In control design for bilateral telemanipulation there is a trade-off between high transparency and sufficient stability margins. Stability problems can occur when the stiff slave manipulator encounters a stiff environment and large contact forces are fed back to the badly damped master giving oscillative behaviour in the teleoperator. This is the case for the research project presented in this...

Cross–derivatives are mixed partial derivatives that are obtained by differentiating at most once in every coordinate direction. They are a computational tool in combinatorics and high– dimensional integration. Here we present two methods of computing exact values of all cross– derivatives at a given point both following the general philosophy of automatic differentiation. Implementation detail...

Topology control is an important feature for energy saving, and many topology control protocols have been proposed. Yet, little work has been done on quantitatively measuring practical performance gains that topology control achieves in a real sensor network. This is because many existing protocols either are too complex or make too impractical assumptions for a practical implementation and ana...

Unlike many common media gateways that simply exchange audio packets between senders and receivers, our AGW introduced here can work in heterogenous network environments and support an adaptive receiver-based audio transmitting stategy. Before relaying audio packets from source to destination, it decodes and analyzes the source packets, performing Automatic Gain Control (AGC) and Voice Automati...

The multiplexing gain (MUXG) of K-user interference channel (IC) with partially connected interfering links is analyzed. The motivation for the partially connected IC comes from the fact that not all interferences are equally strong in practice. The MUXG is characterized as a function of the number (K) of users and the number (N ≥ 1) of interfering links. Our analysis is mainly based on the int...