Abstract: Systems and methods for image processing for determining a registration map between a first image of a scene with a second image of the scene, include solving an optimal transport (OT) problem to produce the registration map by optimizing a cost function that determines a minimum of a ground cost distance between the first and the second images modified with an epipolar geometry-based regularizer including a distance that quantifies the violation of an epipolar geometry constraint between corresponding points defined by the registration map. The ground cost compares a ground cost distance of features extracted within the first image with a ground cost distance of features extracted from the second image.

Abstract: A frequency modulation continuous wave (FMCW)-based system configured to convert measurements of a linearly modulated wave from a time-domain into a frequency-domain to produce a non-linear frequency signal, where the non-linear frequency signal comprises a known linear component representing the desired linear modulation and an unknown non-linear component representing the non-linearity of the modulation. The FMCW-based system is further configured to determine coefficients of a basis function approximating a difference between the non-linear frequency signal and the linear frequency component in the frequency domain. The FMCW-based system is further configured to detect one or multiple spectrum peaks in the distorted beat signal with the distortion compensated according to the basis function with the determined coefficients to determine one or multiple distances to the one or multiple objects in the scene.

Abstract: A multiple input multiple output (MIMO) radar system for detecting a moving object is based on an explicit signal model. The explicit signal model accounts for waveform separation residuals by relating measurements of the virtual array to an auto-term including a Kronecker product of object-receiver signatures and transmitter-object signatures; and a cross-term including a Kronecker product of object-receiver signatures and transmitter-object residual signatures. The radar system uses a spatial MIMO object detector that is based on the explicit signal model to detect the moving object.

Abstract: A distributed machine learning based traffic prediction method is provided for predicting traffic of roads. In this case, the distributed machine learning based traffic prediction method includes distributing global multi-task traffic models by a learning server to learning agents to locally train the traffic models, uploading locally trained traffic models by learning agents to the learning server, updating global multi-task traffic models by the learning server using locally trained traffic model parameters acquired from learning agents, generating a time-dependent global traffic map by the learning server using the well trained global multi-task traffic models, distributing the time-dependent global traffic map to vehicles traveling on the roads, and computing an optimal travel route with the least travel time by a vehicle using the time-dependent global traffic map based on a driving plan.

Abstract: A tracking system for tracking an expanded state of an object is provided. The tracking system comprises at least one processor and a memory having instructions stored thereon that, when executed by the at least one processor, cause the tracking system to execute a probabilistic filter that iteratively tracks a belief on the expanded state of the object, wherein the belief is predicted using a motion model of the object and is further updated using a compound measurement model of the object. The compound measurement model includes multiple probabilistic distributions constrained to lie on a contour of the object with a predetermined relative geometrical mapping to the center of the object. Further, the tracking system tracks the expanded state of the object based on the updated belief on the expanded state.

Abstract: A node device for forming a multi-hop network is provided. The node device is configured to avoid interference from coexisting interfering networks and includes a transceiver configured to receive and transmit data with respect to a Destination Oriented Directed Acyclic Graph (DODAG) Information Object message (DIO message), a memory configured to store computer executable programs including an interfered-node count (IC), single-rate link count (SLC), multi-rate link count (MLC), hop count (HP), path communication latency (PCL) and an interference efficient and multi-rate supported routing program CoM-RPL, and a processor configured to perform steps of the computer executable programs. The steps include determining if the received DIO message indicates a new DODAG or an existing DODAG.

Abstract: A robot configured for multi-robot pose estimation execute iteratively the primary particle filter and the secondary particle filter independently from each other to update the pose estimations in the primary and the secondary particles. In response to each encounter of the robot with a neighboring robot, the robot receives neighboring particles of a particle filter of the neighboring robot identifying poses and likelihoods of the poses of the neighboring robot and replaces the primary particles of the primary particle filter with the secondary particles fused with the neighboring particles. The robot outputs its pose according to the primary particles of the primary particle filter.

