News & Events

1,219 News items found.


  •  NEWS    Karl Berntorp gave an invited lecture at the Department of Electrical Engineering at Linkoping University
    Date: October 8, 2020
    Where: Linkoping University
    MERL Contact: Karl Berntorp
    Research Areas: Control, Dynamical Systems, Robotics, Signal Processing
    Brief
    • MERL researcher Karl Berntorp was invited to give a lecture in the class "Autonomous vehicles – planning, control, and learning systems" at the Division of Vehicular Systems, Department of Electrical Engineering, Linkoping University. The course is for the engineering-program students at Linkoping University and gives a basic understanding of the available models, methods, and software libraries to work on autonomous vehicles, with particular focus on motion-planning and control methods. The invited lecture described the different system components and design of motion planning and predictive control methods targeted to autonomous driving.
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  •  NEWS    M. Benosman will give an invited talk at the Industrial and Applied Mathematics (SIAM) Student Chapter at Virginia Tech.
    Date: October 9, 2020
    MERL Contact: Mouhacine Benosman
    Research Area: Dynamical Systems
    Brief
    • M. Benosman will give an invited talk at the SIAM student chapter at Virginia Tech. to speak about several applications of mathematics to industrial problems.

      The Society for Industrial and Applied Mathematics (SIAM) Student Chapter at Virginia Tech will host a number of talks by mathematicians working in industry. The speakers will describe the path they followed to reach this point in their careers and also tell us more about their industry and how mathematics is used.
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  •  NEWS    Rui Ma gives invited IEEE course on the latest insights in advanced radio frequency amplifiers
    Date: October 13, 2020
    Where: online
    Research Areas: Communications, Electronic and Photonic Devices
    Brief
    • MERL researcher Dr. Rui Ma is invited to give a talk on the latest insights on RF power Amplifier design, which is one of series invited courses organized by IEEE Boston Section.

      Dr. Ma is addressing the advancement of digital radio transmitter based on enabling technology of GaN for next generation wireless communications.

      This six week lecture series is intended to give a broad overview of state-of-the-art RF PA techniques with practical aspects for working professionals together with students for future RF PA designers, from fundamentals to applications. It begins with a review of RF power amplifier concepts then teaches handset PA design techniques, issues and solutions faced with designing RF PAs for mobile applications. It also discusses high efficiency amplifier structures with different classes of operation, and other architectures. A high linearity techniques lecture with behavioral modelling will follow. GaAs/GaN MMIC level millimeter-wave amplifier design tutorials and techniques will be lectured including foundry/technology selection, loadpull, loadline analysis and simulations with EDA tools. Lastly, digital perspective transmitters will be presented using GaN technology together with FPGA and ASICs.
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  •  NEWS    Saleh Nabi gave an invited talk at the Department of Mechanical Engineering at Rice University
    Date: September 30, 2020
    Where: Rice University
    Research Areas: Dynamical Systems, Optimization
    Brief
    • MERL researcher Dr. S. Nabi was invited to give a talk on the state-of-the-art methods for airflow optimization and control at Rice University. Several industrial applications to buoyancy-driven flows in the built environment, atmospheric flows, and prevention of transmission of COVID-19 were discussed. Furthermore, some novel advances on data-driven fluid mechanics for industrial applications were covered.
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  •  NEWS    Diego Romeres serves on the Programme Committee for the Conference on Innovative Applications of Artificial Intelligence, 2021.
    Date: February 4, 2021
    Where: N/A
    MERL Contact: Diego Romeres
    Research Areas: Artificial Intelligence, Data Analytics, Machine Learning
    Brief
    • Dr. Diego Romeres, Principal Research Scientist in the Data Analytics group, will serve on the Programme Committee for the Thirty-Third Annual Conference on Innovative Applications of Artificial Intelligence (IAAI), 2021.
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  •  NEWS    Anoop Cherian gave an invited talk at the Multi-modal Video Analysis Workshop, ECCV 2020
    Date: August 23, 2020
    Where: European Conference on Computer Vision (ECCV), online, 2020
    MERL Contact: Anoop Cherian
    Research Areas: Artificial Intelligence, Computer Vision, Machine Learning, Speech & Audio
    Brief
    • MERL Principal Research Scientist Anoop Cherian gave an invited talk titled "Sound2Sight: Audio-Conditioned Visual Imagination" at the Multi-modal Video Analysis workshop held in conjunction with the European Conference on Computer Vision (ECCV), 2020. The talk was based on a recent ECCV paper that describes a new multimodal reasoning task called Sound2Sight and a generative adversarial machine learning algorithm for producing plausible video sequences conditioned on sound and visual context.
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  •  NEWS    MERL Researcher Ankush Chakrabarty organized a special session on data-driven control at IEEE CCTA 2020
    Date: August 25, 2020
    MERL Contact: Ankush Chakrabarty
    Research Areas: Artificial Intelligence, Control, Data Analytics, Dynamical Systems, Machine Learning, Optimization, Robotics
    Brief
    • Ankush Chakrabarty co-organized an invited session on “Data-Driven Control For Industrial Applications” at the IEEE Conference on Control Technology and Applications with Shahin Shahrampour (Asst. Prof., Texas A&M). Talks covered topics including reinforcement learning for aerospace systems, constrained reinforcement learning for motors, deep Q learning for traffic systems and participants included speakers from Stanford University, North Carolina State University, Texas A&M, Oklahoma State University, University of Science and Technology at Beijing, and TU Delft.

