Fully Integrated Frequency and Phase Generation for a 6-18GHz Tunable Multi-Band Phased-Array Receiver in CMOS

Fully integrated frequency-phase generators for a 6-18GHz wide-band phased-array receiver element are presented that generate 5-7GHz and 9-12GHz first LO signals with less than -95dBc/Hz phase noise at 100kHz offset. Second LO signals with digitally controllable fourquadrant phase- and amplitude spread with better than 3° resolution are generated and allow removal of systematic reference clock skew as well as accurate selection of the received signal phase. This frequency- and phase generation scheme was successfully demonstrated in a 6-18GHz receiver system configured as an electrical 4-element array

A Theoretically Guaranteed Deep Optimization Framework for Robust Compressive Sensing MRI

Magnetic Resonance Imaging (MRI) is one of the most dynamic and safe imaging techniques available for clinical applications. However, the rather slow speed of MRI acquisitions limits the patient throughput and potential indi cations. Compressive Sensing (CS) has proven to be an efficient technique for accelerating MRI acquisition. The most widely used CS-MRI model, founded on the premise of reconstructing an image from an incompletely filled k-space, leads to an ill-posed inverse problem. In the past years, lots of efforts have been made to efficiently optimize the CS-MRI model. Inspired by deep learning techniques, some preliminary works have tried to incorporate deep architectures into CS-MRI process. Unfortunately, the convergence issues (due to the experience-based networks) and the robustness (i.e., lack real-world noise modeling) of these deeply trained optimization methods are still missing. In this work, we develop a new paradigm to integrate designed numerical solvers and the data-driven architectures for CS-MRI. By introducing an optimal condition checking mechanism, we can successfully prove the convergence of our established deep CS-MRI optimization scheme. Furthermore, we explicitly formulate the Rician noise distributions within our framework and obtain an extended CS-MRI network to handle the real-world nosies in the MRI process. Extensive experimental results verify that the proposed paradigm outperforms the existing state-of-the-art techniques both in reconstruction accuracy and efficiency as well as robustness to noises in real scene

Comparative evaluation of approaches in T.4.1-4.3 and working definition of adaptive module

The goal of this deliverable is two-fold: (1) to present and compare different approaches towards learning and encoding movements us- ing dynamical systems that have been developed by the AMARSi partners (in the past during the first 6 months of the project), and (2) to analyze their suitability to be used as adaptive modules, i.e. as building blocks for the complete architecture that will be devel- oped in the project. The document presents a total of eight approaches, in two groups: modules for discrete movements (i.e. with a clear goal where the movement stops) and for rhythmic movements (i.e. which exhibit periodicity). The basic formulation of each approach is presented together with some illustrative simulation results. Key character- istics such as the type of dynamical behavior, learning algorithm, generalization properties, stability analysis are then discussed for each approach. We then make a comparative analysis of the different approaches by comparing these characteristics and discussing their suitability for the AMARSi project

An Unsupervised Neural Network for Real-Time Low-Level Control of a Mobile Robot: Noise Resistance, Stability, and Hardware Implementation

We have recently introduced a neural network mobile robot controller (NETMORC). The controller is based on earlier neural network models of biological sensory-motor control. We have shown that NETMORC is able to guide a differential drive mobile robot to an arbitrary stationary or moving target while compensating for noise and other forms of disturbance, such as wheel slippage or changes in the robot's plant. Furthermore, NETMORC is able to adapt in response to long-term changes in the robot's plant, such as a change in the radius of the wheels. In this article we first review the NETMORC architecture, and then we prove that NETMORC is asymptotically stable. After presenting a series of simulations results showing robustness to disturbances, we compare NETMORC performance on a trajectory-following task with the performance of an alternative controller. Finally, we describe preliminary results on the hardware implementation of NETMORC with the mobile robot ROBUTER.Sloan Fellowship (BR-3122), Air Force Office of Scientific Research (F49620-92-J-0499

Push recovery with stepping strategy based on time-projection control

In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed of three pendulums to simulate swing and torso dynamics. Based on 3LP equations, we formulate discrete LQR controllers and use a particular time-projection method to adjust the next footstep location on-line during the motion continuously. This adjustment, which is found based on both pelvis and swing foot tracking errors, naturally takes the swing dynamics into account. Suggested adjustments are added to the Cartesian 3LP gaits and converted to joint-space trajectories through inverse kinematics. Fixed and adaptive foot lift strategies also ensure enough ground clearance in perturbed walking conditions. The proposed structure is robust, yet uses very simple state estimation and basic position tracking. We rely on the physical series elastic actuators to absorb impacts while introducing simple laws to compensate their tracking bias. Extensive experiments demonstrate the functionality of different control blocks and prove the effectiveness of time-projection in extreme push recovery scenarios. We also show self-produced and emergent walking gaits when the robot is subject to continuous dragging forces. These gaits feature dynamic walking robustness due to relatively soft springs in the ankles and avoiding any Zero Moment Point (ZMP) control in our proposed architecture.Comment: 20 pages journal pape