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See detailVPS-SLAM: Visual Planar Semantic SLAM for Aerial Robotic Systems
Bavle, Hriday UL; Puente, P. De La; How, J. P. et al

in IEEE Access (2020), 8

Indoor environments have abundant presence of high-level semantic information which can provide a better understanding of the environment for robots to improve the uncertainty in their pose estimate ... [more ▼]

Indoor environments have abundant presence of high-level semantic information which can provide a better understanding of the environment for robots to improve the uncertainty in their pose estimate. Although semantic information has proved to be useful, there are several challenges faced by the research community to accurately perceive, extract and utilize such semantic information from the environment. In order to address these challenges, in this paper we present a lightweight and real-time visual semantic SLAM framework running on board aerial robotic platforms. This novel method combines low-level visual/visual-inertial odometry (VO/VIO) along with geometrical information corresponding to planar surfaces extracted from detected semantic objects. Extracting the planar surfaces from selected semantic objects provides enhanced robustness and makes it possible to precisely improve the metric estimates rapidly, simultaneously generalizing to several object instances irrespective of their shape and size. Our graph-based approach can integrate several state of the art VO/VIO algorithms along with the state of the art object detectors in order to estimate the complete 6DoF pose of the robot while simultaneously creating a sparse semantic map of the environment. No prior knowledge of the objects is required, which is a significant advantage over other works. We test our approach on a standard RGB-D dataset comparing its performance with the state of the art SLAM algorithms. We also perform several challenging indoor experiments validating our approach in presence of distinct environmental conditions and furthermore test it on board an aerial robot. Video:https://vimeo.com/368217703Released Code:https://bitbucket.org/hridaybavle/semantic_slam.git. [less ▲]

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See detailThe Application of Power-Domain Non-Orthogonal Multiple Access in Satellite Communication Networks
Yan, Xiaojuan; An, Kang; Liang, Tao et al

in IEEE Access (2019), 7

Satellite communication networks are expected to be indispensable as part of an integrated complement for the upcoming 5G networks since they can provide the most comprehensive coverage and reliable ... [more ▼]

Satellite communication networks are expected to be indispensable as part of an integrated complement for the upcoming 5G networks since they can provide the most comprehensive coverage and reliable connection for areas where are economically unviable and/or difficult to deploy terrestrial infrastructures. Meanwhile, the power-domain non-orthogonal multiple access (NOMA), which can serve multiple users simultaneously within the same time/frequency block, has been viewed as another promising strategy used in the 5G network to provide high spectral efficiency and resource utilization. In this paper, we introduce a general overview of the application of the NOMA to various satellite architectures for the benefits of meeting the availability, coverage, and efficiency requirements targeted by the 5G. The fundamental and ubiquitous features of satellite link budget are first reviewed. Then, the advantage and benefit of introducing the NOMA scheme in various satellite architectures, such as conventional downlink/uplink satellite networks, cognitive satellite terrestrial networks, and cooperative satellite networks with satellite/terrestrial relays, are provided, along with the motivation and research methodology for each scenario. Finally, this paper reviews the potential directions for future research. [less ▲]

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See detailQuantum Machine Learning for 6G Communication Networks: State-of-the-Art and Vision for the Future
Nawaz, Sayed Junaid; Sharma, Shree Krishna UL; Wyne, Shurjeel et al

in IEEE Access (2019)

The upcoming 5th Generation (5G) of wireless networks is expected to lay a foundation of intelligent networks with the provision of some isolated Artificial Intelligence (AI) operations. However, fully ... [more ▼]

