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Battery-free sensor tags are devices that leverage backscatter techniques to communicate with standard IoT devices, thereby augmenting a network's sensing capabilities in a scalable way. For communicating, a sensor tag relies on an unmodulated carrier provided by a neighboring IoT device, with a schedule coordinating this provisioning across the network. Carrier scheduling--computing schedules to interrogate all sensor tags while minimizing energy, spectrum utilization, and latency--is an NP-Hard optimization problem. Recent work introduces learning-based schedulers that achieve resource savings over a carefully-crafted heuristic, generalizing to networks of up to 60 nodes. However, we find that their advantage diminishes in networks with hundreds of nodes, and degrades further in larger setups. This paper introduces RobustGANTT, a GNN-based scheduler that improves generalization (without re-training) to networks up to 1000 nodes (100x training topology sizes). RobustGANTT not only achieves better and more consistent generalization, but also computes schedules requiring up to 2x less resources than existing systems. Our scheduler exhibits average runtimes of hundreds of milliseconds, allowing it to react fast to changing network conditions. Our work not only improves resource utilization in large-scale backscatter networks, but also offers valuable insights in learning-based scheduling., Comment: 15 Pages, 12 Figures. Pre-print, under review

The promise of quantum computing to address complex problems requiring high computational resources has long been hindered by the intrinsic and demanding requirements of quantum hardware development. Nonetheless, the current state of quantum computing, denominated Noisy Intermediate-Scale Quantum (NISQ) era, has introduced algorithms and methods that are able to harness the computational power of current quantum computers with advantages over classical computers (referred to as quantum advantage). Achieving quantum advantage is of particular relevance for the combinatorial optimization domain, since it often implies solving an NP-Hard optimization problem. Moreover, combinatorial problems are highly relevant for practical application areas, such as operations research, or resource allocation problems. Among quantum computing methods, Variational Quantum Algorithms (VQA) have emerged as one of the strongest candidates towards reaching practical applicability of NISQ systems. This paper explores the current state and recent developments of VQAs, emphasizing their applicability to combinatorial optimization. We identify the Quantum Approximate Optimization Algorithm (QAOA) as the leading candidate for these problems. Furthermore, we implement QAOA circuits with varying depths to solve the MaxCut problem on graphs with 10 and 20 nodes, demonstrating the potential and challenges of using VQAs in practical optimization tasks. We release our code, dataset and optimized circuit parameters under https://github.com/DanielFPerez/VQA-for-MaxCut., Comment: 10 pages. This manuscript was initially prepared as a preliminary technical report

Qubit control electronics composed of CMOS circuits are of critical interest for next generation quantum computing systems. A CMOS-based application specific integrated circuit (ASIC) fabricated in 14nm FinFET technology was used to generate and sequence qubit control waveforms and demonstrate a two-qubit cross resonance gate between fixed frequency transmons. The controller was thermally anchored to the T = 4K stage of a dilution refrigerator and the measured power was 23 mW per qubit under active control. The chip generated single--side banded output frequencies between 4.5 and 5.5 GHz with a maximum power output of -18 dBm. Randomized benchmarking (RB) experiments revealed an average number of 1.71 instructions per Clifford (IPC) for single-qubit gates, and 17.51 IPC for two-qubit gates. A single-qubit error per gate of $\epsilon_{\text{1Q}}$=8e-4 and two-qubit error per gate of $\epsilon_\text{2Q}$=1.4e-2 is shown. A drive-induced Z-rotation is observed by way of a rotary echo experiment; this observation is consistent with expected qubit behavior given measured excess local oscillator (LO) leakage from the CMOS chip. The effect of spurious drive induced Z-errors is numerically evaluated with a two-qubit model Hamiltonian, and shown to be in good agreement with measured RB data. The modeling results suggest the Z-error varies linearly with pulse amplitude., Comment: 33 pages, 10 figures

Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents and the need for solutions that ensure a safe Human-Robot Collaboration. This paper proposes a safety system that implements Speed and Separation Monitoring (SSM) type of operation. For this, safety zones are defined in the robot's workspace following current standards for industrial collaborative robots. A deep learning-based computer vision system detects, tracks, and estimates the 3D position of operators close to the robot. The robot control system receives the operator's 3D position and generates 3D representations of them in a simulation environment. Depending on the zone where the closest operator was detected, the robot stops or changes its operating speed. Three different operation modes in which the human and robot interact are presented. Results show that the vision-based system can correctly detect and classify in which safety zone an operator is located and that the different proposed operation modes ensure that the robot's reaction and stop time are within the required time limits to guarantee safety., Comment: Accepted for publication at the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Novel backscatter communication techniques enable battery-free sensor tags to interoperate with unmodified standard IoT devices, extending a sensor network's capabilities in a scalable manner. Without requiring additional dedicated infrastructure, the battery-free tags harvest energy from the environment, while the IoT devices provide them with the unmodulated carrier they need to communicate. A schedule coordinates the provision of carriers for the communications of battery-free devices with IoT nodes. Optimal carrier scheduling is an NP-hard problem that limits the scalability of network deployments. Thus, existing solutions waste energy and other valuable resources by scheduling the carriers suboptimally. We present DeepGANTT, a deep learning scheduler that leverages graph neural networks to efficiently provide near-optimal carrier scheduling. We train our scheduler with relatively small optimal schedules obtained from a constraint optimization solver, achieving a performance within 3% of the optimal scheduler. Without the need to retrain, DeepGANTT generalizes to networks 6x larger in the number of nodes and 10x larger in the number of tags than those used for training, breaking the scalability limitations of the optimal scheduler and reducing carrier utilization by up to 50% compared to the state-of-the-art heuristic. Our scheduler efficiently reduces energy and spectrum utilization in backscatter networks., Comment: 11 pages (excluding references). Submitted version that was accepted to IPSN 2023 (not the camera-ready version). Camera-ready version available here: https://doi.org/10.1145/3583120.3586957