Abstract: A system for fusion of Wi-Fi measurements from multiple frequency bands to monitor indoor and outdoor space is provided. The system includes a multi-band wireless network comprising a set of radio devices to provide coverage in an environment, wherein the set of radio devices are configured to establish wireless communication or sensing links over multi-band wireless channels, wherein the multi-band wireless channels use a first radio band at a millimeter wavelength and a second radio band at a centimeter wavelength. The system further includes a computing processor communicatively coupled to the set of radio devices and a data storage, wherein the data storage has data comprising a parameterized model, modules and executable programs.

Abstract: A system for a target image reconstruction includes a stepped frequency transmitter configured to emit a stepped frequency waveform having different constant frequencies at different periods of time and a modulator configured to modulate the stepped frequency waveform emitted at each period of time with a modulation signal to output a modulated stepped frequency waveform with an increased bandwidth. The system includes a transceiver configured to transmit the modulated stepped frequency waveform to a target and to accept reflection of the modulated stepped frequency waveform reflected from the target, a mixer to interfere the unmodulated stepped frequency waveform and the reflection of the modulated stepped frequency waveform to produce a beat signal of the interference of the unmodulated stepped frequency waveform with the reflection of the modulated stepped frequency waveform, and a signal processor to reconstruct an image of the target from the beat signal.

Abstract: A robot performs simultaneous localization and mapping (SLAM) using a particle filter to process sensor measurements of movements of the robot in an environment and occupied locations in the environment to produce a set of particles. Each particle includes a map of the environment and a pose of the robot in the environment to represent a probability that the environment has the map oriented with respect to the pose of the robot. The robot receives a set of particles of a neighboring robot and, in response to receiving the set of particles of the neighboring robot, updates maps of probabilistically sampled particles of the robot with maps of probabilistically sampled particles of the neighboring robot. The update includes merging a map of the sampled particle of the robot with a map of the sampled particle of the neighboring robot roto-translated based on a relative pose between the robots.

Abstract: A system for a target image reconstruction includes a stepped frequency transmitter configured to emit a stepped frequency waveform having different constant frequencies at different periods of time and a modulator configured to modulate the stepped frequency waveform emitted at each period of time with a modulation signal to output a modulated stepped frequency waveform with an increased bandwidth. The system includes a transceiver configured to transmit the modulated stepped frequency waveform to a target and to accept reflection of the modulated stepped frequency waveform reflected from the target, a mixer to interfere the unmodulated stepped frequency waveform and the reflection of the modulated stepped frequency waveform to produce a beat signal of the interference of the unmodulated stepped frequency waveform with the reflection of the modulated stepped frequency waveform, and a signal processor to reconstruct an image of the target from the beat signal.

Abstract: A system for estimating a pose of a robot includes a particle filter to track the pose of the robot using particles that defining a probability of pose of the robot and a particle tuner to update the particles of the robot based on particles of neighboring robot. Upon receiving data indicative of relative pose between a pose of the robot and a pose of a neighboring robot, and particles of the neighboring robot, the particle tuner pairs an arbitrarily sampled particle of the robot with an arbitrarily sampled particle of the neighboring robot, determines a weight of the paired particles in reverse proportion to an error between a relative pose defined by the paired particles and the relative pose between the robot and the neighboring robot, and updates the particles of the robot in accordance to the weights of corresponding paired particles.

Abstract: A traffic control system for controlling traffic at interconnected intersections is provided, where the system comprises a receiver that receives traffic data that indicates states of vehicles approaching an intersection of the interconnected intersections and directions of the vehicles exiting the intersection. Further, the system comprises a processor that determines intersection crossing times and velocities of vehicles approaching the intersection by minimizing at least one of a total travel time or a maximum travel time of the vehicles for crossing the intersection. The contribution of each vehicle of the vehicles approaching the intersection in the at least one of a total travel time or a maximum travel time is weighted based on directions of the vehicles and traffic at next intersection. Further, the system comprises a transmitter that transmits the intersection crossing times and velocities to the vehicles exiting the intersection for controlling the traffic at the interconnected intersections.

Abstract: A wireless smart utility network (Wi-SUN) device participating in a Wi-SUN network for coexistence with a Wi-Fi HaLow network sharing frequency spectra between the networks is provided.

