GLOBAL REGISTRATION OF MULTIPLE POINT CLOUDS USING SEMIDEFINITE PROGRAMMING

Consider N points in R-d and M local coordinate systems that are related through unknown rigid transforms. For each point, we are given (possibly noisy) measurements of its local coordinates in some of the coordinate systems. Alternatively, for each coordinate system, we observe the coordinates of a subset of the points. The problem of estimating the global coordinates of the N points (up to a rigid transform) from such measurements comes up in distributed approaches to molecular conformation and sensor network localization, and also in computer vision and graphics. The least-squares formulation of this problem, although nonconvex, has a well-known closed-form solution when M = 2 (based on the singular value decomposition (SVD)). However, no closed-form solution is known for M >= 3. In this paper, we demonstrate how the least-squares formulation can be relaxed into a convex program, namely, a semidefinite program (SDP). By setting up connections between the uniqueness of this SDP and results from rigidity theory, we prove conditions for exact and stable recovery for the SDP relaxation. In particular, we prove that the SDP relaxation can guarantee recovery under more adversarial conditions compared to earlier proposed spectral relaxations, and we derive error bounds for the registration error incurred by the SDP relaxation. We also present results of numerical experiments on simulated data to confirm the theoretical findings. We empirically demonstrate that (a) unlike the spectral relaxation, the relaxation gap is mostly zero for the SDP (i.e., we are able to solve the original nonconvex least-squares problem) up to a certain noise threshold, and (b) the SDP performs significantly better than spectral and manifold-optimization methods, particularly at large noise levels.

Secure Compute-and-Forward in a Bidirectional Relay

We consider the basic bidirectional relaying problem, in which two users in a wireless network wish to exchange messages through an intermediate relay node. In the compute-and-forward strategy, the relay computes a function of the two messages using the naturally occurring sum of symbols simultaneously transmitted by user nodes in a Gaussian multiple-access channel (MAC), and the computed function value is forwarded to the user nodes in an ensuing broadcast phase. In this paper, we study the problem under an additional security constraint, which requires that each user's message be kept secure from the relay. We consider two types of security constraints: 1) perfect secrecy, in which the MAC channel output seen by the relay is independent of each user's message and 2) strong secrecy, which is a form of asymptotic independence. We propose a coding scheme based on nested lattices, the main feature of which is that given a pair of nested lattices that satisfy certain goodness properties, we can explicitly specify probability distributions for randomization at the encoders to achieve the desired security criteria. In particular, our coding scheme guarantees perfect or strong secrecy even in the absence of channel noise. The noise in the channel only affects reliability of computation at the relay, and for Gaussian noise, we derive achievable rates for reliable and secure computation. We also present an application of our methods to the multihop line network in which a source needs to transmit messages to a destination through a series of intermediate relays.

A Reliable Residual Based A Posteriori Error Estimator for a Quadratic Finite Element Method for the Elliptic Obstacle Problem

A residual based a posteriori error estimator is derived for a quadratic finite element method (FEM) for the elliptic obstacle problem. The error estimator involves various residuals consisting of the data of the problem, discrete solution and a Lagrange multiplier related to the obstacle constraint. The choice of the discrete Lagrange multiplier yields an error estimator that is comparable with the error estimator in the case of linear FEM. Further, an a priori error estimate is derived to show that the discrete Lagrange multiplier converges at the same rate as that of the discrete solution of the obstacle problem. The numerical experiments of adaptive FEM show optimal order convergence. This demonstrates that the quadratic FEM for obstacle problem exhibits optimal performance.

A Remark on the A Posteriori Error Analysis of Discontinuous Galerkin Methods for the Obstacle Problem

We revisit the a posteriori error analysis of discontinuous Galerkin methods for the obstacle problem derived in 25]. Under a mild assumption on the trace of obstacle, we derive a reliable a posteriori error estimator which does not involve min/max functions. A key in this approach is an auxiliary problem with discrete obstacle. Applications to various discontinuous Galerkin finite element methods are presented. Numerical experiments show that the new estimator obtained in this article performs better.

Two player game variant of the Erdos-Szekeres problem

The classical Erdos-Szekeres theorem states that a convex k-gon exists in every sufficiently large point set. This problem has been well studied and finding tight asymptotic bounds is considered a challenging open problem. Several variants of the Erdos-Szekeres problem have been posed and studied in the last two decades. The well studied variants include the empty convex k-gon problem, convex k-gon with specified number of interior points and the chromatic variant. In this paper, we introduce the following two player game variant of the Erdos-Szekeres problem: Consider a two player game where each player playing in alternate turns, place points in the plane. The objective of the game is to avoid the formation of the convex k-gon among the placed points. The game ends when a convex k-gon is formed and the player who placed the last point loses the game. In our paper we show a winning strategy for the player who plays second in the convex 5-gon game and the empty convex 5-gon game by considering convex layer configurations at each step. We prove that the game always ends in the 9th step by showing that the game reaches a specific set of configurations.