The use of classical computers to simulate quantum computing has been successful in aiding the study of quantum algorithms and circuits that are too complex to examine analytically. Current implementations of quantum computing simulators are limited to two-level quantum systems. Recent advances in high-dimensional quantum computing systems have demonstrated the viability of working with multi-level superposition and entanglement. These advances allow an agile increase in the number of dimensions of the system while maintaining quantum entanglement, achieving higher encoding of information and making quantum algorithms less vulnerable to decoherence and computational errors. In this paper, we introduce QuantumSkynet, a novel high-dimensional cloud-based quantum computing simulator. This platform allows simulations of qudit-based quantum algorithms. We also propose a unified generalization of high-dimensional quantum gates, which are available for simulations in QuantumSkynet. Finally, we report simulations and their results for qudit-based versions of the Deutsch--Jozsa and quantum phase estimation algorithms using QuantumSkynet., Comment: 18 pages, 12 figures

This work presents a new methodology to obtain probabilistic interval predictions of a dynamical system. The proposed strategy uses stored past system measurements to estimate the future evolution of the system. The method relies on the use of dissimilarity functions to estimate the conditional probability density function of the outputs. A family of empirical probability density functions, parameterized by means of two scalars, is introduced. It is shown that the proposed family encompasses the multivariable normal probability density function as a particular case. We show that the presented approach constitutes a generalization of classical estimation methods. A validation scheme is used to tune the two parameters on which the methodology relies. In order to prove the effectiveness of the presented methodology, some numerical examples and comparisons are provided., Comment: 10 pages, 3 figures

Knowledge discovery is one of the main goals of Artificial Intelligence. This Knowledge is usually stored in databases spread in different environments, being a tedious (or impossible) task to access and extract data from them. To this difficulty we must add that these datasources may contain private data, therefore the information can never leave the source. Privacy Preserving Machine Learning (PPML) helps to overcome this difficulty, employing cryptographic techniques, allowing knowledge discovery while ensuring data privacy. K-means is one of the data mining techniques used in order to discover knowledge, grouping data points in clusters that contain similar features. This paper focuses in Privacy Preserving Machine Learning applied to K-means using recent protocols from the field of criptography. The algorithm is applied to different scenarios where data may be distributed either horizontally or vertically.

This paper presents an extension to the nonlinear Model Predictive Control for Tracking scheme able to guarantee convergence even in cases of non-convex output admissible sets. This is achieved by incorporating a convexifying homeomorphism in the optimization problem, allowing it to be solved in the convex space. A novel class of non-convex sets is also defined for which a systematic procedure to construct a convexifying homeomorphism is provided. This homeomorphism is then embedded in the Model Predictive Control optimization problem in such a way that the homeomorphism is no longer required in closed form. Finally, the effectiveness of the proposed method is showcased through an illustrative example.

The goal of this paper is to present a systematic method to compute reference dependent positively invariant sets for systems subject to constraints. To this end, we first characterize these sets as level sets of reference dependent Lyapunov functions. Based on this characterization and using Sum of Squares (SOS) theory, we provide a polynomial certificate for the existence of such sets. Subsequently, through some algebraic manipulations, we express this certificate in terms of a Semi-Definite Programming (SDP) problem which maximizes the size of the resulting reference dependent invariant sets. We then present the results of implementing the proposed method to an example system and propose some variations of the proposed method that may help in reducing the numerical issues of the method. Finally, the proposed method is employed in the Model Predictive Control (MPC) for Tracking scheme to compute the terminal set, and in the Explicit Reference Governor (ERG) scheme to compute the so-called Dynamic Safety Margin (DSM). The effectiveness of the proposed method in each of the schemes is demonstrated through a simulation study.

The reduction of constraints to obtain minimal representations of sets is a very common problem in many engineering applications. While well-established methodologies exist for the case of linear constraints, the problem of how to detect redundant non-linear constraints is an open problem. In this paper we present a novel methodology based on Sum of Squares for the elimination of redundant polynomial constraints. The paper also presents some relevant applications of the presented method to constrained control problems. In particular, we show how the proposed method can be used in the Model Predictive Control and in the Reference Governor frameworks to reduce the computational burden of the online algorithms. Furthermore, this method can also be used to eliminate the terminal constraints in MPC in a simple way that is independent from the cost function.

Existing approaches to solving combinatorial optimization problems on graphs suffer from the need to engineer each problem algorithmically, with practical problems recurring in many instances. The practical side of theoretical computer science, such as computational complexity, then needs to be addressed. Relevant developments in machine learning research on graphs are surveyed for this purpose. We organize and compare the structures involved with learning to solve combinatorial optimization problems, with a special eye on the telecommunications domain and its continuous development of live and research networks., Comment: 29 pages, 1 figure, open access journal publication