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In this paper the impact of different meals and rapid insulin were estimated as Finite Impulse Response Models from a data set of 18 patients. Based on these models short-term individualized predictors were tested for 20 and 60 minute prediction. The predictors were evaluated using Clarke Grid Analysis and had on average more than 94 % and 75 % in the A zone and less than 1 % and 3 % in the erroro

Recently, the emergence of Kinect systems has demonstrated the benefits of predicting an intermediate body part labeling for 3D human pose estimation, in conjunction with RGB-D imagery. The availability of depth information plays a critical role, so an important question is whether a similar representation can be developed with sufficient robustness in order to estimate 3D pose from RGB images. Th

Constraining the temperature of computing systems has become a dominant design aspect. The supply voltage decrease has lost its pace even though the feature size is shrinking constantly. This results in an increased number of transistors per unit of area and hence a growing power density. Researchers started investigating dynamic thermal management techniques to trade-off performance for energy co

This paper deals with the problem of synchronization in networks of heterogeneous agents with common nominal behavior. The agents are modeled as (possibly nonlinear) perturbed versions of a common SISO nominal LTI operator, and they are interconnected via a sparse memoryless interconnection operator, coherent with the communication graph underlying the network. The network is said to synchronize i

In this paper, we address distributed convergence to fair allocations of CPU resources for time-sensitive applications. We propose a novel resource management framework where a centralized objective for fair allocations is decomposed into a pair of performance-driven recursive processes for updating: (a) the allocation of computing bandwidth to the applications (resource adaptation), executed by t

In this paper, we propose a design framework for distributed embedded control systems that ensures reliable execution and high quality of control even if some computation nodes fail. When a node fails, the configuration of the underlying distributed system changes and the system must adapt to this new situation by activating tasks at operational nodes. The task mapping as well as schedules and con

This paper investigates the application of sharpening knives using a force controlled industrial robot, for an arbitrary knife shape and orientation. The problem is divided into different parts: calibration of the knife by identifying its unknown orientation, identification of the knife blade contour and estimation of its position in the robot frame through force control, and grinding of the knife

Discrete Time Markov Chains (DTMCs) and Con- tinuous Time Markov Chains (CTMCs) are often used to model various types of phenomena, such as, for example, the behavior of software products. In that case, Markov chains are widely used to describe possible time-varying behavior of “self-adaptive” software systems, where the transition from one state to another represents alternative choices at the so

The performance of fast forward-backward splitting, or equivalently fast proximal gradient methods, depends on the conditioning of the optimization problem data. This conditioning is related to a metric that is defined by the space on which the optimization problem is stated; selecting a space on which the optimization data is better conditioned improves the performance of the algorithm. In this p

One of the major research areas in computer vision is scene reconstruction from image streams. The advent of RGB-D cameras, such as the Microsoft Kinect, has lead to new possibilities for performing accurate and dense 3D reconstruction. There are already well-working algorithms to acquire 3D models from depth sensors, both for large and small scale scenes. However, these methods often break down w

New robotic applications often require physical interaction between the robot and its environment. To this purpose, external sensors might be needed, as well as a suitable way to specify the tasks. One complication that might cause problems in the task execution is orientation representation singularities. In this paper quaternions are used as a singularity-free orientation representation within t

We develop a representation of reverse-time migration (RTM) in terms of Fourier integral operators, the canonical relations of which are graphs. Through the dyadic parabolic decomposition of phase space, we obtain the solution of the wave equation with a boundary source and homogeneous initial conditions using wave packets. On this basis, we develop a numerical procedure for the reverse-time conti

This thesis covers areas within estimation and optimal control of vehicles, in particular four-wheeled vehicles. One topic is how to handle delayed and out-of-sequence measurements (OOSMs) in tracking systems. The motivation for this is that with technological development and exploitation of more sensors in tracking systems, OOSMs gain more significance in various applications. The thesis derives

This report contains derivations of a rigid double-track ground vehicle model including roll and pitch dynamics, using a Newton-Euler modeling approach. Suspension is incorporated in the model. The suspension system is modeled as a rotational spring and damper system, where the spring and damper constants for each wheel have been lumped to two constants, one for each degree of freedom. The resulti

Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but doesn't provide any information about r