents an efficient technique to reduce the computational complexity involved in training binary convolutional neural networks (BCNN). The BCNN training shall be conducted focusing on the optimization of the sign of each weight element rather than the exact value itself in convention; in which, the sign of an element is not likely to be flipped anymore after it has been updated to have such a large magnitude to be clipped out. The proposed technique does not update such elements that have been clipped out and eliminates the computations involved in their optimization accordingly. The complexity reduction by the proposed technique is as high as 25.52% in training the BCNN model for the CIFAR-10 classification task, while the accuracy is maintained without severe degradation.

In this paper, the distributed cooperative communication of unmanned aerial vehicles (UAVs) is studied, where the condition number (CN) and the inner product (InP) are used to measure the quality of communication links. By optimizing the relative position of UAVs, large channel capacity and stable communication links can be obtained. Using the spherical wave model under the line of sight (LOS) channel, CN expression of the channel matrix is derived when there are Nt transmitters and two receivers in the system. In order to maximize channel capacity, we derive the UAVs position constraint equation (UAVs-PCE), and the constraint between BS elements distance and carrier wavelength is analyzed. The result shows there is an area where no matter how the UAVs' positions are adjusted, the CN is still very large. Then a special scenario is considered where UAVs form a rectangular lattice array, and the optimal constraint between communication distance and UAVs distance is derived. After that, we derive the InP of channel matrix and the gradient expression of InP with respect to UAVs' position. The particle swarm optimization (PSO) algorithm is used to minimize the CN and the gradient descent (GD) algorithm is used to minimize the InP by optimizing UAVs' position iteratively. Both of the two algorithms present great potentials for optimizing the CN and InP respectively. Furthermore, a hybrid algorithm named PSO-GD combining the advantage of the two algorithms is proposed to maximize the communication capacity with lower complexity. Simulations show that PSO-GD is more efficient than PSO and GD. PSO helps GD to break away from local extremum and provides better positions for GD, and GD can converge to an optimal solution quickly by using the gradient information based on the better positions. Simulations also reveal that a better channel can be obtained when those parameters satisfy the UAVs position constraint equation (UAVs-PCE), meanwhile, theory analysis also explains the abnormal phenomena in simulations.

Content-based image retrieval has been a hot topic among computer vision researchers for a long time. There have been many advances over the years, one of the recent ones being deep metric learning, inspired by the success of deep neural networks in many machine learning tasks. The goal of metric learning is to extract good high-level features from image pixel data using neural networks. These features provide useful abstractions, which can enable algorithms to perform visual comparison between images with human-like accuracy. To learn these features, supervised information of image similarity or relative similarity is often used. One important issue in deep metric learning is how to define similarity for multi-label or multi-object scenes in images. Traditionally, pairwise similarity is defined based on the presence of a single common label between two images. However, this definition is very coarse and not suitable for multi-label or multi-object data. Another common mistake is to completely ignore the multiplicity of objects in images, hence ignoring the multi-object facet of certain types of datasets. In our work, we propose an approach for learning deep image representations based on the relative similarity of both multi-label and multi-object image data. We introduce an intuitive and effective similarity metric based on the Jaccard similarity coefficient, which is equivalent to the intersection over union of two label sets. Hence we treat similarity as a continuous, as opposed to discrete quantity. We incorporate this similarity metric into a triplet loss with an adaptive margin, and achieve good mean average precision on image retrieval tasks. We further show, using a recently proposed quantization method, that the resulting deep feature can be quantized whilst preserving similarity. We also show that our proposed similarity metric performs better for multi-object images than a previously proposed cosine similarity-based metric. Our proposed method outperforms several state-of-the-art methods on two benchmark datasets.

This study aims to propose a novel traveling-wave series-fed microstrip array antenna and its design. The proposed antenna has two features: additional slits placed on the output side of the antenna element are introduced as a new degree of freedom to control the radiation power from each element. Also, the unequal element spacing is applied to compensate passing phases of each antenna element; meander lines that would increase the insertion loss are not used. A 9-element linear array is designed and tested, and the simulated and measured results agree, thus validating the proposed design.