Abstract: The communication system is provided, where the communication system comprises multiple cluster distributed antenna system (MC-DAS) network and a controller. Each cluster in the MC-DAS comprises a cluster master (CM) and remote radio units (RRU), which are in the coverage area of the controller. The controller and the DAS clusters are synchronized using a hierarchical precision time protocol (HPTP). Each DAS cluster is configured to transmit messages independently from other DAS clusters in the plurality of DAS clusters using a distributed cyclic delay diversity (CDD) scheme with a determined length of a cyclic prefix. The controller further comprises a controller configured to transmit a message from the controller to a receiver through one or more DAS clusters of the plurality of the DAS clusters.

Abstract: A controller is provided for generating carrier signals for a PWM generator controlling an inverter driving an electric actuator to reduce the EMI level of the inverter. The controller includes an interface configured to connect to the inverter, a memory configured to store a measured electromagnetic-interference (EMI) spectrum, a desired EMI spectrum and an EMI suppression rate program, and a processor. The processor is, in connection with the memory, configured to computing EMI suppression rates for a frequency range, wherein the EMI suppression determined adaptively by the measured EMI spectrum and the desired EMI spectrum, computing sweep duration of discrete frequency, wherein the sweep duration is determined by the EMI suppression rate of the discrete frequency, and a modulator configured to modulate the carrier signals based on the sweep durations of carrier frequencies and to transmit the modulated carrier signals to the PWM generator to generate PWM signals for the inverter.

Abstract: A controller is provided for generating carrier signals for a PWM generator controlling an inverter driving an electric actuator to reduce the EMI level of the inverter. The controller includes an interface configured to connect to the inverter, a memory configured to store a measured electromagnetic-interference (EMI) spectrum, a desired EMI spectrum and an EMI suppression rate program, and a processor. The processor is, in connection with the memory, configured to computing EMI suppression rates for a frequency range, wherein the EMI suppression determined adaptively by the measured EMI spectrum and the desired EMI spectrum, computing sweep duration of discrete frequency, wherein the sweep duration is determined by the EMI suppression rate of the discrete frequency, and a modulator configured to modulate the carrier signals based on the sweep durations of carrier frequencies and to transmit the modulated carrier signals to the PWM generator to generate PWM signals for the inverter.

Abstract: A system for keyless entry applications using beamforming transmission in a millimeter wave spectrum in an environment. A memory with data including values indicative of link attributes associated with beam signal measurements with states of devices and states of environments. The states of the devices for each device including types of user behavior, locations and poses in each environment. Control circuitry performs beam training with a target device associated with at least one keyless entry application in the environment to measure beam signal values and environmental responses for different beams transmitted over the different beam angles. Selects, in response to the beam training, at least one dominant angle for a beamforming communication with the target device. Estimates, a state of the target device associated with the at least one keyless entry application or a state of the environment, corresponding to environmental responses for different beams estimated during the beam training.

Abstract: Systems and methods for scheduling data traffic in a wireless time sensitive network (TSN). A computer configured to synchronize clocks of all nodes with a common clock in the TSN. Obtain data traffic information for the TSN using a network scheduler to establish routing paths. Determine routing paths using the obtained data traffic information and stored routing information via a memory. Compute a link communication delay for each link of the one or more relay nodes connecting a source node to a destination node of the TSN for each TSN stream using a network scheduler. Determine interfering links for each wireless link using the network scheduler. Determining a scheduling period using the network scheduler. Determine optimal scheduling using an optimal scheduling module. Generate the gate control list for each egress port of the wired node and the wireless transmitter of the TSN, and begin transmission of the data.

Abstract: A wireless smart utility networks (Wi-SUN) device participating in a Wi-SUN network for coexistence with a Wi-Fi HaLow network sharing frequency spectra between the networks is disclosed. The Wi-SUN device includes a receiver to receive packets of neighbor Wi-SUN devices, a memory configured to store computer executable programs including a Hybrid carrier-sense multiple access (CSMA) control program and Wi-SUN Backoff control Program, a processor configured to execute the Hybrid CSMA control program, including instructions that cause the processor to perform steps of estimating a severity of Wi-Fi Halow interference based on a severity detection method, switching a backoff mode between predetermined backoff modes in response to the estimated severity, and performing a backoff procedure according to the selected backoff mode, and a transmitter to transmit packets.