Room temperature Bloch surface wave polaritons

Polaritons are hybrid light-matter quasi-particles that have gathered a significant attention for their capability to show room temperature and out-of-equilibrium Bose-Einstein condensation. More recently, a novel class of ultrafast optical devices have been realized by using flows of polariton fluids, such as switches, interferometers and logical gates. However, polariton lifetimes and propagation distance are strongly limited by photon losses and accessible in-plane momenta in usual microcavity samples. In this work, we show experimental evidence of the formation of room temperature propagating polariton states arising from the strong coupling between organic excitons and a Bloch surface wave. This result, which was only recently predicted, paves the way for the realization of polariton devices that could allow lossless propagation up to macroscopic distances

Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots

We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integrates the additional degrees of freedom introduced by the wheels. Our approach relies on a zero-moment point based motion optimization which continuously updates reference trajectories. The reference motions are tracked by a hierarchical whole-body controller which computes optimal generalized accelerations and contact forces by solving a sequence of prioritized tasks including the nonholonomic rolling constraints. Our approach has been tested on ANYmal, a quadrupedal robot that is fully torque-controlled including the non-steerable wheels attached to its legs. We conducted experiments on flat and inclined terrains as well as over steps, whereby we show that integrating the wheels into the motion control and planning framework results in intuitive motion trajectories, which enable more robust and dynamic locomotion compared to other wheeled-legged robots. Moreover, with a speed of 4 m/s and a reduction of the cost of transport by 83 % we prove the superiority of wheeled-legged robots compared to their legged counterparts.Comment: IEEE Robotics and Automation Letter

Timing Acquisition Performance Metrics of Tc-DTR UWB Receivers over Frequency-Selective Fading Channels with Narrow-Band Interference: Performance Analysis and Optimization

International audienceThe successful deployment of Impulse Radio (IR) Ultra Wide Band (UWB) wireless communication systems requie that they coexist and contend with a variety of interfering signals co–located over the same transmission band. In fact, if on the one hand the large transmission bandwidth of IR–UWB signals allows them to resolve multipath components and exploit multipath diversity, on the other hand it yields some new coexistence challenges for both unlicensed commercial and military communication systems, which are required to be robust to unintentional and intentional jammers, respectively. In particular, the design and analysis of low–complexity receiver schemes with good synchronization capabilities and high robustness to Narrow–Band Interference (NBI) is acknowledged as an important issue in IR–UWB research. Motivated by this consideration, in [1] we have recently proposed a low–complexity receiver design, the so–called Chip–Time Differential Transmitted–Reference (Tc–DTR) scheme, and have shown that it is more robust to NBI than other non–coherent receiver schemes available in the literature. In this paper, we aim at generalizing the results in [1] and at developing the enabling analytical tools for the analysis and design of timing acquisition algorithms for non–coherent receivers over frequency–selective fading channels with NBI. Furthermore, we move from the proposed analytical framework to tackle the optimization problem of devising optimal signature codes to reduce the impact of NBI on the performance of the Tc–DTR synchronizer. Analytical frameworks and findings are substantiated via Monte Carlo simulations

Space Shift Keying (SSK-) MIMO with Practical Channel Estimates

International audienceIn this paper, we study the performance of space modulation for Multiple-Input-Multiple-Output (MIMO) wireless systems with imperfect channel knowledge at the receiver. We focus our attention on two transmission technologies, which are the building blocks of space modulation: i) Space Shift Keying (SSK) modulation; and ii) Time-Orthogonal-Signal-Design (TOSD-) SSK modulation, which is an improved version of SSK modulation providing transmit-diversity. We develop a single- integral closed-form analytical framework to compute the Average Bit Error Probability (ABEP) of a mismatched detector for both SSK and TOSD-SSK modulations. The framework exploits the theory of quadratic-forms in conditional complex Gaussian Random Variables (RVs) along with the Gil-Pelaez inversion theorem. The analytical model is very general and can be used for arbitrary transmit- and receive-antennas, fading distributions, fading spatial correlations, and training pilots. The analytical derivation is substantiated through Monte Carlo simulations, and it is shown, over independent and identically distributed (i.i.d.) Rayleigh fading channels, that SSK modulation is as robust as single-antenna systems to imperfect channel knowledge, and that TOSD-SSK modulation is more robust to channel estimation errors than the Alamouti scheme. Furthermore, it is pointed out that only few training pilots are needed to get reliable enough channel estimates for data detection, and that transmit- and receive-diversity of SSK and TOSD-SSK modulations are preserved even with imperfect channel knowledge

