Andrew T. Irish

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The main objective of this paper is to develop an efficient method for learning and reproduction of complex trajectories for robot programming by demonstration. Encoding of the demonstrated trajectories is performed with hidden Markov model, and generation of a generalized trajectory is achieved by using the concept of key points. Identification of the key(More)
—We propose and demonstrate a scalable architecture for distributed receive beamforming. In a receive cluster of N + 1 nodes receiving a message from a distant transmitter, N nodes are designated as amplify-and-forward relays and one node is designated as the receiver. The relay nodes apply a phase shift to their received signal and forward it such that(More)
—While existing wireless systems rely on rich scattering environments to obtain spatial multiplexing gains, such gains are also available for line-of-sight (LoS) point-to-point links if the range is small enough. For fixed antenna separation (limited by node form factor) and carrier frequency (limited by available electronics), the range up to which(More)
Microfluidic flow assays (MFA) that measure shear dependent platelet function have potential clinical applications in the diagnosis and treatment of bleeding and thrombotic disorders. As a step towards clinical application, the objective of this study was to measure how phenotypic and genetic factors, as well as experimental conditions, affect the(More)
— A novel approach is proposed to achieve simultaneous localization and mapping (SLAM) based on the signal-to-noise ratio (SNR) of global navigation satellite system (GNSS) signals. It is assumed that the environment is unknown and that the receiver location measurements (provided by a GNSS receiver) are noisy. The 3D environment map is decomposed into a(More)
— A probabilistic approach to 3-dimensional mapping is proposed that only uses data gathered by GNSS (Global Navigation Satellite System) devices. To accomplish this, the environment is gridded and a physically motivated sensor model is developed that assigns likelihoods of blockage to satellite signals based on their measured SNR (signal-to-noise ratio).(More)
We propose, analyze and demonstrate an architecture for scalable cooperative reception. In a cluster of N + 1 receive nodes, one node is designated as the final receiver, and the N other nodes act as amplify-and-forward relays which adapt their phases such that the relayed signals add up constructively at the designated receiver. This yields received SNR(More)
Geopositioning using Global Navigation Satellite Systems (GNSS), such as the Global Positioning System (GPS), is inaccurate in urban environments due to frequent non-line-of-sight (NLOS) signal reception. This poses a major problem for mobile services that benefit from accurate urban localization, such as navigation, hyperlocal advertising, and geofencing(More)
Due to frequent non-line-of-sight (NLOS) signal reception, geopositioning using Global Navigation Satellite Systems (GNSS), such as GPS, is unreliable in urban environments, with errors on the order of tens of meters. This poses a major problem for mobile services that benefit from accurate urban localization, such as navigation, geofencing, and hyperlocal(More)
—Multi-Gbps, long-range wireless communication at millimeter wave frequencies is characterized by channels with strong line-of-sight signal components, with link budgets relying on highly directional and dense transmit and receive antenna arrays with sub-wavelength inter-element spacing. A natural method to further increase data rates over such channels is(More)
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