The upcoming 5th Generation (5G) of wireless networks is expected to lay a foundation of intelligent networks with the provision of some isolated Artificial Intelligence (AI) operations. However, fully-intelligent network orchestration and management for providing innovative services will only be realized in Beyond 5G (B5G) networks. To this end, we envisage that the 6th Generation (6G) of wireless networks will be driven by on-demand self-reconfiguration to ensure a many-fold increase in the network performanceandservicetypes.Theincreasinglystringentperformancerequirementsofemergingnetworks may finally trigger the deployment of some interesting new technologies such as large intelligent surfaces, electromagnetic-orbital angular momentum, visible light communications and cell-free communications – tonameafew.Ourvisionfor6Gis–amassivelyconnectedcomplexnetworkcapableofrapidlyresponding to the users’ service calls through real-time learning of the network state as described by the network-edge (e.g., base-station locations, cache contents, etc.), air interface (e.g., radio spectrum, propagation channel, etc.), and the user-side (e.g., battery-life, locations, etc.). The multi-state, multi-dimensional nature of the network state, requiring real-time knowledge, can be viewed as a quantum uncertainty problem. In this regard, the emerging paradigms of Machine Learning (ML), Quantum Computing (QC), and Quantum ML (QML) and their synergies with communication networks can be considered as core 6G enablers. Considering these potentials, starting with the 5G target services and enabling technologies, we provide a comprehensivereviewoftherelatedstate-of-the-artinthedomainsofML(includingdeeplearning),QCand QML, and identify their potential benefits, issues and use cases for their applications in the B5G networks. Subsequently,weproposeanovelQC-assistedandQML-basedframeworkfor6Gcommunicationnetworks whilearticulatingitschallengesandpotentialenablingtechnologiesatthenetwork-infrastructure,networkedge, air interface and user-end. Finally, some promising future research directions for the quantum- and QML-assisted B5G networks are identified and discussed. [less ▲]

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See detailMulti-Objective Scientific-Workflow Scheduling With Data Movement Awareness in Cloud.
Wangsom, Peerasak; Lavagnananda, Kittichai; Bouvry, Pascal UL

in IEEE Access (2019), 7

Due to serving several purposes simultaneously, running scientific workflows on dynamic environments such as cloud computing, has become multi-objective scheduling. Among these purposes, Cost and Makespan ... [more ▼]

Due to serving several purposes simultaneously, running scientific workflows on dynamic environments such as cloud computing, has become multi-objective scheduling. Among these purposes, Cost and Makespan are probably the most two primitive objectives. Another critical factor in a large-scale scientific workflow is tremendous amount of data during execution. Therefore, this work also includes Data Movement as an additional objective as it has a major impact on network utilization and energy consumption in network equipment in cloud data center. In considering these three objectives, this work proposes a framework for scheduling solutions which combines a new nodes clustering technique in Directed Acyclic Graph (DAG) model known as Multilevel Dependent Node Clustering (MDNC) and the multiobjective optimization, Extreme Nondominated Sorting Genetic Algorithm-III (E-NSGA-III). E-NSGAIII is the recent extension of Nondominated Sorting Genetic Algorithm (NSGA-III). Five well-known scientific workflows, CyberShake, Epigenomics, LIGO, Montage, and SIPHT are selected as testbeds, while the commonly known Hypervolume is chosen as the performance metric. In this work, MDNC is also experimented with both NSGA-III. Comparison among three approaches, E-NAGA-III alone, E-NAGA-III with Peer-to-Peer clustering and E-NAGA-III with MDNC are carried out. The superiority of the proposed framework among them and its limitation are discussed. [less ▲]

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See detailProfiling Performance of Application Partitioning for Wearable Devices in Mobile Cloud and Fog Computing
Fiandrino, Claudio; Allio, Nicholas; Kliazovich, Dzmitry et al

in IEEE Access (2019), 7

Wearable devices have become essential in our daily activities. Due to battery constrains the use of computing, communication, and storage resources is limited. Mobile Cloud Computing (MCC) and the ... [more ▼]

Wearable devices have become essential in our daily activities. Due to battery constrains the use of computing, communication, and storage resources is limited. Mobile Cloud Computing (MCC) and the recently emerged Fog Computing (FC) paradigms unleash unprecedented opportunities to augment capabilities of wearables devices. Partitioning mobile applications and offloading computationally heavy tasks for execution to the cloud or edge of the network is the key. Offloading prolongs lifetime of the batteries and allows wearable devices to gain access to the rich and powerful set of computing and storage resources of the cloud/edge. In this paper, we experimentally evaluate and discuss rationale of application partitioning for MCC and FC. To experiment, we develop an Android-based application and benchmark energy and execution time performance of multiple partitioning scenarios. The results unveil architectural trade-offs that exist between the paradigms and devise guidelines for proper power management of service-centric Internet of Things (IoT) applications. [less ▲]

