With the rapid deployment of the Internet of Things, where various devices are connected to communication networks, remote driving applications for Unmanned Vehicles (UVs) are attracting attention. In addition to automobiles, autonomous driving technology is expected to be applied to various types of equipment, such as small vehicles equipped with surveillance cameras to monitor building internally and externally, autonomous vehicles that deliver office supplies, and wheelchairs. When a UV is remotely controlled, the control accuracy deteriorates due to transmission delay and jitter. The accuracy must be kept high to realize UV control system by a cloud server. In this study, we investigate the effectiveness of Digital Twin Computing (DTC) for path tracking control of a UV. We show the results of simulations that use transmission delay values measured on the Internet with some cloud servers. Through the results, we quantitatively clarify that application of DTC improves control accuracy on path tracking control. We also clarify that application of jitter buffer, which absorbs the transmission delay fluctuation, can further improve the accuracy.

In the conventional single-phase PWM rectifier, the sinusoidal fluctuating current and voltage on the grid side will generate power ripple with a doubled grid frequency which leads to a secondary ripple in the DC output voltage, and the switching frequency of the conventional model predictive control strategy is not fixed. In order to solve the above two problems, a control strategy for suppressing the secondary ripple based on the three-vector fixed-frequency model predictive current control is proposed. Taking the capacitive energy storage type single-phase PWM rectifier as the research object, the principle of its active filtering is analyzed and a model predictive control strategy is proposed. Simulation and experimental results show that the proposed strategy can significantly reduce the secondary ripple of the DC output voltage, reduce the harmonic content of the input current, and achieve a constant switching frequency.

In this paper, the author performed an electromagnetic field simulation of a typical bonding wire structure that connects a chip and a package, and evaluated the signal transmission characteristics (S-parameters). In addition, the inductance per unit length was extracted by comparing with the equivalent circuit of the distributed constant line. It turns out that the distributed constant line model is not sufficient because there are frequencies where chip-package resonance occurs. Below the resonance frequency, the conventional low-frequency approximation model was effective, and it was found that the inductance was about 1nH/mm.

In this paper, a passive multiple-input multiple-output (MIMO) radar system with widely separated antennas that estimates the positions and velocities of multiple moving targets by utilizing time delay (TD) and doppler shift (DS) measurements is proposed. Passive radar systems can detect targets by using multiple uncoordinated and un-synchronized illuminators and we assume that all the measurements including TD and DS have been known by a preprocessing method. In this study, the algorithm can be divided into three stages. First, based on location information within a certain range and utilizing the DBSCAN cluster algorithm we can obtain the initial position of each target. In the second stage according to the correlation between the TD measurements of each target in a specific receiver and the DSs, we can find the set of DS measurements for each target. Therefore, the initial speed estimated values can be obtained employing the least squares (LS) method. Finally, maximum likelihood (ML) estimation of a first-order Taylor expansion joint TD and DS is applied for a better solution. Extensive simulations show that the proposed algorithm has a good estimation performance and can achieve the Cramér-Rao lower bound (CRLB) under the condition of moderate measurement errors.

In spatially distributed systems such as smart buildings and intelligent transportation systems, control of spatio-temporal patterns is an important issue. In this paper, we consider a finite-horizon optimal spatio-temporal pattern control problem where the pattern is specified by a signal spatio-temporal logic formula over finite traces, which will be called an SSTLf formula. We give the syntax and Boolean semantics of SSTLf. Then, we show linear encodings of the temporal and spatial operators used in SSTLf and we convert the problem into a mixed integer programming problem. We illustrate the effectiveness of this proposed approach through an example of a heat system in a room.

LiDAR is a distance sensor that plays a key role in the realization of advanced driver assistance systems (ADAS). In this paper, we present a tutorial and review of automotive direct time of flight (dToF) LiDAR from the aspect of circuit systems. We discuss the breakthrough in ADAS LiDARs through comparison with the first-generation LiDAR systems, which were conventionally high-cost and had an immature performance. We define current high-performance and low-cost LiDARs as next-generation LiDAR systems, which have significantly improved the cost and performance by integrating the photodetector, the readout circuit, and the signal processing unit into a single SoC. This paper targets reader who is new to ADAS LiDARs and will cover the basic principles of LiDAR, also comparing with range methods other than dToF. In addition, we discuss the development of this area through the latest research examples such as the 2-chip approach, 2D SPAD array, and 3D integrated LiDARs.

