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Robot skills systems are meant to reduce robot setup time for new manufacturing tasks. Yet, for dexterous, contact-rich tasks, it is often difficult to find the right skill parameters. One strategy is to learn these parameters by allowing the robot system to learn directly on the task. For a learning problem, a robot operator can typically specify the type and range of values of the parameters. Ne
We propose a pipeline to setup up robot systems for new tasks using symbolic planning, reasoning and reinforcement learning. Furthermore, we
As ultra-massive multiple-input multiple-output (UM-MIMO) has emerged as a key technology for millimeter-wave and terahertz communications, the spherical wave propagation should be considered for channel modeling. Therefore, it is critical to identify the locations and evolving behaviors of scatterers, i.e., the sources of the spherical wavefronts. In this contribution, a novel space-alternating g
5G cellular networks can utilize millimeter wave signals, and support large bandwidths and large antenna arrays, which provide more geometric-based signals and higher delay and angle resolutions. These merits bring new opportunities in positioning the user with limited infrastructure through the use of combined angle and delay information. However, there are many practical challenges to overcome,
Modern coding theory is based on the foundation of the sparse codes on graphs, such as the low-density parity-check (LDPC) codes, and the turbo-like codes (TCs) with component convolutional codes. The success of the LDPC codes and the TCs lies in their ability to perform low-complexity iterative message passing decoding procedures. The iterative message passing decoders that exchange messages prob
Much of the technology that makes robots reliable, human friendly, and industrialroboticsadaptable for numerous applications has emerged from manufacturers of industrial robots. With an estimated installation base in 2014 of about 1.5 million units, some 171000 new installations in that year and an annual turnover of the robotics industry estimated to be US$ 32 billion, industrial robots are by fa
The IEEE 802.11 standard, often referred to as Wi-Fi, underpins wireless networking applications around the world that impact our daily lives, such as wireless access to the Internet from offices, homes, airports, hotels, restaurants, trains, and aircraft. Today's laptops, tablets, and smartphones are typically equipped with at least one IEEE 802.11 radio. IEEE 802.11 standards have enabled a whol
We show that spatially coupled low-density parity-check (LDPC) codes yield robust performance over changing intersymbol interfere (ISI) channels with optimal and suboptimal detectors. We compare the performance with classical LDPC code design which involves optimizing the degree distribution for a given (known) channel. We demonstrate that these classical schemes, despite working very good when de
This issue marks the start of my term as department editor for the “Requirements” column. I very much look forward to exploring contemporary aspects of requirements and requirements engineering (RE) in the coming years! As an institute researcher with RISE, I primarily work in strictly regulated domains, in which requirements are cornerstones in the development activities. Please check my introduc
Formal models for the safety validation of autonomous vehicles have become increasingly important. To this end, we present a safety framework for longitudinal automated driving. This framework allows calculating minimum safe inter-vehicular distances for arbitrary ego vehicle control policies. We use this framework to enhance the Responsibility-Sensitive Safety (RSS) model and models based on it,
A product code with single parity-check component codes can be described via the tools of a multi-kernel polar code, where the rows of the generator matrix are chosen according to the constraints imposed by the product code construction. Following this observation, successive cancellation decoding of such codes is introduced. In particular, the error probability of single parity-check product code
Dataflow is a Model of Computation (MoC) that describes applications as networks of actors. The CAL Actor Language (CAL) is one of the programming languages for describing such actors. A downside to CAL is that the actors and their networks are rigidly defined - it is not possible to have a parametric number of ports or actions in an actor. This makes it difficult to define flexible applications o
In this paper, we investigate a class of braided convolutional codes (BCCs), where the component codes are convolutional self-orthogonal codes (CSOCs), called braided convolutional self-orthogonal codes. Compared to conventional BCCs, the advantages of braided CSOCs include the availability of several low-complexity decoding methods and the relative ease of extending these methods to high rates Mo
With the increase in the number of antennas at base stations (BSs), centralized multi-antenna architectures have encountered scalability problems from excessive interconnection bandwidth to the central processing unit (CPU), as well as increased processing complexity. Thus, research efforts have been directed towards finding decentralized receiver architectures where a part of the processing is pe
The paper explores the usage of minimax adaptive controllers to guarantee finite L2 -gain simultaneous stabilization of linear time-invariant (LTI) plants. It is shown that a minimax adaptive controller simultaneously stabilizes any two multiple-input multiple-output (MIMO) P-stabilizable LTI plants when no LTI controller can achieve that, and the worst attained L2 -gain bound for the transient dy
Target-controlled infusion (TCI) constitutes a clinically available alternative to manually administering the infusion rate of the anesthetic drug propofol. In TCI, a drug infusion profile is optimized to track a reference trajectory of blood plasma or effect site (brain cortex) drug concentration, or a corresponding clinical effect. TCI is a pure feed-forward openloop strategy, fully reliant on a
Brain activation mapping using functional MRI (fMRI) based on blood oxygenation level-dependent (BOLD) contrast has been conventionally focused on probing gray matter, the BOLD contrast in white matter having been generally disregarded. Recent results have provided evidence of the functional significance of the white matter BOLD signal, showing at the same time that its correlation structure is hi
The human cortical layer exhibits a convoluted morphology that is unique to each individual. Conventional volumetric fMRI processing schemes take for granted the rich information provided by the underlying anatomy. We present a method to study fMRI data on subject-specific cerebral hemisphere cortex (CHC) graphs, which encode the cortical morphology at the resolution of voxels in 3-D. Using graph
Small autonomous surface vehicles (ASV) will need both teleoperation support and redundant positioning technology to comply with expected future regulations. When at sea, they are limited by a satellite communication link with low throughput. We have designed and implemented a graphical user interface (GUI) for teleoperation using a communication link with low throughput, and one positioning syste
