Related papers: A Robotic Antenna Alignment and Tracking System fo…
Uncrewed Aerial Vehicle (UAV) networks require accurate Air-to-Air (A2A) channel models, but most existing work focuses on Air-to-Ground links and leaves the sub-6 GHz A2A channel poorly characterized. We present preliminary 3.4 GHz A2A…
In the field of collaborative robotics, the ability to communicate spatial information like planned trajectories and shared environment information is crucial. When no global position information is available (e.g., indoor or GPS-denied…
Wireless communication at millimeter wave frequencies has attracted considerable attention for the delivery of high-bit-rate connectivity to unmanned aerial vehicles (UAVs). However, conducting the channel measurements necessary to assess…
This paper presents small-scale fading measurements for 28 GHz outdoor millimeter-wave ultrawideband channels using directional horn antennas at the transmitter and receiver. Power delay profiles were measured at half-wavelength spatial…
Soft robots are made of compliant materials and perform tasks that are challenging for rigid robots. However, their continuum nature makes it difficult to develop model-based control strategies. This work presents a robust model-based…
6G communication will greatly benefit from using extremely large-scale antenna arrays (ELAAs) and new mid-band spectrums (7-24 GHz). These techniques require a thorough exploration of the challenges and potentials of the associated…
Achieving adequate coverage with high gain antennas is key to realizing the full promise of the wide bandwidth available at cm/mm bands. We report extensive outdoor measurements at 28 GHz in suburban residential areas in New Jersey and…
We present a tracking system for relative positioning that can operate on entirely moving tracking nodes without the need for stationary anchors. Each node embeds a 9-DOF magnetic and inertial measurement unit and a single-antenna…
The last few decades have witnessed an emerging trend of wearable soft sensors; however, there are important signal-processing challenges for soft sensors that still limit their practical deployment. They are error-prone when displaced,…
Air-dispersed sensor networks deployed from aerial robotic systems (e.g., UAVs) provide a low-cost approach to wide-area environmental monitoring. However, existing methods often rely on active actuators for mid-air shape or trajectory…
The interplay between large antenna apertures and high carrier frequencies in future wireless systems gives rise to near-field communications, where the curvature of spherical wavefronts renders traditional far-field beamforming models…
The spatial sensitivity pattern of millimeter-wavelength receivers is an important diagnostic of performance and is affected by the alignment of coupling optics. Characterization can be challenging in the field, particularly in the…
LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…
Augmented reality assembly guidance is essential for intelligent manufacturing and medical applications, requiring continuous measurement of the 6DoF poses of manipulated objects. Although current tracking methods have made significant…
Joint audio-visual speaker tracking requires that the locations of microphones and cameras are known and that they are given in a common coordinate system. Sensor self-localization algorithms, however, are usually separately developed for…
We present an adaptive approach for synchronizing both the phase and frequency of radio-frequency transceivers over long-range wireless links to support distributed antenna array applications. To enable distributed beamforming between…
This paper presents 73 GHz wideband outdoor foliage and ground reflection measurements. Propagation measurements were made with a 400 Megachip-per-second sliding correlator channel sounder, with rotatable 27 dBi (7 degrees half- power…
This paper presents outdoor wideband small-scale spatial fading and autocorrelation measurements and results in the 73 GHz millimeter-wave (mmWave) band conducted in downtown Brooklyn, New York. Both directional and omnidirectional receiver…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
This paper presents the development and evaluation of a medical service robot equipped with 3D LiDAR and advanced localization capabilities for use in hospital environments. The robot employs LiDAR-based Simultaneous Localization and…