Existing research on reconfigurable intelligent surface (RIS) beamforming in wireless communications predominantly assumes uniform phase quantization across reflecting units. However, in practical applications, engineering challenges and design requirements often lead to non-uniform phase and bit resolution of RIS units, which significantly limits the performance potential of conventional approaches. Current optimization frameworks struggle to effectively handle this non-uniform phase discretization due to the inherent non-convexity and high-dimensional nature of the resultant beamforming problem. To address this issue, this paper pioneers the study of discrete non-uniform phase configuration in RIS-assisted multi-user communication and formulates an optimization model to rigorously define the problem. For single-user scenarios, the paper proposes a partition-and-traversal (PAT) algorithm that efficiently achieves the global optimal solution through systematic search and traversal. For larger-scale multi-user scenarios, to further balance performance and computational complexity, a parameter tuning mechanism is introduced into the PAT algorithm, enhancing its flexibility and scalability. This mechanism optimizes the search strategy, significantly reduces computational overhead, and achieves linear complexity. Numerical simulations confirm the effectiveness and superiority of the proposed PAT algorithm. Additionally, we provide a detailed analysis of the impact of non-uniform phase quantization on the system performance.

The reconfigurable intelligent surface (RIS) has garnered considerable attention due to its substantial potential in reconfiguring the electromagnetic environment. In RIS-aided communications, constrained ℓ2-norm maximization problems frequently arise due to the phase configuration requirements. This paper investigates a general discrete ℓp-norm maximization problem, with power aggregation through RIS as a specific example. We propose a mathematically concise iterative framework composed of alternating inner product maximizations, which is well-suited for addressing both ℓ1- and ℓ2-norm maximizations under either discrete or continuous uni-modular variable constraints. The iteration process is proven to be monotonically non-decreasing. Additionally, this framework exhibits a distinctive capability to mitigate performance degradation caused by discrete quantization in practical systems, which is applicable to any algorithm intended for the continuous solution. Furthermore, as an integral component of the alternating iterations framework, we present a divide-and-sort (DaS) method to tackle the discrete inner product maximization problem. In the realm of ℓ∞-norm maximization, the DaS method ensures the identification of the global optimum with polynomial search complexity. We validate the proposed methods’ effectiveness and superiority through numerical and prototype experiments. Finally, we demonstrate that the proposed framework can be extended and applied to a wide range of other engineering problems.

The existing methods for Reconfigurable Intelligent Surface (RIS) beamforming in wireless communication are typically limited to uniform phase quantization. However, in real world applications, the phase and bit resolution of RIS units are often non-uniform due to practical requirements and engineering challenges. To fill this research gap, we formulate an optimization problem for discrete non-uniform phase configuration in RIS assisted multiple-input single-output (MISO) communications. Subsequently, a partition-and-traversal (PAT) algorithm is proposed to solve that, achieving the global optimal solution. The efficacy and superiority of the PAT algorithm are validated through numerical simulations, and the impact of non-uniform phase quantization on system performance is analyzed.

A fair beam allocation framework through reconfigurable intelligent surfaces (RISs) is proposed, incorporating the Max-min criterion. This framework focuses on explicit RIS beamforming functionalities through optimization. Firstly, realistic models, grounded in geometrical optics, are introduced to characterize the input/output behaviors of RISs. Then, a highly efficient algorithm is developed for Max-min optimizations involving quadratic forms. Leveraging the Moreau-Yosida approximation, we successfully reformulate the original problem and propose an iterative algorithm to obtain the optimal solution. The proposed approach exhibits excellent extensibility, making it readily applicable to address a broader class of Max-min optimization problems. Finally, numerical and prototype experiments are conducted to validate the effectiveness of the framework. With the proposed beam allocation framework and algorithm, we clarify that several crucial redistribution functionalities of RISs, such as explicit beam-splitting, fair beam allocation, and wide-beam generation, can be effectively implemented.

