Manfred Huber

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This paper describes research towards a system for locating wireless nodes in a home environment requiring merely a single access point. The only sensor reading used for the location estimation is the received signal strength indication (RSSI) as given by an RF interface, e.g., Wi-Fi. Wireless signal strength maps for the positioning filter are obtained by(More)
A HYBRID ARCHITECTURE FOR ADAPTIVE ROBOT CONTROL SEPTEMBER 2000 MANFRED HUBER Vordiplom, UNIVERSIT AT KARLSRUHE M.S., UNIVERSITY OF MASSACHUSETTS AMHERST Ph.D., UNIVERSITY OF MASSACHUSETTS AMHERST Dire ted by: Professor Roderi A. Grupen The autonomous operation of robot systems in an un ertain environment poses many hallenges to their ontrol ar hite ture.(More)
This paper describes a probabilistic approach to global localization within an in-door environment with minimum infrastructure requirements. Global localization is a flavor of localization in which the device is unaware of its initial position and has to determine the same from scratch. Localization is performed based on the received signal strength(More)
We propose a system for improving grasping using fingertip optical proximity sensors that allows us to perform online grasp adjustments to an initial grasp point without requiring premature object contact or regrasping strategies. We present novel optical proximity sensors that fit inside the fingertips of a Barrett Hand, and demonstrate their use alongside(More)
description of the system under the influence of the basis controllers. Running controllers to convergence, the possible behavior of the system is modeled as a DEDS on a symbolic predicate space characterized by the individual goals of the control modules. This abstract system model is then used as the basis for an exploration-based learning system to(More)
An interferometric ranging technique has been recently proposed as a possible way to localize ad hoc and sensor networks. Compared to the more common techniques such as received signal strength, time of arrival, and angle of arrival ranging, interferometric ranging has the advantage that the measurement could be highly precise. However, localization using(More)
T HE GOAL OF THIS PROJECT is to develop a unique simulation environment that can be used to increase students' in terest and expertise in Computer Science curriculum. Handson experience with physical or simulated equipment is an essential ingredient for learning, but many approaches to training develop a separate piece of equipment or software for each(More)