Graphene has been expected as an alternative material for copper interconnects in which resistance increases and reliability deteriorates in nanoscale. While the principle advantages are verified by simulations and experiments, they have not been put into practical use due to the immaturity of the manufacturing process leading to mass production. On the other hand, recent steady progress in the fabrication process has increased the possibility of practical application. In this paper, I will review the recent advances and the latest prospects for conductor applications of graphene centered on interconnects. The possibility of further application utilizing the unique characteristics of graphene is discussed.

Unique spatial eigenmodes for the spherical coordinate system are shown to be successfully synthesized by properly allocated combinations of current distributions along θ' and φ' on a spherical conformal array. The allocation ratios are analytically found in a closed form with a matrix that relates the expansion coefficients of the current to its radiated field. The coefficients are obtained by general Fourier expansion of the current and the mode expansion of the field, respectively. The validity of the obtained formulas is numerically confirmed, and important effects of the sphere radius and the degrees of the currents on the radiated fields are numerically explained. The formulas are used to design six current distributions that synthesize six unique eigenmodes. The accuracy of the synthesized fields is quantitatively investigated, and the accuracy is shown to be remarkably improved by more than 27dB with two additional kinds of current distributions.

A sub-Terahertz band is envisioned to play a great role in 6G to achieve extreme high data-rate communication. In addition to very wide band transmission, we need spatial multiplexing using a hybrid MIMO system. A recently presented paper, however, reveals that the number of observed multipath components in a sub-Terahertz band is very few in indoor environments. A channel with few multipath components is called sparse. The number of layers (streams), i.e. multiplexing gain in a MIMO system does not exceed the number of multipaths. The sparsity may restrict the spatial multiplexing gain of sub-Terahertz systems, and the poor multiplexing gain may limit the data rate of communication systems. This paper describes fundamental considerations on sub-Terahertz MIMO spatial multiplexing in indoor environments. We examined how we should steer analog beams to multipath components to achieve higher channel capacity. Furthermore, for different beam allocation schemes, we investigated eigenvalue distributions of a channel Gram matrix, power allocation to each layer, and correlations between analog beams. Through simulation results, we have revealed that the analog beams should be steered to all the multipath components to lower correlations and to achieve higher channel capacity.

Fine-grained image analysis, such as pixel-level approaches, improves threat detection in x-ray security images. In the practical setting, the cost of obtaining complete pixel-level annotations increases significantly, which can be reduced by partially labeling the dataset. However, handling partially labeled datasets can lead to training complicated multi-stage networks. In this paper, we propose a new end-to-end object separation framework that trains a single network on a partially labeled dataset while also alleviating the inherent class imbalance at the data and object proposal level. Empirical results demonstrate significant improvement over existing approaches.

Millimeter wave (mmWave) massive Multiple-Input Multiple-Output (MIMO) systems generally adopt hybrid precoding combining digital and analog precoder as an alternative to full digital precoding to reduce RF chains and energy consumption. In order to balance the relationship between spectral efficiency, energy efficiency and hardware complexity, the hybrid-connected system structure should be adopted, and then the solution process of hybrid precoding can be simplified by decomposing the total achievable rate into several sub-rates. However, the singular value decomposition (SVD) incurs high complexity in calculating the optimal unconstrained hybrid precoder for each sub-rate. Therefore, this paper proposes PAST, a low complexity hybrid precoding algorithm based on projection approximate subspace tracking. The optimal unconstrained hybrid precoder of each sub-rate is estimated with the PAST algorithm, which avoids the high complexity process of calculating the left and right singular vectors and singular value matrix by SVD. Simulations demonstrate that PAST matches the spectral efficiency of SVD-based hybrid precoding in full-connected (FC), hybrid-connected (HC) and sub-connected (SC) system structure. Moreover, the superiority of PAST over SVD-based hybrid precoding in terms of complexity and increases with the number of transmitting antennas.