Use of balloon catheter dilation and steroid-eluting stent in light and severe rhinosinusitis of frontal sinus: a multicenter retrospective randomized study

OBJECTIVE: Frontal sinus surgery has an increased rate of re-stenosis, if compared to other sinuses, that mainly depends on recurrent inflammation and abnormal scarring at the frontal recess; its reduction represents one of the keys of therapeutic success. Balloon catheter dilation (BCD) and implantable sinus stents/spacers represent strategies to improve sinus ventilation respecting the integrity of mucosa and reducing abnormal post-surgical scarring. The purpose of this study is to evaluate the effectiveness, safety and correct indication for the use of BCD and a non-absorbable stent (Relieva Stratus™ MicroFlow spacer) in the management of chronic rhinosinusitis (CRS) of the frontal sinus. PATIENTS AND METHODS: In this multicentric retrospective study we included a population of 76 frontal sinuses with non-polypoid CRS. Forty-one frontal sinuses were treated with BCD alone and 35 with BCD + Spacer. We analysed both radiological (Lund-McKay CT scoring modified by Zienrich) and symptomatologic results (SNOT-20 questionnaire) before surgery and after 12 months, dividing patients in two main groups: group “L” (light/mild frontal CRS) and group “S” (moderate/severe frontal CRS). RESULTS: Our results confirm a good safety and effectiveness of BCD in management of frontal CRS and show a good safety, although without significant effectiveness, of Relieva Stratus™ MicroFlow spacer when added to BCD in the management of light and severe frontal CRS. CONCLUSIONS: BCD is an option in management of frontal CRS; the use of stents/spacers could become a new and effective tool in management of CSR, both in addition to standard therapies and in patients where the use of systemic drugs is contraindicated

Performance Analysis and Optimization of Tc-DTR IR-UWB Receivers over Multipath Fading Channels with Tone Interference

International audienceIn this paper, we analyze the performance of a particular class of transmitted-reference receivers for impulse radio ultra wideband communication systems, which is called chip-time differential transmitted-reference (Tc-DTR). The analysis aims at investigating the robustness of this receiver to single-tone and multi-tone narrowband interference (NBI) and comparing its performance with other non-coherent receivers that are proposed in the literature. It is shown that the Tc-DTR scheme provides more degrees of freedom for performance optimization and that it is inherently more robust to NBI than other non-coherent receivers. More specifically, it is analytically proved that the performance improvement is due to the chip-time-level differential encoding/decoding of the direct sequence (DS) code and to an adequate design of DS code and average pulse repetition time. The analysis encompasses performance metrics that are useful for both data detection (i.e., average bit error probability) and timing acquisition (i.e., false-alarm probability Pfa and detection probability Pd). Moving from the proposed sem-analytical framework, the optimal code design and system parameters are derived, and it is highlighted that the same optimization criteria can be applied to all the performance metrics considered in this paper. In addition, analytical frameworks and theoretical findings are substantiated through Monte Carlo simulations

On the Performance of Space Shift Keying (SSK) Modulation with Imperfect Channel Knowledge

International audienceIn this paper, we study the sensitivity and robustness of Space Shift Keying (SSK) modulation to imperfect channel knowledge at the receiver. Unlike the common widespread belief, we show that SSK modulation is more robust to imperfect channel knowledge than other state-of-the-art transmission technologies, and only few training pilots are needed to get reliable enough channel estimates for data detection. More precisely, we focus our attention on the so-called Time-Orthogonal-Signal-Design (TOSD-) SSK modulation scheme, which is an improved version of SSK modulation offering transmit-diversity gains, and provide the following contributions: i) we develop a closed- form analytical framework to compute the Average Bit Error Probability (ABEP) of a mismatched detector for TOSD-SSK modulation, which can be used for arbitrary transmit-antenna, receive-antenna, channel fading, and training pilots; ii) we perform a comparative study of the performance of TOSD-SSK modulation and the Alamouti code under the same imperfect channel knowledge, and show that TOSD-SSK modulation is more robust to channel estimation errors; iii) we point out that only few pilot pulses are required to get performance very close to the perfect channel knowledge lower-bound; and iv) we verify that transmit- and receive-diversity gains of TOSD-SSK modulation are preserved even for a mismatched receiver