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The pervasiveness and growing complexity of software systems are challenging software engineering to design systems that can adapt their behavior to withstand unpredictable, uncertain, and continuously changing execution environments. Control theoretical adaptation mechanisms have received growing interest from the software engineering community in the last few years for their mathematical groundi

The field of robotics offers a wide array of estimation problems, ranging from kinematic and dynamic calibration to pose estimation and computer vision. This thesis presents a set of methods to solve estimation problems encountered in robotics, with an emphasis on industrial robotics. The researched topics are all practically motivated and have found immediate use in applications.Industrial roboti

The recent explosion in size and complexity of datasets and the increased availability of computational resources has led us to what is sometimes called the big data era. In many big data fields, mathematical optimization has over the last decade emerged as a vital tool in extracting information from the data sets and creating predictors for unseen data. The large dimension of these data sets and

Rotational singularities inherent to three different geometric controllers on SE (3) are studied. A new singularity-free method of incrementally generating a reference rotation is proposed, removing a class of singularities without affecting proven stability properties of the closed-loop systems. If satisfying a bound on attitude rate and maximum loop rate in the reference generation, the proposed

We consider temperature stabilization of the phase-reference line at the European Spallation Source, a facility for neutron spallation currently under construction. Based on extensive modeling of the heat dynamics, a prototype model-based control system with associated hardware architecture is developed and experimentally evaluated on a small-scale setup. The results indicate that temperature stab

Nowadays, we live in a society with billions of devices that are interconnected and interact together to improve the quality of our lives. The management and processing of information and knowledge have by now become our main resources, and the fundamental factors of economic and social development, and it is achieved through Big Data Frameworks (BDFs). The amount of such data is becoming larger e

In this chapter, we discuss the open challenges in building self-aware computing systems that are still being faced by the research and development community. The challenges can be theoretical, technical, computational, or even sociological. First, we highlight the challenges associated with each of the earlier parts of the book and summarize on respective future research directions. We then offer

We present an accurate analysis of phase noise in ring oscillators, where each stage in the ring is a CMOS inverter loaded by a capacitance. Closed-form phase noise expressions are obtained in both 1/f2 and 1/f3 offset frequency regions, displaying an excellent agreement with numerical simulations using either ideal Verilog-A MOS models (allowing theoretical predictions to be tested with exactly t

This work considers the assignment of vehicle traffic consisting of both individual, opportunistic vehicles and a cooperative fleet of vehicles. The first set of vehicles seek a user-optimal policy and the second set seeks a fleet-optimal policy. We provide explicit sufficient conditions for the existence and uniqueness of a Nash equilibrium at which both policies are satisfied.We also propose two

The problem of planning a trajectory for robots starting in an initial state and reaching a final state in a desired interval of time is tackled. We propose an approach based on model predictive control to solve the problem of point-to-point trajectory generation for a given final time. We discuss various choices of models, objective functions, and constraints for generating trajectories to transf

The Large Gain Theorem is an input-output stability result with intriguing applications in the field of control systems. This paper aims to increase understanding and appreciation of the Large Gain Theorem by presenting an interpretation of it for linear time-invariant systems using the well-known Nyquist stability criterion and illustrative examples of its use. The Large Gain Theorem is complemen

Due to their wide adaptability to different application fields spanning from opinion dynamics to biology, the analysis of evolutionary dynamics is a compelling problem in the science of networks and systems. In this paper, we deal with controlled evolutionary dynamics in networks. We discuss a novel approach to model these phenomena, which enables us to estimate the duration of the process dependi

Protein kinase RNA-activated (PKR) is a cytoplasmic receptor for dsRNA, and as such is involved in detection of viral infection. On binding dsRNA, PKR dimerizes, autophosphorylates, and then phosphorylates its substrate, eukaryotic translation initiation factor 2 subunit a (eIF2α), causing inhibition of mRNA translation and shutdown of viral protein production. However, active PKR has also been fo

With the ever-growing traffic demands, the transportation networks are getting more and more congested. While expanding these networks with more roads is both costly and in many cities not even feasible, the rapid development of new sensing and communication techniques has made it possible to perform control of transportation networks in real-time. With the right usage of such technologies, existi

This paper describes a frequency generator supporting over-an-octave tuning range for 5G receiver front-end. Generator is built by composition of smaller-range oscillators multiplexed to the common output that drives a downconversion mixer. Simulated in 28nm CMOS with full physical device models the composite oscillator exhibits a frequency tuning range from 21.5 to 60.7GHz (95.3%) dissipating les