A fair beam allocation framework through reconfigurable intelligent surfaces (RISs) is proposed, incorporating the Max-min criterion. This framework focuses on designing explicit beamforming functionalities through optimization. Firstly, realistic models, grounded in geometrical optics, are introduced to characterize the input/output behaviors of RISs, effectively bridging the gap between the requirements on explicit beamforming operations and their practical implementations. Then, a highly efficient algorithm is developed for Max-min optimizations involving quadratic forms. Leveraging the Moreau-Yosida approximation, we successfully reformulate the original problem and propose an iterative algorithm to obtain the optimal solution. A comprehensive analysis of the algorithm’s convergence is provided. Importantly, this approach exhibits excellent extensibility, making it readily applicable to address a broader class of Max-min optimization problems. Finally, numerical and prototype experiments are conducted to validate the effectiveness of the framework. With the proposed beam allocation framework and algorithm, we clarify that several crucial redistribution functionalities of RISs, such as explicit beam-splitting, fair beam allocation, and wide-beam generation, can be effectively implemented. These explicit beamforming functionalities have not been thoroughly examined previously.

The autonomous robots consisting of an immovable lander and a rover are widely deployed to explore extraterrestrial planets. However, these robots have two main limitations: (1) the separate design for lander and rover respectively results in heavy mass and big volume of the whole system, which increases the launching cost sharply; (2) the rover’s detection area has to be restricted to the vicinity of the immovable lander. To overcome these problems, we designed a novel six-legged mobile repetitive lander called "HexaMRL", which integrates the functions of both lander and rover, including folding, deploying, repetitive soft-landing, and walking. A hybrid compliant mechanism taking advantages of both active and passive compliances was adopted on its leg. An integrated drive unit (IDU) was utilized to imitate the dynamics of a spring and a damper to absorb the landing impact energy, while the structure remains intact. Moreover, a control method based on state machine for soft-landing on the Moon was proposed. HexaMRL achieved repetitive soft-landing on a 5-DoF lunar gravity testing platform (5-DoF-LGTP) with a vertical landing velocity of 1.9 m/s and a payload of 140 kg. The drive torque safety margin is improved by 23.4%p based on the hybrid compliant leg comparing with the standalone active compliant leg.

In order to improve the effectiveness and accuracy of effectiveness evaluation for the physical protection system of a high security prison, this paper analyzed factors affecting the evaluation of such a system and, on this basis, applied the cloud theory and constructed a cloud model for evaluating the effectiveness of such a system. A case study was used to discuss the risk controllability of such a system with the evaluation method based on the cloud model. The research results show that the cloud model that we constructed for effectiveness evaluation can greatly reduce the influence of subjective factors in the risk evaluation for the physical protection system of a high security prison through the setting, calculation, and analysis of relevant parameters and we found that it is more accurate and practically useful especially when it is used in the evaluation together with the fuzziness and randomness of qualitative linguistic concepts.

This paper discusses the problem of local path planning in a static-obstacle environment by designing a PSO-based receding horizon control approach. In order to avoid obstacles, a virtual robot is first designed and moves along the boundary of obstacles. Then, in the framework of receding horizon control, a cost function is proposed where the virtual robot and the target position are integrated, which implies that mobile robots are controlled to keep a security distance and velocity consensus with virtual robots, and to move toward the target position. Next, the proposed cost function with constraints is processed by a particle swarm optimization (PSO) algorithm such that the PSO-based receding horizon control approach is developed. By solving the proposed cost function, a control sequence is obtained and then the first control input is used to enable the robot toward the target and avoid obstacles. Finally, the performance capabilities of the PSO-based receding horizon control approach are illustrated by simulation results.

In order to improve the rationality and validity of the physical protection system effectiveness evaluation in prison, this paper discusses the main factors that affect the system performance in the prison security system construction process and explores the key points in evaluating the effectiveness of searching system. The author of this paper has constructed an evaluation index system that accurately reflects the physical protection system in prison and comes up with an evaluation model and algorithm based on the gray level analysis by verifying the rationality of effectiveness evaluation model of prison physical protection system and the validity of the evaluation method.