We construct a one-parameter family of properly embedded minimal annuli in the Heisenberg group Nil3 endowed with a left-invariant Riemannian metric. These annuli are not rotationally invariant. This family gives a vertical half-space theorem and proves that each complete minimal graph in Nil3 is entire. Also, the sister surface of an entire minimal graph in Nil3 is an entire constant mean curv...

For the plane, sphere, and hyperbolic plane we consider the canonical invariant determinan-tal point processes Z ρ with intensity ρdν, where ν is the corresponding invariant measure. We show that as ρ → ∞, after centering, these processes converge to invariant H 1 noise. More precisely, for all functions f ∈ H 1 (ν) ∩ L 1 (ν) the distribution of z∈Z f (z) − ρ π f dν converges to Gaussian with m...

This paper presents a novel approach for detecting multiple instances of the same object for pick-and-place automation. The working conditions are very challenging, with complex objects, arranged at random in the scene, and heavily occluded. This approach exploits SIFT to obtain a set of correspondences between the object model and the current image. In order to segment the multiple instances o...

A new type of tracking algorithm with time-invariant gain is presented. It can be applied for obtaining prediction, ltering or xed-lag smoothing estimates of time-varying parameters in linear regression models. The algorithm design constitutes a systematic way of introducing a priori information into LMS-like adaptation laws, using the concept of stochastic hypermodelling of the unknown time-va...

This paper analyzes and compares two time interpolators, i.e., time replica and time linear interpolator, for pilot aided channel estimation in orthogonal frequency division multiplexing (OFDM) systems. The mean square error (MSE) of two interpolators is theoretically derived for the general case. The equally spaced pilot arrangement is proposed as a special platform for these two time interpol...

Minimum-mean squared error (MMSE) receivers are designed and analyzed for multiple data rate direct-sequence code-division multiple-access (DS-CDMA) systems. The inherent cyclostationarity of the DS-CDMA signal is exploited to construct receivers for asynchronous multipath channels. Multipleand single-bandwidth access are treated for both single and multicarrier scenarios. In general, the optim...

This paper presents a modelling and identification method for a wheeled mobile robot, including the actuator dynamics. Instead of the classic modelling approach, where the robot position coordinates (x, y) are utilized as state variables (resulting in a non linear model), the proposed discrete model is based on the travelled distance increment ∆l. Thus, the resulting model is linear and time in...