Outer Bounds on the Sum Rate of the K-User MIMO Gaussian Interference Channel

This paper derives outer bounds on the sum rate of the K-user MIMO Gaussian interference channel (GIC). Three outer bounds are derived, under different assumptions of cooperation and providing side information to receivers. The novelty in the derivation lies in the careful selection of side information, which results in the cancellation of the negative differential entropy terms containing signal components, leading to a tractable outer bound. The overall outer bound is obtained by taking the minimum of the three outer bounds. The derived bounds are simplified for the MIMO Gaussian symmetric IC to obtain outer bounds on the generalized degrees of freedom (GDOF). The relative performance of the bounds yields insight into the performance limits of multiuser MIMO GICs and the relative merits of different schemes for interference management. These insights are confirmed by establishing the optimality of the bounds in specific cases using an inner bound on the GDOF derived by the authors in a previous work. It is also shown that many of the existing results on the GDOF of the GIC can be obtained as special cases of the bounds, e. g., by setting K = 2 or the number of antennas at each user to 1.

Nonlinear Differential Games-Based Impact-Angle-Constrained Guidance Law

The problem of intercepting a maneuvering target at a prespecified impact angle is posed in nonlinear zero-sum differential games framework. A feedback form solution is proposed by extending state-dependent Riccati equation method to nonlinear zero-sum differential games. An analytic solution is obtained for the state-dependent Riccati equation corresponding to the impact-angle-constrained guidance problem. The impact-angle-constrained guidance law is derived using the states line-of-sight rate and projected terminal impact angle error. Local asymptotic stability conditions for the closed-loop system corresponding to these states are studied. Time-to-go estimation is not explicitly required to derive and implement the proposed guidance law. Performance of the proposed guidance law is validated using two-dimensional simulation of the relative nonlinear kinematics as well as a thrust-driven realistic interceptor model.

A Variant of the Hadwiger-Debrunner (p, q)-Problem in the Plane

Let X be a convex curve in the plane (say, the unit circle), and let be a family of planar convex bodies such that every two of them meet at a point of X. Then has a transversal of size at most . Suppose instead that only satisfies the following ``(p, 2)-condition'': Among every p elements of , there are two that meet at a common point of X. Then has a transversal of size . For comparison, the best known bound for the Hadwiger-Debrunner (p, q)-problem in the plane, with , is . Our result generalizes appropriately for if is, for example, the moment curve.

Optimum Parameter Selection in Sparse Reconstruction of Frequency-Domain Optical-Coherence Tomography Signals

For a multilayered specimen, the back-scattered signal in frequency-domain optical-coherence tomography (FDOCT) is expressible as a sum of cosines, each corresponding to a change of refractive index in the specimen. Each of the cosines represent a peak in the reconstructed tomogram. We consider a truncated cosine series representation of the signal, with the constraint that the coefficients in the basis expansion be sparse. An l(2) (sum of squared errors) data error is considered with an l(1) (summation of absolute values) constraint on the coefficients. The optimization problem is solved using Weiszfeld's iteratively reweighted least squares (IRLS) algorithm. On real FDOCT data, improved results are obtained over the standard reconstruction technique with lower levels of background measurement noise and artifacts due to a strong l(1) penalty. The previous sparse tomogram reconstruction techniques in the literature proposed collecting sparse samples, necessitating a change in the data capturing process conventionally used in FDOCT. The IRLS-based method proposed in this paper does not suffer from this drawback.

Parameterized Algorithms and Kernels for 3-Hitting Set with Parity Constraints

The 3-Hitting Set problem involves a family of subsets F of size at most three over an universe U. The goal is to find a subset of U of the smallest possible size that intersects every set in F. The version of the problem with parity constraints asks for a subset S of size at most k that, in addition to being a hitting set, also satisfies certain parity constraints on the sizes of the intersections of S with each set in the family F. In particular, an odd (even) set is a hitting set that hits every set at either one or three (two) elements, and a perfect code is a hitting set that intersects every set at exactly one element. These questions are of fundamental interest in many contexts for general set systems. Just as for Hitting Set, we find these questions to be interesting for the case of families consisting of sets of size at most three. In this work, we initiate an algorithmic study of these problems in this special case, focusing on a parameterized analysis. We show, for each problem, efficient fixed-parameter tractable algorithms using search trees that are tailor-made to the constraints in question, and also polynomial kernels using sunflower-like arguments in a manner that accounts for equivalence under the additional parity constraints.