      MERL presented research (Chakrabarty, Danielson, Wang) on constraint-enforcing output-tracking with approximate dynamic programming for servomotor systems.
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  •  NEWS    Dr. Abraham P. Vinod joins the Research Staff of Mitsubishi Electric Research Laboratories
    Date: August 3, 2020
    Where: Cambridge, MA
    MERL Contact: Abraham P. Vinod
    Research Areas: Artificial Intelligence, Control, Optimization, Robotics
    Brief
    • Mitsubishi Electric Research Laboratories is excited to welcome Abraham P. Vinod as the newest member of its research staff, in the Control for Autonomy Team. Abraham joins MERL from the University of Texas, Austin, where he was a Postdoctoral Research Fellow. He obtained his Ph.D. from the University of New Mexico. His PhD research produced scalable algorithms for providing safety guarantees for stochastic, control-constrained, dynamical systems, with applications to motion planning. In his postdoctoral research, Abraham studied theory and algorithms for on-the-fly, data-driven control of unknown systems under severely limited data. His current research interests lie in the intersection of optimization, control, and learning. Abraham won the Best Student Paper Award at the 2017 ACM Hybrid Systems: Computation and Control Conference, was a finalist for the Best Paper Award in the 2018 ACM Hybrid Systems: Computation and Control Conference, and won the best undergraduate student research project award at the Indian Institute of Technology, Madras.
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  •  NEWS    MERL's Scene-Aware Interaction Technology Featured in Mitsubishi Electric Corporation Press Release
    Date: July 22, 2020
    Where: Tokyo, Japan
    MERL Contacts: Anoop Cherian; Chiori Hori; Jonathan Le Roux; Tim K. Marks; Anthony Vetro
    Research Areas: Artificial Intelligence, Computer Vision, Machine Learning, Speech & Audio
    Brief
    • Mitsubishi Electric Corporation announced that the company has developed what it believes to be the world’s first technology capable of highly natural and intuitive interaction with humans based on a scene-aware capability to translate multimodal sensing information into natural language.

      The novel technology, Scene-Aware Interaction, incorporates Mitsubishi Electric’s proprietary Maisart® compact AI technology to analyze multimodal sensing information for highly natural and intuitive interaction with humans through context-dependent generation of natural language. The technology recognizes contextual objects and events based on multimodal sensing information, such as images and video captured with cameras, audio information recorded with microphones, and localization information measured with LiDAR.

      Scene-Aware Interaction for car navigation, one target application, will provide drivers with intuitive route guidance. The technology is also expected to have applicability to human-machine interfaces for in-vehicle infotainment, interaction with service robots in building and factory automation systems, systems that monitor the health and well-being of people, surveillance systems that interpret complex scenes for humans and encourage social distancing, support for touchless operation of equipment in public areas, and much more. The technology is based on recent research by MERL's Speech & Audio and Computer Vision groups.
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  •  NEWS    Mitsubishi Electric Corporation and MERL Press Release Describes New 5G GaN Power Amplifier Technology
    Date: July 14, 2020
    Where: Tokyo, Japan
    Research Areas: Communications, Electronic and Photonic Devices
    Brief
    • Mitsubishi Electric Corporation announced today its developement of a new technology to realize a gallium nitride (GaN) power amplifier module for 5G base-stations that offers a combination of compact (6mm by 10mm) footprint and high power-efficiency, the latter exceeding an unprecedented rating of 43%.

