相关论文: Development of a planar cable-driven parallel robo…

Many experimental efforts are striving to provide deep maps of the cosmic microwave background (CMB) to shed light on key questions in modern cosmology. The primary science goal for some of these experiments is to further constrain the…

For Cable-Driven Parallel Robots, the cable length is the only element we control. Better knowledge of this parameter will improve robot performances. We propose a new cable length autocalibration subsystem. It consists of an instrumented…

Considering an environment containing polygonal obstacles, we address the problem of planning motions for a pair of planar robots connected to one another via a cable of limited length. Much like prior problems with a single robot connected…

This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables,…

We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…

Millimeter-wave transceivers use large antenna arrays to form narrow high-directional beams and overcome severe attenuation. Narrow beams require large signaling overhead to be aligned if no prior information about beam directions is…

Intelligent Transportation Systems (ITSs) require ultra-low end-to-end delays and multi-gigabit-per-second data transmission. Millimetre Waves (mmWaves) communications can fulfil these requirements. However, the increased mobility of…

Accurate measurement of the cosmic microwave background (CMB) anisotropy requires precise knowledge of the instrument beam. We explore how well the Planck beams will be determined from observations of planets, developing techniques that are…

This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

Enabling highly-mobile millimeter wave (mmWave) and terahertz (THz) wireless communication applications requires overcoming the critical challenges associated with the large antenna arrays deployed at these systems. In particular, adjusting…

This paper describes the development of a cost-effective yet precise indoor robot navigation system composed of a custom robot controller board and an indoor positioning system. First, the proposed robot controller board has been specially…

This work presents cost-effective low-rank techniques for designing robust adaptive beamforming (RAB) algorithms. The proposed algorithms are based on the exploitation of the cross-correlation between the array observation data and the…

The directionality of millimeter-wave (mmWave) communications creates a significant challenge in serving fast-moving mobile terminals on, e.g., high-speed vehicles, trains, and UAVs. This challenge is exacerbated in mmWave systems using…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…

Millimeter-wave (mmWave) and terahertz (THz) communications require beamforming to acquire adequate receive signal-to-noise ratio (SNR). To find the optimal beam, current beam management solutions perform beam training over a large number…

Next generation communication systems require accurate beam alignment to counteract the impairments that characterize propagation in high-frequency bands. The overhead of the pilot sequences required to select the best beam pair is…

Microwave telescopes require an ever-increasing control of experimental systematics in their quest to measure the Cosmic Microwave Background (CMB) to exquisite levels of precision. One important systematic for ground and balloon-borne…

During a war situation, many times an underwater target motion analysis (TMA) is performed using bearing-only measurements, obtained from a sensor array, which is towed by an own-ship with the help of a connected cable. It is well known…

Integrated sensing and communication and millimeter wave (mmWave) have emerged as pivotal technologies for 6G networks. However, the narrow nature of mmWave beams requires precise alignments that typically necessitate large training…