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In this paper we derive the signal model for TDM-MIMO channel sounding and report analytical investigations showing that the above DFER extension requires selection of switching modes (SMs) tailored to the array characteristics. The SM of a switched array is the temporal order in which the array elements are switched. In fact, the traditionally used SMs of uniform linear and planar arrays where the elements are switched according to their natural spatial ordering prove to be inappropriate as they lead to an ambiguity in the joint estimation of DF and directions. We also introduce the concept of normalized sidelobe level (NSL) associated to the SM of a switched array. We show that minimizing the NSL is a sensible criterion for the identification of SM leading to DF and direction estimates with nearly optimum performance in terms of root mean square estimation error. Finally experimental investigations illustrate the impact of the SM of a uniform planar array on the behaviour of the DF and direction of arrival estimates computed with the ISI-SAGE algorithm.

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Abstract-The thermal capacity of the content in a cold storage room renders it possible to shift the governing refrigeration system's power consumption in time, without compromising temperature constraints. In this paper we introduce a method of implementing such a cold storage room into a directly controlled smart grid, by use of a predictive control strategy. In this application the shift in consumption is used to stabilize a small grid by utilizing excess renewable energy to minimize the need for fossil fueled production sources. In order for the centralized grid controller to handle such a node, its flexibility is communicated in form of a simple generic bucket model. Finally, the provided experiments verify the effectiveness of the proposed method.

By combining stochastic variational inference with message passing algorithms, we show how to solve the highly complex problem of navigation and avoidance in distributed multi-robot systems in a computationally tractable manner, allowing online implementation. Subsequently, the proposed variational method lends itself to more flexible solutions than prior methodologies. Furthermore, the derived method is verified both through simulations with multiple mobile robots and a real world experiment with two mobile robots. In both cases, the robots share the operating space and need to cross each other’s paths multiple times without colliding.