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

The objective of this study is to enable fast and safe manipulation tasks in home environments. Specifically, we aim to develop a system that can recognize its surroundings and identify target objects while in motion, enabling it to plan…

Transition Edge Sensor (TES) bolometers are a well-established technology with a strong track record in experimental cosmology, making them ideal for current and future radio astronomy instruments. The Tomographic Ionized-carbon Mapping…

We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…

We propose a novel sensing approach for the beam alignment problem in millimeter wave systems using a single Radio Frequency (RF) chain. Conventionally, beam alignment using a single phased array involves comparing beamformer output power…

Millimeter-wave (mmwave) communication represents a potential solution to capacity shortage in vehicular networks. However, effective beam alignment between senders and receivers requires accurate knowledge of the vehicles' position for…

The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of…

This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…

The sparsity and the severe attenuation of millimeter-wave (mmWave) channel imply that highly directional communication is needed. The narrow beam produced by large array requires accurate alignment, which is difficult to achieve when…

Minimally invasive robotic surgery has gained significant attention over the past two decades. Telerobotic systems, combined with robot-mediated minimally invasive techniques, have enabled surgeons and clinicians to mitigate radiation…

Radio maps provide radio frequency metrics, such as the received signal strength, at every location of a geographic area. These maps, which are estimated using a set of measurements collected at multiple positions, find a wide range of…

We consider the problem of spatial signal design for multipath-assisted mmWave positioning under limited prior knowledge on the user's location and clock bias. We propose an optimal robust design and, based on the low-dimensional precoder…

Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…

Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However,…

Millimeter wave communications are essential for modern wireless networks. It supports high data rates but suffers from severe path loss, which requires precise beam alignment to maintain reliable links. This beam management is particularly…

This paper presents a kinematically constrained planar hybrid cable-driven parallel robot (HCDPR) for warehousing applications as well as other potential applications such as rehabilitation. The proposed HCDPR can harness the strengths and…

In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is…

Mobility may degrade the performance of next-generation vehicular networks operating at the millimeter-wave spectrum: frequent mis-alignment and blockages require repeated beam training and handover, and incur enormous overhead.…

Cold-atom interferometers commonly face systematic effects originating from the coupling between the trajectory of the atomic wave packet and the wave front of the laser beams driving the interferometer. Detrimental for the accuracy and the…

Efficient beam alignment is a crucial component in millimeter wave systems with analog beamforming, especially in fast-changing vehicular settings. This paper proposes a position-aided approach where the vehicle's position (e.g., available…

Emerging wireless communication systems will be characterized by a tight coupling between communication and positioning. This is particularly apparent in millimeter-wave (mm-wave) communications, where devices use a large number of antennas…