Filetype
With industrial robots ready to take the next step in mastering manufacturing tasks new approaches to reduce the programming effort are needed. This is achieved by introducing skills as robot "know-how" and using them as a higher abstraction level of robot instructions during programming. The skills are reusable items providing motion control and rich declarative descriptions of complex robot capa
We present a rigorous phase noise analysis of a generic harmonic oscillator where the active core can be modeled as a transconductor. Phase noise equations are derived without any specific assumption on the nature of the resonator in the oscillator; furthermore, we provide closed-form 1/f2 phase noise equations when the resonator consists of an arbitrary number of cascaded LC tanks, each tuned at
A background on the Europan Spallation Source is given, and our work on three control problems important for the design of its linear accelerator are presented.
In this paper we describe our approach to robotic skill representation and a prototypical implementation of a programming-by-demonstration approach that allows users to generate skills and robot program primitives for later re- finement and re-use. We intend to evaluate the applicability of this approach to high-level programming in a user study, which we also explain.
An on-chip, low power, and area efficient charge-pump (CP) that generates a multiple of the supply voltage (VDD) in a single clock cycle is presented. The proposed CP utilizes parallel cross-connected CP units, which are implemented using MIM (metal-insulator-metal) capacitors. In the target application, i.e., a sub-threshold SRAM, the capacitors are accommodated on top of the memory banks to remo
Industrial robot systems being deployed today do not contain domain knowledge to aid robot operators in setup and operational use. To gather such knowledge in a robot context requires mechanisms for entering and capturing semantic data, that will gradually build a working vocabulary while interacting with environment and operators, for bootstrapping system knowledge and ensuring data collection ov
This paper describes an algorithm to identify pleonastic pronouns using statistical techniques. The training step uses a coreference annotated corpus of English and focuses on a set of pronouns such as it. As far as we know, there is no corpus with a pleonastic annotation. The main idea of the algorithm was then to recast the definition of pleonastic pronouns as pronouns that never occur in a core
Interactive robots can benefit from learning from humans in situated communications, for instance in a guided tour, where the human user explains the environment to a mobile robot, or from being instructed to handle a specific task in an industrial setting. We have to assume that human users do not always give unambiguous or consistent information, which might result in inconsistent information be
An optimal soft multiple-input multiple-output (MIMO) detector is proposed with linear complexity for a general spatial multiplexing system with two transmitting symbols and NR ≥ 2 receiving antennas. The computational complexity of the proposed scheme is independent of the operating signal-tonoise ratio (SNR) and grows linearly with the constellation order. It provides the soft maximum-likelihood
One of the key challenges for structure from motion systems in order to make them robust to failure is the ability to handle outliers among the correspondences. In this paper we present two new algorithms that find the optimal solution in the presence of outliers when the camera undergoes a pure translation. The first algorithm has polynomial-time computational complexity, independently of the amo
We study the problem of decomposing a measured signal as a sum of decaying exponentials. There is a direct connection to sums of these types and positive semi-definite (PSD) Hankel matrices, where the rank of these matrices equals the number of exponentials. We propose to solve the identification problem by forming an optimization problem with a misfit function combined with a rank penalty functio
We develop a novel high-resolution method for the estimation of the direction of incidence of energy emitted by sources in 3D space from wideband measurements collected by a planar array of sensors. We make use of recent generalizations of Kronecker's theorem and formulate the direction of arrival estimation problem as an optimization problem in the space of sequences generating so called general
To meet the challenges of consistent performance, low communication latency, and a high degree of user mobility, cloud and Telecom infrastructure vendors and operators foresee a Mobile Cloud Network that incorporates public cloud infrastructures with cloud augmented Telecom nodes in forthcoming mobile access networks. A Mobile Cloud Network is composed of distributed cost- and capacity-heterogeneo
Industrial robotics is a complex domain, not easily amenable to formalization using semantic technologies. It involves such disparate aspects of the real world as geometry, dynamics, constraint-satisfaction, planning and scheduling, real-time control, robot-robot and human-robot communication and, finally, intentions of the robot user. To represent so different kinds of knowledge is a challenge an
Excitation of the chassis enables single-antenna terminals to achieve good bandwidth and radiation performance, due to the entire chassis being utilized as the main radiator. In contrast, the same chassis excitation phenomenon complicates the design of multiple antennas for MIMO applications, since the same characteristic mode of the chassis may be effectively excited by more than one antenna, lea
Electromagnetic vector spherical waves have been used recently to model antenna-channel interaction and the available degrees of freedom in MIMO systems. However, there are no previous accounts of a method to estimate spherical wave coefficients from channel measurements. One approach for this, using a 3D positioner, is presented and analyzed in this letter. Measurement results are presented and d
Base station (BS) cooperative transmission is a promising technique to improve spectral efficiency of cellular systems, using which the channels become asymmetric in average gain. In this paper, we study the impact of the asymmetric channel gains on the performance of coherent cooperative transmission systems, when minimum mean square error (MMSE) and least square (LS) channel estimators are appli
