In a K-pair-user two-way interference channel (TWIC), 2K messages and 2K transmitters/receivers form a K-user IC in the forward direction (K messages) and another K-user IC in the backward direction which operate in full-duplex mode. All nodes may interact, or adapt inputs to past received signals. We derive a new outer bound to demonstrate that the optimal degrees of freedom (DoF, also known a...

The degrees of freedom (DoF) region of the two-user MIMO interference channel (IC) is completely characterized in the presence of noiseless channel output feedback from each receiver to its respective transmitter and with the assumption of delayed channel state information (CSI) at the transmitters. It is shown that having output feedback and delayed CSI at the transmitters can strictly enlarge...

The purpose of introducing a combined cycle with gas turbine in power plants is to reduce losses of energy, by effectively using exhaust gases from the gas turbine to produce additional electricity or process. The efficiency of a combined power plant with the gas turbine increases, exceeding 50%, while the efficiency of traditional steam turbine plants is approximately 35% to 40%. Up to the pre...

Robots are now requested to perform more and more complex tasks such as rescue activities in quite practical environments such as rough terrains. It is necessary for robots to have versatile joints that can flexibly adapt to such task environments and realize complex motions. It is desired to develop small and low cost actuators which can flexibly adapt to task environment. Flexibility in robot...

The use of motor primitives for the generation of complex movements is a relatively new and interesting idea for dimensionality reduction in robot control. We propose a framework in which adaptive primitives learn and represent synergetic arm movements. A simple and fixed set of postural and oscillatory primitives form the substrate through which all control is elicited. Higher level adaptive p...

This paper illustrated an application of Locally Weighted Projection Regression to a complex robot learning task. The O(n) update complexity of LWPR, together with its statistically sound dimensionality reduction and learning rules allowed a reliable and successful real-time implementation of the algorithm on an actual anthropomorphic robot. From the viewpoint of learning control, these results...

It is possible to estimate the depth of focus (DOF) of the eye directly from wavefront measurements using various retinal image quality metrics (IQMs). In such methods, DOF is defined as the range of defocus error that degrades the retinal image quality calculated from IQMs to a certain level of the maximum value. Although different retinal image quality metrics are used, currently there have b...

A K-user secure Gaussian Multiple-Access-Channel (MAC) with an external eavesdropper is considered in this paper. An achievable rate region is established for the secure discrete memoryless MAC. The secrecy sum capacity of the degraded Gaussian MIMO MAC is proven using Gaussian codebooks. For the non-degraded Gaussian MIMO MAC, an algorithm inspired by interference alignment technique is propos...

We study the problem of interference management in fast fading wireless networks, in which the transmitters are only aware of network topology. We consider a class of retransmission-based schemes, where transmitters in the network are only allowed to resend their symbols in order to assist with the neutralization of interference at the receivers. We introduce a necessary and sufficient conditio...

The Korea Advanced Institute of Science and Technology (KAIST) humanoid robot 1 (KHR-1) was developed for the purpose of researching the walking action of bipeds. KHR-1, which has no hands or head, has 21 degrees of freedom (DOF): 12 DOF in the legs, 1 DOF in the torso, and 8 DOF in the arms. The second version of this humanoid robot, KHR-2, (which has 41 DOF) can walk on a living-room floor; i...