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We address the problem of insufficient quality of robot simulators to produce precise sensor readings for joint positions, velocities and torques. Realistic simulations of sensor readings are particularly important for real time robot control laws and for data intensive Reinforcement Learning of robot movements in simulation. We systematically construct two architectures based on Long Short-Term M
The increase in both the use of open-source software (OSS) and the number of new vulnerabilities reported in this software constitutes an increased threat to businesses, people, and our society. To mitigate this threat, vulnerability information must be efficiently handled in organizations. In addition, where e.g., IoT devices are integrated into systems, such information must be disseminated from
To date, research on warehouse order-batching has been limited by reliance on rigid assumptions regarding rack layouts. Although efficient optimization algorithms have been provided for conventional warehouse layouts with Manhattan style blocks of racks, they are limited in that they fail to generalize to unconventional layouts. This paper builds on a generalized procedure for digitization of ware
Reconfigurable scan networks (RSNs), like IEEE Std. 1687 networks, offer flexible and scalable access to embedded (on- chip) instruments. These networks are typically accessed from the outside via a dedicated test port, like the test access port (TAP) of IEEE Std. 1149.1. As not all integrated circuits have a dedicated test port, the IEEE Std. P1687.1 working group is exploring how existing functi
The prospect of ex vivo functional evaluation of donor hearts is considered. Particularly, the dynamics of a synthetic cardiac afterload model are compared to those of normal physiology. A method for identification of continuous-time transfer functions from sampled data is developed and verified against results from the literature. The method relies on exact gradients and Hessians obtained through
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
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately handle objects that might not be placed at fixed positions during the robot task execution. Industrial tasks bring multiple challenges for the robust pose estima
Purpose—Ischemic myocardial contracture (IMC) or ‘‘stoneheart’’ is a condition with rapid onset following circulatory death. It inhibits transplantability of hearts donated uponcirculatory death (DCD). We investigate the effectiveness of hemodynamic normalization upon withdrawal of life-sustaining therapy (WLST) in a large-animal controlled DCD model, with the hypothesis that reduction in cardiac
Modern integrated circuits (ICs) contain thousands of instruments to enable testing, tuning, monitoring, and so on. These on-chip instruments must be accessed through the ICs’ life- time. However, when ICs are mounted on Printed Circuit Boards (PCBs), access from system-level is challenged due to complex system hierarchies with a multitude of interfaces. In this paper we enable access from system-
Modern integrated circuits (ICs) include thousands of on-chip instruments to ensure that specifications are met and maintained. Scalable and flexible access to these instruments is offered by reconfigurable scan networks (RSNs), e.g. IEEE Std. 1687. As RSNs themselves can become faulty, there is a need to exclude and bypass faulty parts so that remaining instruments can be used. To avoid keeping t
Organized human papillomavirus (HPV) vaccination was introduced in Sweden in 2012. On-demand vaccination was in effect from 2006 to 2011. We followed the HPV prevalences in Southern Sweden from 2008 to 2013.
The future of cellular radio ICs lies in the integration of an ever-increasing number of bands and channel bandwidths. This paper presents a transceiver together with the associated discrete front-end components. The transceiver supports 4 EDGE bands and 9 WCDMA bands (l-VI and Vlll-X), while the radio can be configured to simultaneously support the 4 EDGE bands and up to 5 WCDMA bands: 3 high ban
Radio based localization is an active research topic with a wide range of applications. In this paper, we focus on localization of a radio receiver equipped with an inertial measurement unit. The localization is performed while simultaneously constructing a map of the small scale fading pattern in the local radio environment. The map in our case is a ray-trace-based multipath channel model. This s
Using antenna arrays for direction of arrival (DoA) estimation and source localization is a well-researched topic. In this paper, we analyze virtual antenna arrays for DoA estimation where the antenna array geometry is acquired using data from a low-cost inertial measurement unit (IMU). Performance evaluation of an unaided inertial navigation system with respect to individual IMU sensor noise para
We propose a novel multi-pose loss function to train a neural network for 6D pose estimation, using synthetic data and evaluating it on real images. Our loss is inspired by the VSD (Visible Surface Discrepancy) metric and relies on a differentiable renderer and CAD models. This novel multi-pose approach produces multiple weighted pose estimates to avoid getting stuck in local minima. Our method re
The commercial availability of low-cost millimeterwave (mmWave) communication and radar devices is starting to improve the adoption of such technologies in consumer markets, paving the way for large-scale and dense deployments in fifthgeneration (5G)-and-beyond as well as 6G networks. At the same time, pervasive mmWave access will enable device localization and device-free sensing with unprecedent
Cell-free massive multiple-input multiple-output (MIMO) consists of a large set of distributed access points (APs) serving a number of users. The APs can be far from each other, and they can also have a big number of antennas. Thus, decentralized architectures have to be considered so as to reduce the interconnection bandwidth to a central processing unit (CPU) and make the system scalable. On the
SMIRK is a pedestrian automatic emergency braking system that facilitates research on safety-critical systems embedding machine learning components. As a fully transparent driver-assistance system, SMIRK can support future research on trustworthy AI systems, e.g., verification & validation, requirements engineering, and testing. SMIRK is implemented for the simulator ESI Pro-SiVIC with core co
Beyond 5G communication systems must be able to meet the requirements imposed by the ever-increasing demand in capacity, while guaranteeing robustness, reliability, low latency, security, as well as spectral and power efficiencies. Large intelligent surfaces (LIS) as an evolution of massive MIMO have drawn considerable attention among researchers, being already considered as one of the key technol
In this paper, we examine variable node (VN) doping to mitigate the error propagation problem in sliding window decoding (SWD) of spatially coupled LDPC (SC-LDPC) codes from the point of view of the encoding process. More specifically, in order to simplify the process of generating an encoded sequence with some number of doped code bits, we propose to employ systematic encoding and to limit doping