A posteriori error estimates of discontinuous Galerkin methods for the Signorini problem

A reliable and efficient a posteriori error estimator is derived for a class of discontinuous Galerkin (DG) methods for the Signorini problem. A common property shared by many DG methods leads to a unified error analysis with the help of a constraint preserving enriching map. The error estimator of DG methods is comparable with the error estimator of the conforming methods. Numerical experiments illustrate the performance of the error estimator. (C) 2015 Elsevier B.V. All rights reserved.

QEP Based Solution for Power Allocation in Amplify and Forward Networks

The problem of cooperative beamforming for maximizing the achievable data rate of an energy constrained two-hop amplify-and-forward (AF) network is considered. Assuming perfect channel state information (CSI) of all the nodes, we evaluate the optimal scaling factor for the relay nodes. Along with individual power constraint on each of the relay nodes, we consider a weighted sum power constraint. The proposed iterative algorithm initially solves a set of relaxed problems with weighted sum power constraint and then updates the solution to accommodate individual constraints. These relaxed problems in turn are solved using a sequence of Quadratic Eigenvalue Problems (QEP). The key contribution of this letter is the generalization of cooperative beamforming to incorporate both the individual and weighted sum constraint. Furthermore, we have proposed a novel algorithm based on Quadratic Eigenvalue Problem (QEP) and discussed its convergence.

Renormalization group invariants and sum rules in the deflected mirage mediation supersymmetry breaking

We examine the deflected mirage mediation supersymmetry breaking (DMMSB) scenario, which combines three supersymmetry breaking scenarios, namely anomaly mediation, gravity mediation and gauge mediation using the one-loop renormalization group invariants (RGIs). We examine the effects on the RGIs at the threshold where the gauge messengers emerge, and derive the supersymmetry breaking parameters in terms of the RGIs. We further discuss whether the supersymmetry breaking mediation mechanism can be determined using a limited set of invariants, and derive sum rules valid for DMMSB below the gauge messenger scale. In addition we examine the implications of the measured Higgs mass for the DMMSB spectrum.

Unique Covering Problems with Geometric Sets

The Exact Cover problem takes a universe U of n elements, a family F of m subsets of U and a positive integer k, and decides whether there exists a subfamily(set cover) F' of size at most k such that each element is covered by exactly one set. The Unique Cover problem also takes the same input and decides whether there is a subfamily F' subset of F such that at least k of the elements F' covers are covered uniquely(by exactly one set). Both these problems are known to be NP-complete. In the parameterized setting, when parameterized by k, Exact Cover is W1]-hard. While Unique Cover is FPT under the same parameter, it is known to not admit a polynomial kernel under standard complexity-theoretic assumptions. In this paper, we investigate these two problems under the assumption that every set satisfies a given geometric property Pi. Specifically, we consider the universe to be a set of n points in a real space R-d, d being a positive integer. When d = 2 we consider the problem when. requires all sets to be unit squares or lines. When d > 2, we consider the problem where. requires all sets to be hyperplanes in R-d. These special versions of the problems are also known to be NP-complete. When parameterizing by k, the Unique Cover problem has a polynomial size kernel for all the above geometric versions. The Exact Cover problem turns out to be W1]-hard for squares, but FPT for lines and hyperplanes. Further, we also consider the Unique Set Cover problem, which takes the same input and decides whether there is a set cover which covers at least k elements uniquely. To the best of our knowledge, this is a new problem, and we show that it is NP-complete (even for the case of lines). In fact, the problem turns out to be W1]-hard in the abstract setting, when parameterized by k. However, when we restrict ourselves to the lines and hyperplanes versions, we obtain FPT algorithms.

1D Tight-Binding Models Render Quantum First Passage Time ``Speakable''

The calculation of First Passage Time (moreover, even its probability density in time) has so far been generally viewed as an ill-posed problem in the domain of quantum mechanics. The reasons can be summarily seen in the fact that the quantum probabilities in general do not satisfy the Kolmogorov sum rule: the probabilities for entering and non-entering of Feynman paths into a given region of space-time do not in general add up to unity, much owing to the interference of alternative paths. In the present work, it is pointed out that a special case exists (within quantum framework), in which, by design, there exists one and only one available path (i.e., door-way) to mediate the (first) passage -no alternative path to interfere with. Further, it is identified that a popular family of quantum systems - namely the 1d tight binding Hamiltonian systems - falls under this special category. For these model quantum systems, the first passage time distributions are obtained analytically by suitably applying a method originally devised for classical (stochastic) mechanics (by Schroedinger in 1915). This result is interesting especially given the fact that the tight binding models are extensively used in describing everyday phenomena in condense matter physics.