      MERL and Mitsubishi Electric researchers collaborated to develop high density mounting technology and matching circuit that uses a minimum number of chip components to achieve efficient, wide-band power amplification in the 3.4-3.8GHz bands used for 5G communication.

      Please see the link below for the full Mitsubishi Electric press release text. Technical details of the new module will be presented at the IEEE International Microwave Symposium this coming August.
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  •  NEWS    Jonathan Le Roux gives Plenary Lecture at the JSALT 2020 Summer Workshop
    Date: July 10, 2020
    Where: Virtual Baltimore, MD
    MERL Contact: Jonathan Le Roux
    Research Areas: Artificial Intelligence, Machine Learning, Speech & Audio
    Brief
    • MERL Senior Principal Research Scientist and Speech and Audio Senior Team Leader Jonathan Le Roux was invited by the Center for Language and Speech Processing at Johns Hopkins University to give a plenary lecture at the 2020 Frederick Jelinek Memorial Summer Workshop on Speech and Language Technology (JSALT). The talk, entitled "Deep Learning for Multifarious Speech Processing: Tackling Multiple Speakers, Microphones, and Languages", presented an overview of deep learning techniques developed at MERL towards the goal of cracking the Tower of Babel version of the cocktail party problem, that is, separating and/or recognizing the speech of multiple unknown speakers speaking simultaneously in multiple languages, in both single-channel and multi-channel scenarios: from deep clustering to chimera networks, phasebook and friends, and from seamless ASR to MIMO-Speech and Transformer-based multi-speaker ASR.

      JSALT 2020 is the seventh in a series of six-week-long research workshops on Machine Learning for Speech Language and Computer Vision Technology. A continuation of the well known Johns Hopkins University summer workshops, these workshops bring together diverse "dream teams" of leading professionals, graduate students, and undergraduates, in a truly cooperative, intensive, and substantive effort to advance the state of the science. MERL researchers led such teams in the JSALT 2015 workshop, on "Far-Field Speech Enhancement and Recognition in Mismatched Settings", and the JSALT 2018 workshop, on "Multi-lingual End-to-End Speech Recognition for Incomplete Data".
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  •  NEWS    MERL researchers presenting three papers at ICML 2020
    Date: July 12, 2020 - July 18, 2020
    Where: Vienna, Austria (virtual this year)
    MERL Contacts: Mouhacine Benosman; Anoop Cherian; Devesh K. Jha; Daniel N. Nikovski
    Research Areas: Artificial Intelligence, Computer Vision, Data Analytics, Dynamical Systems, Machine Learning, Optimization, Robotics
    Brief
    • MERL researchers are presenting three papers at the International Conference on Machine Learning (ICML 2020), which is virtually held this year from 12-18th July. ICML is one of the top-tier conferences in machine learning with an acceptance rate of 22%. The MERL papers are:

      1) "Finite-time convergence in Continuous-Time Optimization" by Orlando Romero and Mouhacine Benosman.

      2) "Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?" by Kei Ota, Tomoaki Oiki, Devesh Jha, Toshisada Mariyama, and Daniel Nikovski.

      3) "Representation Learning Using Adversarially-Contrastive Optimal Transport" by Anoop Cherian and Shuchin Aeron.
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  •  NEWS    MERL researchers presented 10 papers at American Control Conference (ACC)
    Date: July 1, 2020 - July 3, 2020
    Where: Denver, Colorado (virtual)
    MERL Contacts: Mouhacine Benosman; Karl Berntorp; Ankush Chakrabarty; Stefano Di Cairano; Yebin Wang; Avishai Weiss
    Research Areas: Control, Machine Learning, Optimization
    Brief
    • At the American Control Conference, MERL presented 10 papers on subjects including autonomous-vehicle decision making and motion planning, nonlinear estimation for thermal-fluid models and GNSS positioning, learning-based reference governors and reference governors for railway vehicles, and fail-safe rendezvous control.
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  •  NEWS    Zhong-Qiu Wang joins MERL's Speech and Audio Team
    Date: June 22, 2020
    Research Areas: Artificial Intelligence, Machine Learning, Speech & Audio
    Brief
    • We are excited to announce that Dr. Zhong-Qiu Wang, who recently obtained his Ph.D. from The Ohio State University, has joined MERL's Speech and Audio Team as a Visiting Research Scientist. Zhong-Qiu brings strong expertise in microphone array processing, speech enhancement, blind source/speaker separation, and robust automatic speech recognition, for which he has developed some of the most advanced machine learning and deep learning methods.

