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The increased sensitivity of future radio telescopes will result in requirements for higher dynamic range within the image as well as better resolution and immunity to interference. In this paper we propose a new matrix formulation of the…
Simultaneous localization and mapping (SLAM) plays a vital role in mapping unknown spaces and aiding autonomous navigation. Virtually all state-of-the-art solutions today for 2D SLAM are designed for dense and accurate sensors such as laser…
A critical use case of SLAM for mobile assistive robots is to support localization during a navigation-based task. Current SLAM benchmarks overlook the significance of repeatability (precision), despite its importance in real-world…
Mapping operator motions to a robot is a key problem in teleoperation. Due to differences between workspaces, such as object locations, it is particularly challenging to derive smooth motion mappings that fulfill different goals (e.g.…
The PAMELA apparatus has been assembled and it is ready to be launched in a satellite mission to study mainly the antiparticle component of cosmic rays. In this paper the performances obtained for the silicon microstrip detectors used in…
We propose a method to achieve the geometric calibration of cone-beam imaging and delivery systems in radiation therapy; our approach applies to devices where an X-ray source and a flat-panel detector, facing each other, move in circular…
We demonstrate a novel beam pattern measurement method for the side lobe characterization of cosmic microwave background telescopes. The method employs a power-variable artificial microwave source under feedback control from the detector…
Millimeter wave (mmWave) multiple-input multiple-output (MIMO) systems capable of integrated sensing and communication (ISAC) constitute a key technology for connected autonomous vehicles (CAVs). In this context, we propose a multi-beam…
In this paper, we consider the channel estimation problem in Millimeter wave (mmWave) wireless systems with large antenna arrays. By exploiting the inherent sparse nature of the mmWave channel, we develop a novel rate-adaptive channel…
Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…
A small depression is created in a straight optical fiber taper to form a local probe suitable for studying closely spaced, planar microphotonic devices. The tension of the "dimpled" taper controls the probe-sample interaction length and…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
Recent experiments in cosmology, particularly those aimed at detecting the faint, redshifted, global 21 cm hydrogen line (depth < ~200 mK, z > 7.5), have imposed stringent new requirements on radiometer calibration. In this work, we present…
Beam management, including initial access (IA) and beam tracking, is essential to the millimeter-wave Unmanned Aerial Vehicle (UAV) network. However, conventional communication-only and feedback-based schemes suffer a high delay and low…
Future wireless networks may operate at millimeter-wave (mmW) and sub-terahertz (sub-THz) frequencies to enable high data rate requirements. While large antenna arrays are critical for reliable communications at mmW and sub-THz bands, these…
We consider the problem of downlink channel estimation for millimeter wave (mmWave) MIMO-OFDM systems, where both the base station (BS) and the mobile station (MS) employ large antenna arrays for directional precoding/beamforming. Hybrid…
The primary goal of the MAP satellite, now in orbit, is to make high fidelity polarization sensitive maps of the full sky in five frequency bands between 20 and 100 GHz. From these maps we will characterize the properties of the cosmic…
Continuously optimizing sensor placement is essential for precise target localization in various military and civilian applications. While information theory has shown promise in optimizing sensor placement, many studies oversimplify sensor…
Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial curve. To increase process throughput, some manufacturers propose a dual-robot…
The massive exploitation of robots for industry 4.0 needs advanced wireless solutions that replace less flexible and more costly wired networks. In this regard, millimeter-waves (mm-waves) can provide high data rates, but they are…