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See detailFPGA Acceleration for Computationally Efficient Symbol-Level Precoding in Multi-User Multi-Antenna Communication Systems
Krivochiza, Jevgenij UL; Merlano Duncan, Juan Carlos UL; Andrenacci, Stefano UL et al

in IEEE Access (2019)

In this paper, we demonstrate an FPGA accelerated design of the computationally efficient Symbol-Level Precoding (SLP) for high-throughput communication systems. The SLP technique recalculates optimal ... [more ▼]

In this paper, we demonstrate an FPGA accelerated design of the computationally efficient Symbol-Level Precoding (SLP) for high-throughput communication systems. The SLP technique recalculates optimal beam-forming vectors by solving a non-negative least squares (NNLS) problem per every set of transmitted symbols. It exploits the advantages of constructive inter-user interference to minimize the total transmitted power and increase service availability. The benefits of using SLP come with a substantially increased computational load at a gateway. The FPGA design enables the SLP technique to perform in realtime operation mode and provide a high symbol throughput for multiple receive terminals. We define the SLP technique in a closed-form algorithmic expression and translate it to Hardware Description Language (HDL) and build an optimized HDL core for an FPGA. We evaluate the FPGA resource occupation, which is required for high throughput multiple-input-multiple-output (MIMO) systems with sizeable dimensions. We describe the algorithmic code, the I/O ports mapping and the functional behavior of the HDL core. We deploy the IP core to an actual FPGA unit and benchmark the energy efficiency performance of SLP. The synthetic tests demonstrate a fair energy efficiency improvement of the proposed closed-form algorithm, also compared to the best results obtained through MATLAB numerical simulations. [less ▲]

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See detailAn Uplink UE Group-Based Scheduling Technique for 5G mMTC Systems Over LEO Satellite
Kodheli, Oltjon UL; Andrenacci, Stefano; Maturo, Nicola UL et al

in IEEE Access (2019)

Narrowband Internet of Things (NB-IoT) is one of the most promising IoT technology to support the massive machine-type communication (mMTC) scenarios of the fifth generation mobile communication (5G ... [more ▼]

Narrowband Internet of Things (NB-IoT) is one of the most promising IoT technology to support the massive machine-type communication (mMTC) scenarios of the fifth generation mobile communication (5G). While the aim of this technology is to provide global coverage to the low-cost IoT devices distributed all over the globe, the vital role of satellites to complement and extend the terrestrial IoT network in remote or under-served areas has been recognized. In the context of having the global IoT networks, low earth (LEO) orbits would be beneficial due to their smaller propagation signal loss, which for the low complexity, low power, and cheap IoT devices is of utmost importance to close the link-budget. However, while this would lessen the problem of large delay and signal loss in the geostationary (GEO) orbit, it would come up with increased Doppler effects. In this paper, we propose an uplink scheduling technique for a LEO satellite-based mMTC NB-IoT system, able to mitigate the level of the differential Doppler down to a value tolerable by the IoT devices. The performance of the proposed strategy is validated through numerical simulations and the achievable data rates of the considered scenario are shown, in order to emphasize the limitations of such systems coming from the presence of a satellite channel. [less ▲]

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See detailOn the Application of Directional Antennas in Multi-Tier Unmanned Aerial Vehicle Networks
Zhang, J.; Xu, H.; Xiang, Lin UL et al

in IEEE Access (2019), 7

This paper evaluates the performance of downlink information transmission in three-dimensional (3D) unmanned aerial vehicle (UAV) networks, where multi-tier UAVs of different types and flying altitudes ... [more ▼]

