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InP/GaAsSb Double Heterojunction Bipolar Transistor Technology with f(MAX)=1.2 THz
(2021)2021 IEEE International Electron Devices Meeting (IEDM)Transistor (DHBT) emitter fin architecture with a record fMAX = 1.2 THz, a simultaneous fT = 475 GHz and BVCEO = 5.4 V. The resulting BVCEO × fMAX = 6.48 THz-V is unparalleled in semiconductor technology. The performance arises because the process allows: i) an optimal choice of baseemitter access distance down to 10 nm, ii) the use of thicker base contact metals, and iii) the minimization of parasitic capacitances and resistances via ...Conference Paper -
Formica Forma: Explorations in Insect-Robot Collaboration for Emergent Design and Manufacturing
(2021)Distributed Proximities: Proceedings of the 40th Annual Conference of the Association for Computer Aided Desing in Architecture. Volume 1: Technical Papers, Keynote ConversationsHybrid robot systems that cooperate with live organisms is an active area of research, in part to leverage biological advantages such as adaptivity, resilience, and sustainability. Formica Forma explores new possibilities of codesigning and cofabricating in partnership with Western Harvester ants to build forms that would be challenging with industrial techniques. Using a robotically controlled UV light (350–405 nm) as an environmental ...Conference Paper -
Soliro - a hybrid dynamic tilt-wing aerial manipulator with minimal actuators
(2023)The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more degrees of freedom than a standard quadrotor. While there is active research of over-actuated, omnidirectional MAVs and aerial manipulators as well as VTOL and hybrid platforms, the two concepts have not been ...Conference Paper -
To Fuse or Not to Fuse: Measuring Consistency in Multi-Sensor Fusion for Aerial Robots
(2023)Aerial vehicles are no longer limited to flying in open space: recent work has focused on aerial manipulation and up-close inspection. Such applications place stringent requirements on state estimation: the robot must combine state information from many sources, including onboard odometry and global positioning sensors. However, flying close to or in contact with structures is a degenerate case for many sensing modalities, and the robot's ...Conference Paper -
Learning to Fly Omnidirectional Micro Aerial Vehicles with an End-To-End Control Network
(2023)Overactuated tilt-rotor platforms offer many advantages over traditional fixed-arm drones, allowing the decoupling of the applied force from the attitude of the robot. This expands their application areas to aerial interaction and manipulation, and allows them to overcome disturbances such as from ground or wall effects by exploiting the additional degrees of freedom available to their controllers. However, the overactuation also complicates ...Conference Paper -
Recent Advancements in Rolling Isolation Systems Using Elastomeric Spheres: Numerical and Experimental Results
(2023)Rolling isolation systems using elastomeric spheres may provide sig-nificant advantages over traditional methods (i.e., rubber bearings or frictional pendulum systems) in terms of cost-efficiency. The concept involves placing elastomeric spheres between the foundation and the superstructure. The spheres can roll and rotate in response to seismic activity, either on a concave surface or a flat one with additional restitutive elements. ...Conference Paper -
Tailored Controls: Creating Personalized Tangible User Interfaces from Paper
(2019)Proceedings of the 2019 ACM International Conference on Interactive Surfaces and SpacesUser interfaces rarely adapt to the specific user preferences orthe task at hand. We present a method that allows to quickly and inexpensively create personalized interfaces from plain paper. Users can cut out shapes and assign control functions to these paper snippets via a simple configuration interface. After configuration, control takes place entirely through the manipulation of the paper shapes, providing the experience ofa tailored ...Conference Paper -
Evidence from Unique Swiss Tax Data on the Composition and Joint Distribution of Income and Wealth
(2022)Studies in Income and Wealth ~ Measuring and Understanding the Distribution and Intra/Inter-Generational Mobility of Income and WealthI compose a unique, new data set using individual income and wealth tax data from eight Swiss cantons. I describe the data in detail and show that it is representative for Switzerland as a whole. Next, I present a set of empirical facts regarding the distribution of wealth and income in Switzerland. I shed light on the composition of wealth and income along the distribution, including the very top. I find substantial heterogeneity in the ...Conference Paper -
Correct and Efficient Policy Monitoring, a Retrospective
(2023)Lecture Notes in Computer Science ~ Automated Technology for Verification and AnalysisThe MonPoly project started over a decade ago to build effective tools for monitoring trace properties, including functional correctness, security, and compliance policies. The original MonPoly tool supported monitoring specifications given in metric first-order temporal logic, an expressive specification language. It handled both the online case, where system events are monitored as they occur, and the offline case, monitoring logs. Our ...Conference Paper -
Metric First-Order Temporal Logic with Complex Data Types
(2023)Lecture Notes in Computer Science ~ Runtime VerificationTemporal logics are widely used in runtime verification as they enable the creation of declarative and compositional specifications. However, their ability to model complex data is limited. One must resort to complicated encoding schemes to express properties involving basic structures such as lists or trees. To avoid this drawback, we extend metric first-order temporal logic with a minimalistic, yet expressive, functional programming ...Conference Paper