High-Altitude Platform Station (HAPS) provides communication services from an altitude of 20km via a stratospheric platform such as a balloon, solar-powered airship, or other aircraft, and is attracting much attention as a new mobile communication platform for ultra-wide coverage areas and disaster-resilient networks. HAPS can provide mobile communication services directly to the existing smartphones commonly used in terrestrial mobile communication networks such as Fourth Generation Long Term Evolution (4G LTE), and in the near future, Fifth Generation New Radio (5G NR). In order to design efficient HAPS-based cell configurations, we need a radio wave propagation model that takes into consideration factors such as terrain, vegetation, urban areas, suburban areas, and building entry loss. In this paper, we propose a new vegetation loss model for Recommendation ITU-R P.833-9 that can take transmission frequency and seasonal characteristics into consideration. It is based on measurements and analyses of the vegetation loss of deciduous trees in different seasons in Japan. Also, we carried out actual stratospheric measurements in the 700MHz band in Kenya to extend the lower frequency limit. Because the measured results show good agreement with the results predicted by the new vegetation loss model, the model is sufficiently valid in various areas including actual HAPS usage.

In recent years, High-Altitude Platform Station (HAPS) has become the most interesting topic for next generation mobile communication systems, because platforms such as Unmanned Aerial Vehicles (UAVs), balloons, airships can provide ultra-wide coverage, up to 200km in diameter, from altitudes of around 20 km. It also offers resiliency to damage caused by disasters and so ensures the stability and reliability of mobile communications. In order to further integrate HAPS with existing terrestrial mobile communication networks in providing mobile services to users, radio wave propagation models such as terrain, vegetation loss, human shielding loss, building entry loss, urban/suburban areas must be taken into consideration when designing HAPS-based cell configurations. This paper proposes a human body shielding propagation loss model that considers the basic signal attenuation by the human body at high elevation angles. It also analyzes the effect of changes in actual urban/suburban environments due to the arrival of multipath radio waves for HAPS communications in the frequency range of 0.7 to 3.3GHz. Measurements in actual urban/rural environments in Japan and actual stratospheric base station measurements in Kenya are carried out to confirm the validity of the proposed model. Since the measured results agree well with the results predicted by the proposed model, the model is good enough to provide estimates of human loss in various environments.

In this paper, we propose a non-orthogonal multiple access with adaptive resource allocation. The proposed non-orthogonal multiple access assigns multiple frequency resources for each device to send packets. Even if the number of devices is more than that of the available frequency resources, the proposed non-orthogonal access allows all the devices to transmit their packets simultaneously for high capacity massive machine-type communications (mMTC). Furthermore, this paper proposes adaptive resource allocation algorithms based on factor graphs that adaptively allocate the frequency resources to the devices for improvement of the transmission performances. This paper proposes two allocation algorithms for the proposed non-orthogonal multiple access. This paper shows that the proposed non-orthogonal multiple access achieves superior transmission performance when the number of the devices is 50% greater than the amount of the resource, i.e., the overloading ratio of 1.5, even without the adaptive resource allocation. The adaptive resource allocation enables the proposed non-orthogonal access to attain a gain of about 5dB at the BER of 10-4.

Geometric partitioning mode (GPM) is a new inter prediction tool adopted in versatile video coding (VVC), which is the latest video coding of international standard developed by joint video expert team in 2020. Different from the regular inter prediction performed on rectangular blocks, GPM separates a coding block into two regions by the pre-defined 64 types of straight lines, generates inter predicted samples for each separated region, and then blends them to obtain the final inter predicted samples. With this feature, GPM improves the prediction accuracy at the boundary between the foreground and background with different motions. However, GPM has room to further improve the prediction accuracy if the final predicted samples can be generated using not only inter prediction but also intra prediction. In this paper, we propose a GPM with inter and intra prediction to achieve further enhanced compression capability beyond VVC. To maximize the coding performance of the proposed method, we also propose the restriction of the applicable intra prediction mode number and the prohibition of applying the intra prediction to both GPM-separated regions. The experimental results show that the proposed method improves the coding performance gain by the conventional GPM method of VVC by 1.3 times, and provides an additional coding performance gain of 1% bitrate savings in one of the coding structures for low-latency video transmission where the conventional GPM method cannot be utilized.