This paper evaluates the performance of downlink information transmission in three-dimensional (3D) unmanned aerial vehicle (UAV) networks, where multi-tier UAVs of different types and flying altitudes employ directional antennas for communication with ground user equipments (UEs). We introduce a novel tractable antenna gain model, which is a nonlinear function of the elevation angle and the directivity factor, for directional antenna-based UAV communication. Since the transmission range of a UAV is limited by its antenna gain and the receiving threshold of the UEs, only UAVs located in a finite region in each tier can successfully communicate with the UEs. The communication connectivity, association probability as well as coverage probability of the considered multi-tier UAV networks are derived for both line-of-sight (LoS) and non-line-of-sight (NLoS) propagation scenarios. Our analytical results unveil that, for UAV networks employing directional antennas, a necessary tradeoff between connectivity and coverage probability exists. Consequently, UAVs flying at low altitudes require a large elevation angle in order to successfully serve the ground UEs. Moreover, by employing directional antennas an optimal directivity factor exists for maximizing the coverage probability of the multi-tier UAV networks. Simulation results validate the analytical derivations and suggest the application of high-gain directional antennas to improve downlink transmission in the multi-tier UAV networks. [less ▲]

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See detailSDR Implementation of a Testbed for Real-Time Interference Detection with Signal Cancellation
Politis, Christos; Maleki, Sina UL; Merlano Duncan, Juan Carlos UL et al

in IEEE Access (2018)

Interference greatly affects the quality of service of wireless and satellite communications, having also a financial impact for the telecommunication operators. Therefore, as the interfering events ... [more ▼]

Interference greatly affects the quality of service of wireless and satellite communications, having also a financial impact for the telecommunication operators. Therefore, as the interfering events increase due to the deployment of new services, there is an increasing demand for the detection and mitigation of interference. There are several interference detectors in the literature, evaluated by using extensive simulations. However, this paper goes one step further, designing, implementing and evaluating the performance of the developed interference detection algorithms experimentally using a software defined radio, and particularly the universal software radio peripheral platform. A realistic communication system is implemented, consisting of a transmitter, a channel emulator and a receiver. Based on this system, we implement all the appropriate communications features such as pulse shaping, synchronization and demodulation. The real-time system implementation is validated and evaluated through signal and interference detection. We observe that the interference detection threshold is critical to the functioning of the system. Several existing interference detection techniques fail in practice due to this fact. In this paper, we propose a robust and practically implementable method the selection of threshold. Finally, we present real-time experimental results for the probabilities of false alarm and detection in order to verify the accuracy of our study and reinforce our theoretical analysis. [less ▲]

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See detailIntelligent Gaming for Mobile Crowd-Sensing Participants to Acquire Trustworthy Big Data in the Internet of Things
Pouryazdan, Maryam; Fiandrino, Claudio; Kantarci, Burak et al

in IEEE Access (2017), 5

In mobile crowd-sensing systems, the value of crowd-sensed big data can be increased by incentivizing the users appropriately. Since data acquisition is participatory, crowd-sensing systems face the ... [more ▼]

In mobile crowd-sensing systems, the value of crowd-sensed big data can be increased by incentivizing the users appropriately. Since data acquisition is participatory, crowd-sensing systems face the challenge of data trustworthiness and truthfulness assurance in the presence of adversaries whose motivation can be either manipulating sensed data or collaborating unfaithfully with the motivation of maximizing their income. This paper proposes a game theoretic methodology to ensure trustworthiness in user recruitment in mobile crowd-sensing systems. The proposed methodology is a platform-centric framework that consists of three phases: user recruitment, collaborative decision making on trust scores, and badge rewarding. In the proposed framework, users are incentivized by running sub-game perfect equilibrium and gami cation techniques. Through simulations, we showthat approximately 50% and a minimum of 15% improvement can be achieved by the proposed methodology in terms of platform and user utility, respectively, when compared with fully distributed and user-centric trustworthy crowd-sensing. [less ▲]

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See detailEnd-to-End Network Slicing in Virtualized OFDMA-Based Cloud Radio Access Networks
Ha, Vu Nguyen UL; Le, Long Bao

in IEEE Access (2017), 5

We consider the resource allocation for the virtualized OFDMA uplink cloud radio access network (C-RAN), where multiple wireless operators (OPs) share the C-RAN infrastructure and resources owned by an ... [more ▼]

