In this study, the problem of transmitting an independent and identically distributed (i.i.d.) Gaussian source over an i.i.d. Gaussian wire-tap channel, with an i.i.d. Gaussian known interference available at the transmitter is considered. The intended receiver is assumed to have a certain minimum signal-to-noise ratio (SNR) and the eavesdropper is assumed to have a strictly lower SNR compared ...

This paper addresses the joint path delay and time-varying complex gain estimation for continuous phase modulation (CPM), over a time-selective slowly varying Rayleigh flat fading channel. We propose two estimation methods: an expectation-maximization (EM) algorithm for path delay estimation in a Kalman framework, and a Maximum a Posteriori (MAP) method for joint path delay and complex gain est...

This thesis reports research results on three different topics under the theme of the automatic execution of compliant motion tasks for robot manipulators: numerical trajectory optimization, smooth interpolation of orientation, and control algorithm design. The major purpose of this research is to present a comprehensive joint-space solution for robot’s hybrid motion/force control, which we bel...

The problem of transmitting an i.i.d Gaussian source over an i.i.d Gaussian wiretap channel with an i.i.d Gaussian side information is considered. The intended receiver is assumed to have a certain minimum SNR and the eavesdropper is assumed to have a strictly lower SNR compared to the intended receiver. The objective is minimizing the distortion of source reconstruction at the intended receive...

Several types of equilibrium point (EP) controllers have been proposed for the control of posture and movement. EP controllers are appealing from a computational perspective because they do not require solving the "inverse dynamic problem" (i.e., computation of the torques required to move a system along a desired trajectory). It has been argued that EP controllers are not capable of controllin...

Juvenile idiopathic arthritis is the leading cause of hip replacement in young children. However, arthroplasty in this population is challenging with several concerns about quality of the growing bone, young age for revision surgery, and difficulties in potential several revisions. In this study we introduce a case of a 12-year old who is one of the youngest patients to undergo revision hip art...

We present a detailed study of the performance and cost issues related to the selection of either a 180° hybrid or a simple transformer for use as the primary power combining element for future LWA active-baluns. Noise figure, 1 dB compression point, IP2, IP3, Gain and VSWR measurements have been performed on two balun prototypes in order to do a side-by-side performance comparison. The prototy...