Abstract: A computer-executed method is provided for IEEE 802.15.4 devices based on a suspendable carrier-sense multiple access with collision avoidance (CSMA/CA) control program and standard CSMA/CA control program for an IEEE 802.15.4 network composing of IEEE 802.15.4 devices. The computer-executed method is provided on an IEEE 802.15.4 device, and causes a processor of the IEEE 802.15.4 device to perform steps that include determining the permission of backoff suspension and the intention of IEEE 802.15.4 device to perform backoff suspension, selecting the suspendable CSMA/CA control program if the backoff suspension is permitted and IEEE 802.15.4 device intends to perform backoff suspension.

Abstract: The present disclosure provides a system and a method for generating a radar image of a scene. The method comprises receiving radar measurements of a scene collected from a set of antennas, wherein the set of antennas are under uncertainties caused by one or a combination of position ambiguities and clock ambiguities of each of the antennas. The method further comprises generating the radar image of the scene by solving a sparse recovery problem. The sparse recovery problem determines, until a termination condition is met, a set of image shifts of the radar image corresponding to different uncertainties of the antennas and updates an estimate of the radar image, based on the determined set of image shifts of the radar image. The sparse recovery problem is solved with a neural network denoiser that denoises a filtering of the estimate of the radar image.

Abstract: A system for controlling motion of an articulated vehicle with one or multiple trailers is described. The system is configured to infer the state of a vehicle, determine a motion path with forward motions and backward motions for the vehicle based on the state, and formulate an optimal control problem for optimizing the motion path. The optimal control problem comprises an integral tracking error function indicating integral tracking error based on motion cusps relating to the motion path. The motion cusps indicate switching between forward motion and backward motion. The motion path is optimized over a prediction horizon based on solving the optimal control problem. A control command is generated for the vehicle based on the optimized motion path and a vehicle model, and the motion of the articulated vehicle is controlled based on the control command thereby changing its state.

Abstract: A computer-implemented method for maintaining a spacecraft near an orbit comprises steps of detecting that a distance from the spacecraft to the orbit is greater than a spacecraft threshold and in response, linearizing dynamics of the spacecraft from a current time over a time horizon with respect to a high-fidelity reference trajectory to produce a state transition matrix (STM) for an uncontrolled motion of the spacecraft within the time horizon. The STM includes non-expanding eigenvectors with magnitudes less than or equal to one and expanding eigenvectors with magnitudes greater than one. The method further comprises determining a control action that changes an upcoming state of the spacecraft to a linear combination of the non-expanding eigenvectors of the STM and generating a control command to an actuator of the spacecraft.

Abstract: An artificial intelligence system for producing an implicit representation of a three-dimensional (3D) scene including a 3D object by training a neural network including an encoder configured for encoding data indicative of a 3D point cloud of a shape of the object into grid-based features capturing multiple resolutions of the object and a decoder, the system comprising: a processor and a memory having instructions stored thereon that cause the processor to: (i) receive input data indicative of an oriented point cloud of a 3D scene including a 3D object, the input data indicating 3D locations of points of the 3D point cloud and orientations of the points defining a normal to a surface of the 3D object at locations proximate to the 3D locations of the points; and (ii) train the encoder and the decoder to produce an implicit representation of the 3D object.

Abstract: The present disclosure discloses a system and a method for controlling an operation of a machine according to a task. The method comprises formulating an original quadratic program (QP) for optimizing an objective function subject to equality constraints and inequality constraints, lifting the equality constraints and the inequality constraints into a lifted space by a lifting operation introducing an additional non-negative variable, and transforming the objective function of the original QP into a quadratic objective function. The quadratic objective function subject to the lifted equality and inequality constraints forms a homogeneous QP in the lifted space. The method further comprises solving the homogeneous QP to produce a solution in the lifted space and controlling the machine according to an infeasibility protocol when a value of the additional non-negative variable in the solution in the lifted space equals zero.