      Prior to joining MERL, Zhong-Qiu received the B.Eng. degree in 2013 from Harbin Institute of Technology, Harbin, China, and the M.Sc. and Ph.D. degree in 2017 and 2020 from The Ohio State University, Columbus, USA, all in Computer Science. He was a summer research intern at Microsoft Research, Mitsubishi Electric Research Laboratories, and Google AI. He received a Best Student Paper Award at ICASSP 2018 for his work as an intern at MERL, and a Graduate Research Award from OSU Department of Computer Science and Engineering in 2020.
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  •  NEWS    MERL Scientists Presenting 5 Papers at IEEE International Conference on Communications (ICC) 2020
    Date: June 7, 2020 - June 11, 2020
    Where: Dublin, Ireland
    MERL Contacts: Toshiaki Koike-Akino; Ye Wang
    Research Areas: Communications, Machine Learning, Signal Processing, Digital Video
    Brief
    • Due to COVID-19, MERL Network Intelligence Team scientists remotely presented 5 papers at the IEEE International Conference on Communications (ICC) 2020, that was scheduled to be held in Dublin Ireland from June 7-11, 2020. Topics presented include recent advances in deep learning methods for communications and new access systems. Presentation videos are also found on our YouTube channel. Our developed technologies can facilitate a great advancement in broadband virtual conferencing which is required in post-COVID-19 society.

      IEEE ICC is one of the IEEE Communications Society’s two flagship conferences dedicated to driving innovation in nearly every aspect of communications. Each year, more than 2,900 scientific researchers submit proposals for program sessions to be held at the annual conference. The high-quality proposals are selected for the conference program, which includes technical papers, tutorials, workshops and industry sessions designed specifically to advance technologies, systems and infrastructure that are continuing to reshape the world and provide all users with access to an unprecedented spectrum of high-speed, seamless and cost-effective global telecommunications services.
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  •  NEWS    MERL researchers presenting four papers and organizing two workshops at CVPR 2020 conference
    Date: June 14, 2020 - June 19, 2020
    MERL Contacts: Anoop Cherian; Michael J. Jones; Toshiaki Koike-Akino; Tim K. Marks; Kuan-Chuan Peng; Ye Wang
    Research Areas: Artificial Intelligence, Computer Vision, Machine Learning
    Brief
    • MERL researchers are presenting four papers (two oral papers and two posters) and organizing two workshops at the IEEE/CVF Computer Vision and Pattern Recognition (CVPR 2020) conference.

      CVPR 2020 Orals with MERL authors:
      1. "Dynamic Multiscale Graph Neural Networks for 3D Skeleton Based Human Motion Prediction," by Maosen Li, Siheng Chen, Yangheng Zhao, Ya Zhang, Yanfeng Wang, Qi Tian
      2. "Collaborative Motion Prediction via Neural Motion Message Passing," by Yue Hu, Siheng Chen, Ya Zhang, Xiao Gu

      CVPR 2020 Posters with MERL authors:
      3. "LUVLi Face Alignment: Estimating Landmarks’ Location, Uncertainty, and Visibility Likelihood," by Abhinav Kumar, Tim K. Marks, Wenxuan Mou, Ye Wang, Michael Jones, Anoop Cherian, Toshiaki Koike-Akino, Xiaoming Liu, Chen Feng
      4. "MotionNet: Joint Perception and Motion Prediction for Autonomous Driving Based on Bird’s Eye View Maps," by Pengxiang Wu, Siheng Chen, Dimitris N. Metaxas