We consider the resource allocation for the virtualized OFDMA uplink cloud radio access network (C-RAN), where multiple wireless operators (OPs) share the C-RAN infrastructure and resources owned by an infrastructure provider (InP). The resource allocation is designed through studying tightly coupled problems at two different levels. The upper-level problem aims at slicing the fronthaul capacity and cloud computing resources for all OPs to maximize the weighted profits of OPs and InP considering practical constraints on the fronthaul capacity and cloud computation resources. Moreover, the lower-level problems maximize individual OPs' sum rates by optimizing users' transmission rates and quantization bit allocation for the compressed I/Q baseband signals. We develop a two-stage algorithmic framework to address this two-level resource allocation design. In the first stage, we transform both upper-level and lowerlevel problems into corresponding problems by relaxing underlying discrete variables to the continuous ones. We show that these relaxed problems are convex and we develop fast algorithms to attain their optimal solutions. In the second stage, we propose two methods to round the optimal solution of the relaxed problems and achieve a final feasible solution for the original problem. Numerical studies confirm that the proposed algorithms outperform two greedy resource allocation algorithms and their achieved sum rates are very close to sum rate upper-bound obtained by solving relaxed problems. Moreover, we study the impacts of different parameters on the system sum rate, performance tradeoffs, and illustrate insights on a potential system operating point and resource provisioning issues. [less ▲]

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See detailJoint Beamforming and Power Optimization with Iterative User Clustering for MISO-NOMA Systems
Liu, Zhengxuan; Lei, Lei UL; Zhang, Ningbo et al

in IEEE Access (2017)

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See detailLive Data Analytics with Collaborative Edge and Cloud Processing in Wireless IoT Network
Sharma, Shree Krishna UL; Wang, Xianbin

in IEEE Access (2017)

Recently, big data analytics has received important attention in a variety of application domains including business, finance, space science, healthcare, telecommunication and Internet of Things (IoT ... [more ▼]

Recently, big data analytics has received important attention in a variety of application domains including business, finance, space science, healthcare, telecommunication and Internet of Things (IoT). Among these areas, IoT is considered as an important platform in bringing people, processes, data and things/objects together in order to enhance the quality of our everyday lives. However, the key challenges are how to effectively extract useful features from the massive amount of heterogeneous data generated by resource-constrained IoT devices in order to provide real-time information and feedback to the endusers, and how to utilize this data-aware intelligence in enhancing the performance of wireless IoT networks. Although there are parallel advances in cloud computing and edge computing for addressing some issues in data analytics, they have their own benefits and limitations. The convergence of these two computing paradigms, i.e., massive virtually shared pool of computing and storage resources from the cloud and real-time data processing by edge computing, could effectively enable live data analytics in wireless IoT networks. In this regard, we propose a novel framework for coordinated processing between edge and cloud computing/processing by integrating advantages from both the platforms. The proposed framework can exploit the network-wide knowledge and historical information available at the cloud center to guide edge computing units towards satisfying various performance requirements of heterogeneous wireless IoT networks. Starting with the main features, key enablers and the challenges of big data analytics, we provide various synergies and distinctions between cloud and edge processing. More importantly, we identify and describe the potential key enablers for the proposed edge-cloud collaborative framework, the associated key challenges and some interesting future research directions. [less ▲]

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See detailOpen IoT Ecosystem for Sporting Event Management
Kubler, Sylvain UL; Robert, Jérémy UL; Främling, Kary et al

in IEEE Access (2017), 5(1), 7064-7079

By connecting devices, people, vehicles, and infrastructures everywhere in a city, governments and their partners can improve community well-being and other economic and financial aspects (e.g., cost and ... [more ▼]