Abstract: An audio processing system is disclosed for comparing a query audio sample with a database of multiple reference audio samples using an external normalization. The system includes at least one processor and memory storing instructions that, when executed by the processor, cause the system to determine a bias term of the external normalization based on a spectro-temporal pattern of the query audio sample. The system further compares the query audio sample with each of the reference audio samples to generate a similarity score for each comparison. The system combines the bias term with each of the similarity scores to produce normalized similarity scores. The normalized similarity scores are then compared with a threshold to generate a result of comparison, which is subsequently outputted.

Abstract: A controller is provided for performing dynamic grasping of a target object using visual sensory inputs. The controller includes a robotic interface connected to a robotic arm including links connected by joints having actuators and encoders, and a gripper of the end-effector of the robotic arm configured to grasp the target object in response to robot control signals, and a vision sensor configured to continuously provide visual observations for tracking poses of the target object in a workspace and compute grasp poses, wherein the vision sensor is mounted on a distal end of the robotic arm adjacent to the gripper. The controller trains the Eye-on-Hand reinforcement learner policy, tracks the poses of the target object, and generates robot control signals to follow the target object while keeping it in the field of view of the vision sensor and grasp the target object in the workspace.

Abstract: The present disclosure provides a system and a method for controlling a motion of a robot from a starting point to a target point within a bounded space with a floorplan including one or multiple obstacles. The method includes solving for an electric potential in a bounded virtual space formed by scaling the floorplan of the bounded space with the one or multiple obstacles and applying charge to at least one bound of the bounded virtual space while treating the scaled obstacles as metallic surfaces with a constant potential value, wherein the electric potential provides multiple equipotential curves within the bounded virtual space. The method further includes selecting an equipotential curve with a potential value different from a potential value of an obstacle equipotential curve, determining a motion path based on the selected equipotential curve, and controlling the motion of the robot based on the determined motion path.

Abstract: A photonic device for splitting optical beams includes an input port configured to receive an input beam having an input power, a power splitter including perturbation segments arranged in a first region and a second region of a guide material having a first refractive index, each segment having a second refractive index, wherein the first region is configured to split the input beam into a first beam and a second beam, wherein and the second region is configured to separately guide the first and second beams, wherein the first refractive index is greater than the second refractive index, and output ports including first and second output ports connected the power splitter to respectively receive and transmit the first and second beams.

Abstract: A robust machine learning system is provided for robust machine learning. The robust machine learning system includes a processor, and a memory storing a robust machine learning program and a Group Representation Network (GRepsNet), wherein the robust machine learning program runining on the processor. In this case the processor is configured to receive an input dataset represented by a first group representation via input layers connected to the GrepsNet, pass/transmit the input dataset through the GRepsNet configured to generate an output dataset represented by an output group representation from the input dataset, wherein the output group is equivalent to the first group, and generate the output dataset from output layers connected to the GRepsNet.

Abstract: The present disclosure provides an audio system, a method and a system for facilitating operation of a machine. The machine includes actuators assisting tools to perform tasks. In an example, the audio system is configured to receive an audio mixture of signals generated by audio sources including at least one of the tools performing the tasks, or the actuators. The audio sources forming the audio mixture are identified by a location relative to a location of each microphone of a microphone array measuring the audio mixture. The audio system is configured to extract an audio signal from the audio mixture generated by an identified audio source, based on a correlation of spectral features in a multi-channel spectrogram of the audio mixture with directional information indicative of the relative location of the identified audio source. The audio system outputs the extracted audio signal to facilitate the operation of the machine.

Abstract: A method of image reconstruction of a structure of a scene comprises collecting measurements of intensities of a wave over a period of time. The intensities of the wave are modified by propagation of the wave in the scene. The method also comprises collecting depth information indicative of the structure of the scene at different values of depth of the scene. The different values of depth correlate with different time segments forming the period of time. The method also comprises processing the measurements with a guided recurrent neural network to sequentially learn features of the structure of the scene using the depth information as a guidance and rendering one or multiple images indicative of the features of the structure learned by the recurrent neural network.