      CVPR 2020 Workshops co-organized by MERL researchers:
      1. Fair, Data-Efficient and Trusted Computer Vision
      2. Deep Declarative Networks.
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  •  NEWS    Diego Romeres gave an invited talk on modeling and control of physical systems at the MIT workshop "ICRAxMIT"
    Date: June 9, 2020
    Where: ICRAxMIT
    MERL Contact: Diego Romeres
    Research Areas: Artificial Intelligence, Data Analytics, Dynamical Systems, Machine Learning, Robotics
    Brief
    • Diego Romeres, a Principal Research Scientist in MERL's Data Analytics group, gave an invited talk at the workshop ICRAxMIT organized at MIT. The talk briefly described a derivative-free framework that doesn't take in consideration velocities and accelerations to model and control robotic systems. The proposed approach is validated in two real robotic systems.
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  •  NEWS    MERL Researcher Pu (Perry) Wang organized a special session on automotive radar sensing at IEEE SAM Workshop 2020
    Date: June 8, 2020 - June 12, 2020
    Where: Virtual Hangzhou
    MERL Contact: Pu (Perry) Wang
    Research Areas: Artificial Intelligence, Computational Sensing, Dynamical Systems, Machine Learning, Signal Processing
    Brief
    • MERL researcher Pu (Perry) Wang organized a special session on June 10, 2020 titled Automotive Radar Sensing. Presentations included topics from deep waveform design, object tracking, mutual interference mitigation with their applications to high-resolution automotive imaging. The session's contributors come from both academia and industry.

      In this special session, our previous intern Yuxuan Xia (Chalmers Institute of Technology, Sweden) presented our work on extended object tracking using low-cost automotive radar sensors with a realistic measurement model. Yuxuan was also selected to be one of the six best student paper finalists at IEEE SAM 2020.
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  •  NEWS    Mitsubishi Electric Research Labs Commits to Open COVID Pledge
    Date: May 28, 2020
    Where: Cambridge, MA
    MERL Contact: Anthony Vetro
    Brief
    • Mitsubishi Electric Research Labs (MERL) is proud to announce our commitment to the Open COVID Pledge and makes its patents available free of charge for use in efforts to end the COVID-19 pandemic and minimize the impact of the disease. We are pleased to join other companies around the globe in applying our technology to not only help track and contain the disease, but to also develop solutions that will promote safe and healthy environments for our society going forward.

      As a global manufacturer of equipment that touches our daily lives from automotive and transportation equipment to home appliances, elevators and air conditioning systems, Mitsubishi Electric is well positioned to deploy new technical innovations to realize a safer and healthier future. In this context, the researchers at MERL are motivated to develop innovative solutions that will benefit society by leveraging our core research expertise in the areas of simulation and modelling, optimization, control, signal processing and artificial intelligence.

      The terms and conditions of MERL’s COVID-19 patent license are effective immediately. We encourage other intellectual property holders to also commit to the pledge to ensure that there are no impediments to stopping this global pandemic. Our parent company Mitsubishi Electric Corporation has committed to a similar Japan-based IP Open Access Declaration Against COVID-19.
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  •  NEWS    Stefano Di Cairano Appointed IPC Vice-Chair for the 7th IFAC Symposium on NMPC (2021)
    Date: July 7, 2021 - July 14, 2021
    Where: Bratislava, Slovakia
    MERL Contact: Stefano Di Cairano
    Research Areas: Control, Machine Learning, Optimization
    Brief
    • MERL researcher Stefano Di Cairano has been appointed as Vice-Chair for Industry of the International Program Committee of the 7th IFAC Symposium on Nonlinear Model Predictive Control, which will be held in Bratislava, Slovakia, in July 2021.
      IFAC NMPC is the main symposium focused on model predictive control, theory, methods and applications, includes contributions on control, optimization, and machine learning research, and is held every 3 years.
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  •  NEWS    MERL presenting 13 papers and an industry talk at ICASSP 2020
    Date: May 4, 2020 - May 8, 2020
    Where: Virtual Barcelona
    MERL Contacts: Karl Berntorp; Petros T. Boufounos; Chiori Hori; Toshiaki Koike-Akino; Jonathan Le Roux; Dehong Liu; Yanting Ma; Hassan Mansour; Philip V. Orlik; Anthony Vetro; Pu (Perry) Wang; Gordon Wichern
    Research Areas: Computational Sensing, Computer Vision, Machine Learning, Signal Processing, Speech & Audio
    Brief
    • MERL researchers are presenting 13 papers at the IEEE International Conference on Acoustics, Speech & Signal Processing (ICASSP), which is being held virtually from May 4-8, 2020. Petros Boufounos is also presenting a talk on the Computational Sensing Revolution in Array Processing (video) in ICASSP’s Industry Track, and Siheng Chen is co-organizing and chairing a special session on a Signal-Processing View of Graph Neural Networks.

