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

Accurate and fast beam-alignment is essential to cope with the fast-varying environment in millimeter-wave communications. A data-driven approach is a promising solution to reduce the training overhead by leveraging side information and…

We describe a technique for mapping the spatial variation of static electric, static magnetic, and rf magnetic fields using a pulsed atomic or molecular beam. The method is demonstrated using a beam designed to measure the electric dipole…

Cardiac parametric mapping is useful for evaluating cardiac fibrosis and edema. Parametric mapping relies on single-shot heartbeat-by-heartbeat imaging, which is susceptible to intra-shot motion during the imaging window. However, reducing…

Millimeter wave (mmWave) is an attractive candidate for high-speed mobile communications in the future. However, due to the propagation characteristics of mmWave, beam and and and and alignment becomes a key challenge for serving users with…

Millimeter wave (mmWave) beam-tracking based on machine learning enables the development of accurate tracking policies while obviating the need to periodically solve beam-optimization problems. However, its applicability is still arguable…

We present beam measurements of the CHIME telescope using a radio calibration source deployed on a drone payload. During test flights, the pulsing calibration source and the telescope were synchronized to GPS time, enabling in-situ…

Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…

Millimeter-wave is one of the technologies powering the new generation of wireless communication systems. To compensate the high path-loss, millimeter-wave devices need to use highly directional antennas. Consequently, beam misalignment…

This paper studies initial beam acquisition in a millimeter wave network consisting of multiple access points (APs) and mobile devices. A training protocol for joint estimation of transmit and receive beams is presented with a general frame…

Continuum robots, inspired by octopus arms and elephant trunks, combine dexterity with intrinsic compliance, making them well suited for unstructured and confined environments. Yet their continuously deformable morphology poses challenges…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…

We present a parallel implementation of a map-making algorithm for CMB anisotropy experiments which is both fast and efficient. We show for the first time a Maximum Likelihood, minimum variance map obtained by processing the entire data…

Manipulating cables is challenging for robots because of the infinite degrees of freedom of the cables and frequent occlusion by the gripper and the environment. These challenges are further complicated by the dexterous nature of the…

The problem of statistical calibration of a measuring instrument can be framed both in a statistical context as well as in an engineering context. In the first, the problem is dealt with by distinguishing between the 'classical' approach…

This paper is concerned with 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 first propose a fast channel estimation…

Determination of design parameters based on electromagnetic simulations of microwave circuits is an iterative and often time-consuming procedure. Space mapping is a powerful technique to optimize such complex models by efficiently…

A common approach to localize a mobile robot is by measuring distances to points of known positions, called anchors. Locating a device from distance measurements is typically posed as a non-convex optimization problem, stemming from the…

The Muon Ionization Cooling Experiment (MICE) will perform a detailed study of ionization cooling to evaluate the feasibility of the technique. To carry out this program, MICE requires all of its detectors to reconstruct space points in a…

Millimeter-wave (mmWave) joint communication-radar (JCR) will enable high data rate communication and high-resolution radar sensing for applications such as autonomous driving. Prior JCR systems that are based on the mmWave communications…