Abstract: A controller is provided for operating a system under admissible states. The controller includes an interface configured to connect the system storing a set of measured system states, a set of reference inputs and a set of system parameters in a storage arranged inside or outside the system, a memory storing measured system states, admissible reference inputs and admissible parameter sets and computer-executable programs including a parameter estimator and an adaptive reference governor (ARG), a processor, in connection with the memory. The processor is configured to perform the ARG and the parameter estimator. The parameter estimator extracts a pair of a reference input and the system state and compute a system parameter estimate based on the reference input and system state.

Abstract: The present disclosure provides a multiple-input multiple-output (MIMO) radar system and a method for detecting an object in a scene. The method comprises transmitting frequency modulated continuous wave (FMCW) in a radio frequency (RF) band, and collecting radar measurements of the scene sampled in a time-frequency domain within an intermediate frequency (IF) bandwidth. The method further comprises transforming the radar measurements into range-doppler space to produce measurements of different segments of the scene for different range-doppler bins formed by intersections of different range bins with different Doppler bins, classifying a presence of the hypothetical transmitter at different segments of the scene according to a signal model with an internal classification, combining the results of the classification to produce parameters of the object, and outputting the parameters of the object.

Abstract: The present disclosure discloses a controller and a method for controlling an electric motor. The controller comprises a feedback controller configured to generate a reference voltage vector, a hybrid flux observer configured to estimate a flux error vector based on a difference between a first stator flux linkage observed and a second stator flux linkage, and a position observer configured to estimate a position of a rotor of the electric motor based on a projection of the flux error vector in a direction orthogonal to a direction of a voltage error vector shifted with a phase of dynamics of the hybrid flux observer. The controller further comprises a state estimator configured to estimate a value of a state of operation of the electric motor based on the estimated position of the rotor, thereby closing a feedback control loop of the feedback controller.

Abstract: A camera is provided for reconstructing the surface of the object. The camera includes an optical module configured to spatially separate photons reflected from an object in a scene to form at least two focused and distinctly polarized images on a sensor, wherein the sensor is configured to receive the at least two polarized images on pixels the sensor and generate intensity values of the pixels, and a computing module including a processor and a memory having instructions stored thereon. According to the instructions, the processor computes depth values at points of a surface of the object based on a ratio of the intensity values of the pixels with respect to the at least two polarized images and reconstructs the surface of the object from the computed depth values.

Abstract: A fault detection system is provided to extract fault signature from the time-domain stator current signal of a motor under varying load operations by solving a joint blind deconvolution-demodulation problem, where the stator current of a motor under varying operating conditions is modeled as a stator current of a steady operating condition influenced by the system response vector and a load modulation vector. A proximal alternating linearized minimization-type method is used to solve the joint blind deconvolution-demodulation problem, assuming that the spectrum of the sought-after signal is sparse. Motor fault detection is then performed using the recovered stator current of a steady operating condition.

Abstract: A cascaded controller for controlling a kinetic three-phase synchronous machine comprises a current control circuitry and an active power control circuitry operatively coupled with the current controller circuitry. The current control circuitry is configured to regulate a magnitude of inrush stator current for a stator of the kinetic three-phase synchronous machine by producing a first voltage control signal causing a flow of active power in the kinetic three-phase synchronous machine. The active power control circuitry is configured to produce a second voltage control signal to reduce the active power to zero, based on the first voltage control signal. The second voltage control signal controls a phase angle of the inrush stator current such that the stator current vector is oriented to align with a magnet axis of the rotor.

Abstract: A computer-implemented method for detecting anomaly of an operation of a machine based on a signal indicative of the operation of the machine performing a task, comprises collecting hyperbolic embeddings of the signal indicative of the operation of the machine. The hyperbolic embeddings lie in a hyperbolic space. The method further comprises performing the detection of the anomaly of the operation of the machine based on the hyperbolic embeddings to determine an anomaly score and rendering the anomaly score. The machine operation is controlled based on the rendered anomaly score.