It is important to consider curvature properties around the control points to produce natural-looking results in the vector illustration. C2 interpolating splines satisfy point interpolation with local support. Unfortunately, they cannot control the sharpness of the segment because it utilizes trigonometric function as blending function that has no degree of freedom. In this paper, we alternate the definition of C2 interpolating splines in both interpolation curve and blending function. For the interpolation curve, we adopt a rational Bézier curve that enables the user to tune the shape of curve around the control point. For the blending function, we generalize the weighting scheme of C2 interpolating splines and replace the trigonometric weight to our novel hyperbolic blending function. By extending this basic definition, we can also handle exact non-C2 features, such as cusps and fillets, without losing generality. In our experiment, we provide both quantitative and qualitative comparisons to existing parametric curve models and discuss the difference among them.

Inter-channel correlation is one of the redundancy which need to be eliminated in video coding. In the latest video coding standard H.266/VVC, the DM (Direct Mode) and CCLM (Cross-component Linear Model) modes have been introduced to reduce the similarity between luminance and chroma. However, inter-channel correlation is still observed. In this paper, a new inter-channel prediction algorithm is proposed, which utilizes coloring principle to predict chroma pixels. From the coloring perspective, for most natural content video frames, the three components Y, U and V always demonstrate similar coloring pattern. Therefore, the U and V components can be predicted using the coloring pattern of the Y component. In the proposed algorithm, correlation coefficients are obtained in a lightweight way to describe the coloring relationship between current pixel and reference pixel in Y component, and used to predict chroma pixels. The optimal position for the reference samples is also designed. Base on the selected position of the reference samples, two new chroma prediction modes are defined. Experiment results show that, compared with VTM 12.1, the proposed algorithm has an average of -0.92% and -0.96% BD-rate improvement for U and V components, for All Intra (AI) configurations. At the same time, the increased encoding time and decoding time can be ignored.

In 2015, the Ministry of Land, Infrastructure and Transportation started to provide information on aircraft flying over Japan, called CARATS Open Data, and to promote research on aviation systems actively. The airspace is divided into sectors, which are used for limiting air traffic to control safely and efficiently. Since the demand for air transportation is increasing, new optimization techniques and efficient control have been required to predict and resolve demand-capacity imbalances in the airspace. In this paper, we aim to construct mathematical models of the inter-sector air traffic flow from CARATS Open Data. In addition, we develop methods to predict future sector demand. Accuracy of the prediction is evaluated by comparison between predicted sector demand and the actual data.

Couplers in a film-type capacitive wireless power charging (CWC) system for an implantable medical device were designed and analyzed in this work. Due to the high conductivity of the human body, two paths contribute to the power transmission, namely a high-frequency current and an electric field. This was confirmed by an equivalent circuit of the system. During analysis of the system, we used pig skin with subcutaneous fat, which has a high affinity with the human body, to search for a highly efficient electrode shape. Subsequently, we fabricated the designed coupler and measured ηmax. An ηmax of 56.6% was obtained for a half-circular coupler with a radius of 20 mm and a distance of 10 mm between adjacent couplers. This study will contribute to the realization of implantable devices that can be recharged during breaks or while sleeping at home and is expected to significantly reduce the burden on patients.

We studied whether a statement similar to the Ghouila-Houri's theorem might hold for alternating orientations of cocomparability graphs. In this paper, we give the negative answer. We prove that it is NP-complete to decide whether a cocomparability graph has an orientation that is alternating and acyclic. Hence, cocomparability graphs with an acyclic alternating orientation form a proper subclass of alternately orientable cocomparability graphs. We also provide a separating example, that is, an alternately orientable cocomparability graph such that no alternating orientation is acyclic.