By connecting devices, people, vehicles, and infrastructures everywhere in a city, governments and their partners can improve community well-being and other economic and financial aspects (e.g., cost and energy savings). Nonetheless, smart cities are complex ecosystems that comprise many different stakeholders (network operators, managed service providers, logistic centers, and so on), who must work together to provide the best services and unlock the commercial potential of the so-called Internet of Things (IoT). This is one of the major challenges that faces today’s smart city movement, and the emerging "API economy." Indeed, while new smart connected objects hit the market every day, they mostly feed "vertical silos" (e.g., vertical apps, siloed apps, and so on) that are closed to the rest of the IoT, thus hampering developers to produce new added value across multiple platforms and/or application domains. Within this context, the contribution of this paper is twofold: 1) present the strategic vision and ambition of the EU to overcome this critical vertical silos’ issue and 2) introduce the first building blocks underlying an open IoT ecosystem developed as part of an EU (Horizon 2020) Project and a joint project initiative (IoT-EPI). The practicability of this ecosystem, along with a performance analysis, is carried out considering a proof-of-concept for enhanced sporting event management in the context of the forthcoming FIFA World Cup 2022 in Qatar. [less ▲]

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See detailCrowdSenSim: a Simulation Platform for Mobile Crowdsensing in Realistic Urban Environments
Fiandrino, Claudio UL; Capponi, Andrea UL; Cacciatore, Giuseppe UL et al

in IEEE Access (2017)

Smart cities take advantage of recent ICT developments to provide added value to existing public services and improve quality of life for the citizens. The Internet of Things (IoT) paradigm makes the ... [more ▼]

Smart cities take advantage of recent ICT developments to provide added value to existing public services and improve quality of life for the citizens. The Internet of Things (IoT) paradigm makes the Internet more pervasive where objects equipped with computing, storage and sensing capabilities are interconnected with communication technologies. Because of the widespread diffusion of IoT devices, applying the IoT paradigm to smart cities is an excellent solution to build sustainable Information and Communication Technology (ICT) platforms. Having citizens involved in the process through mobile crowdsensing (MCS) techniques augments capabilities of these ICT platforms without additional costs. For proper operation, MCS systems require the contribution from a large number of participants. Simulations are therefore a candidate tool to assess the performance of MCS systems. In this paper, we illustrate the design of CrowdSenSim, a simulator for mobile crowdsensing. CrowdSenSim is designed specifically for realistic urban environments and smart cities services. We demonstrate the effectiveness of CrowdSenSim for the most popular MCS sensing paradigms (participatory and opportunistic) and we present its applicability using a smart public street lighting scenario. [less ▲]

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See detailSelf-Powered Two-Way Cognitive Relay Networks: Protocol Design and Performance Analysis
Nguyen; Jayakody; Chatzinotas, Symeon UL et al

in IEEE Access (2017)

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See detailResource allocation optimization in multi-user multi-cell massive MIMO networks considering pilot contamination
Nguyen, Tri Minh; Ha, Vu Nguyen UL; Le, Long Bao

in IEEE Access (2015), 3

In this paper, we study the joint pilot assignment and resource allocation for system energy efficiency (SEE) maximization in the multi-user and multi-cell massive multi-input multi-output network. We ... [more ▼]

In this paper, we study the joint pilot assignment and resource allocation for system energy efficiency (SEE) maximization in the multi-user and multi-cell massive multi-input multi-output network. We explicitly consider the pilot contamination effect during the channel estimation in the SEE maximization problem, which aims to optimize the power allocation, the number of activated antennas, and the pilot assignment. To tackle the SEE maximization problem, we transform it into a subtractive form, which can be solved more efficiently. In particular, we develop an iterative algorithm to solve the transformed problem where optimization of power allocation and number of antennas is performed, and then pilot assignment optimization is conducted sequentially in each iteration. To tackle the first sub-problem, we employ a successive convex approximation (SCA) technique to attain a solvable convex optimization problem. Moreover, we propose a novel iterative low-complexity algorithm based on the Hungarian method to solve the pilot assignment sub-problem. We also describe how the proposed solution approach can be useful to address the sum rate (SR) maximization problem. In addition to the algorithmic developments, we characterize the optimal structure of both SEE and SR maximization problems. The numerical studies are conducted to illustrate the convergence of the proposed algorithms, impacts of different parameters on the SR and SEE, and significant performance gains of the proposed solution compared the conventional design. [less ▲]

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