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To make best use of the exceptional good weather conditions at Chajnantor we developed CHAMP+, a two time seven pixel dual-color heterodyne array for operation in the 350 and 450 µm atmospheric windows. CHAMP+ uses state-of-the-art SIS-mixers provided by our collaborators at SRON. To maximize its performance, optical single sideband filter are implemented for each of the two subarrays, and most of the optics is operated cold (20K) to minimize noise contributions. The instrument can be operated remotely, under full computer control of all components. The autocorrelator backend, currently in operation with 2 × 1GHz of bandwidth for each of the 14 heterodyne channels, will be upgraded by a new technologies FFT spectrometer array in mid 2008. CHAMP+ has been commissioned successfully in late 2007. We will review the performance of the instrument "in the field," and present its characteristics as measured on-sky.
Low-Cost In-Hand Slippage Detection and Avoidance for Robust Robotic Grasping with Compliant Fingers
(2021)
This paper presents the b-it-bots RoboCup@Work team and its current hardware and functional architecture for the KUKA youBot robot. We describe the underlying software framework and the developed capabilities required for operating in industrial environments including features such as reliable and precise navigation, flexible manipulation, robust object recognition and task planning. New developments include an approach to grasp vertical objects, placement of objects by considering the empty space on a workstation, and the process of porting our code to ROS2.