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This paper explores list decoding of convolutional and polar codes for short messages such as those found in the 5G physical broadcast channel. A cyclic redundancy check (CRC) is used to select a codeword from a list of likely codewords. One example in the 5G standard encodes a 32-bit message with a 24-bit CRC and a 512-bit polar code with additional bits added by repetition to achieve a very low rate of 32/864. This paper shows that optimizing the CRC length improves the Eb/N0 performance of this polar code, where Eb/N0 is the ratio of the energy per data bit to the noise power spectral density. Furthermore, even better Eb/N0 performance is achieved by replacing the polar code with a tail-biting convolutional code (TBCC) with a distance-spectrum-optimal (DSO) CRC. This paper identifies the optimal CRC length to minimize the frame error rate (FER) of a rate-1/5 TBCC at a specific value of Eb/N0. We also show that this optimized TBCC/CRC can attain the same excellent Eb/N0 performance with the very low rate of 32/864 of the 5G polar code, where the low rate is achieved through repetition. We show that the proposed TBCC/CRC concatenated code outperforms the PBCH polar codemore »
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There has been an explosion of ideas in soft robotics over the past decade, resulting in unprecedented opportunities for end effector design. Soft robot hands offer benefits of low-cost, compliance, and customized design, with the promise of dexterity and robustness. The space of opportunities is vast and exciting. However, new tools are needed to understand the capabilities of such manipulators and to facilitate manipulation planning with soft manipulators that exhibit free-form deformations. To address this challenge, we introduce a sampling based approach to discover and model continuous families of manipulations for soft robot hands. We give an overview of the soft foam robots in production in our lab and describe novel algorithms developed to characterize manipulation families for such robots. Our approach consists of sampling a space of manipulation actions, constructing Gaussian Mixture Model representations covering successful regions, and refining the results to create continuous successful regions representing the manipulation family. The space of manipulation actions is very high dimensional; we consider models with and without dimensionality reduction and provide a rigorous approach to compare models across different dimensions by comparing coverage of an unbiased test dataset in the full dimensional parameter space. Results show that some dimensionality reduction ismore »
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Abstract The Electron Loss and Fields Investigation with a Spatio-Temporal Ambiguity-Resolving option (ELFIN-STAR, or heretoforth simply: ELFIN) mission comprises two identical 3-Unit (3U) CubeSats on a polar (∼93 ∘ inclination), nearly circular, low-Earth (∼450 km altitude) orbit. Launched on September 15, 2018, ELFIN is expected to have a >2.5 year lifetime. Its primary science objective is to resolve the mechanism of storm-time relativistic electron precipitation, for which electromagnetic ion cyclotron (EMIC) waves are a prime candidate. From its ionospheric vantage point, ELFIN uses its unique pitch-angle-resolving capability to determine whether measured relativistic electron pitch-angle and energy spectra within the loss cone bear the characteristic signatures of scattering by EMIC waves or whether such scattering may be due to other processes. Pairing identical ELFIN satellites with slowly-variable along-track separation allows disambiguation of spatial and temporal evolution of the precipitation over minutes-to-tens-of-minutes timescales, faster than the orbit period of a single low-altitude satellite (T orbit ∼ 90 min). Each satellite carries an energetic particle detector for electrons (EPDE) that measures 50 keV to 5 MeV electrons with $\Delta $ Δ E/E < 40% and a fluxgate magnetometer (FGM) on a ∼72 cm boom that measures magnetic field waves (e.g., EMIC waves) in the range from DC tomore »
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Free, publicly-accessible full text available December 1, 2023
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Free, publicly-accessible full text available November 1, 2023
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Free, publicly-accessible full text available September 1, 2023