      Topics to be presented include recent advances in speech recognition, audio processing, scene understanding, computational sensing, array processing, and parameter estimation. Videos for all talks are available on MERL's YouTube channel, with corresponding links in the references below.

      This year again, MERL is a sponsor of the conference and will be participating in the Student Job Fair; please join us to learn about our internship program and career opportunities.

      ICASSP is the flagship conference of the IEEE Signal Processing Society, and the world's largest and most comprehensive technical conference focused on the research advances and latest technological development in signal and information processing. The event attracts more than 2000 participants each year. Originally planned to be held in Barcelona, Spain, ICASSP has moved to a fully virtual setting due to the COVID-19 crisis, with free registration for participants not covering a paper.
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  •  NEWS    MERL Researcher Kyeong Jin Kim serves as a lead guest editor of IEEE Journal on Selected Topics in Signal Processing
    Date: April 29, 2020
    Where: N/A
    Research Areas: Communications, Optimization, Signal Processing, Information Security
    Brief
    • Kyeong Jin Kim, a Senior Principal Research Scientist in the Signal Processing Group, will serve as lead guest editor for the upcoming JSTSP issue on, "Advanced Signal Processing for Local and Private 5G Networks." The issue is also being organized with the help of other researchers and investigators from leading organizations such as Memorial University, Nokia Bell Laboratories, Princeton University, Aalborg University, Jinan University, and South China University of Technology. This special issue aims to capture the latest research activities in local and private 5G networks from the signal processing perspective and is targeted for publication January 2022.
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  •  NEWS    Ankush Chakrabarty appointed as an Associate Editor for CDC 2020
    Date: December 8, 2020 - December 11, 2020
    Where: IEEE Conference on Decision and Control (CDC)
    MERL Contact: Ankush Chakrabarty
    Research Areas: Control, Optimization
    Brief
    • Ankush Chakrabarty, a Research Scientist in MERL's Multi-Physical Systems, will be serving as an Associate Editor at the 2020 IEEE Conference on Decision and Control (CDC).
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  •  NEWS    MERL Scientists Presented 5 Papers Including 2 Invited Talks at Optical Fiber Communications Conference (OFC) 2020
    Date: March 8, 2020 - March 13, 2020
    MERL Contacts: Devesh K. Jha; Toshiaki Koike-Akino; Kieran Parsons; Ye Wang
    Research Areas: Communications, Electronic and Photonic Devices, Machine Learning, Signal Processing
    Brief
    • Due to COVID-19, MERL Optical Team scientists remotely presented 5 papers including 2 invited talks at the Optical Fiber Communications Conference (OFC) 2020, that was held in San Diego from March 8-13, 2020. Topics presented include recent advances in quantum signal processing, channel coding design, nano-optic power splitter, and deep learning-based integrated photonics. In addition, Dr. Kojima gave an invited workshop talk on deep learning-based nano-photonic device optimization.

      OFC is the largest global conference and exhibition for optical communications and networking professionals. The program is comprehensive from research to marketplace, from components to systems and networks and from technical sessions to the exhibition. For over 40 years, OFC has drawn attendees from all corners of the globe to meet and greet, teach and learn, make connections and move the industry forward. The five-day technical conference features peer reviewed presentations and more than 180 invited speakers, the thought leaders in the industry presenting the highlights of emerging technologies. Additional technical programming throughout the week includes special symposia, special sessions, in-depth tutorials, workshops, panels and the thought-provoking rump session.
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  •  NEWS    Diego Romeres appointed as an Associate Editor for IROS 2020
    Date: February 14, 2020
    Where: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems
    MERL Contact: Diego Romeres
    Research Areas: Artificial Intelligence, Data Analytics, Robotics
    Brief
    • Diego Romeres, a Research Scientist in MERL's Data Analytics group, will be serving as an Associate Editor (AE) for the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020).
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