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We consider model order reduction of stable linear systems which leave ellipsoidal cones invariant. We show how balanced truncation can be modified to preserve cone- invariance. Additionally, this implies a method to perform external positivity preserving model reduction for a large class of systems.

Industrial robots typically require detailed programming and carefully configured work cells to perform well. The large engineering effort implicates high cost and long preparation time, and this is the major obstruction when mediating tasks to robots. The research in this thesis therefore aims to make robot programming faster and more accessible. Methods that allow for programmers to mediate and

This document outlines how to setup and run computations in parallel using Julia on a collection of remote computers, such as computers in a university lab. After the environment has been setup,Only minor modifications to serially executed code is necessary to enable parallel execution.Written for Julia version 1.0

We describe how to utilize the possibility of differentiating through arbitrary Julia codeto perform tasks such as controller optimization. The user specifies a cost function, forexample, the integrated squared error between output and reference, and constraints, suchas a maximum acceptable value of the sensitivity function. Julia performs the integrationand calculates the sensitivities of the cos

This paper presents an injection-locked 65-nm CMOS circuit that upconverts and power amplifies baseband signals to RF. The circuit delivers an RF output power of 28.7 dBm, with a power gain and maximum power added efficiency (PAE) of 20.6 dB and 68.1%, respectively. Both AM–AM-conversion and AM–PM-conversion are low, less than 1 dB and 1°, respectively, resulting in an EVM of 4.7% for Long Term Ev

We present two sensitivity function trade-offs that apply to a class of networks with a string topology. In particular we show that a lower bound on the H-infinity norm and a Bode sensitivity relation hold for an entire family of sensitivity functions associated with growing the network. The trade-offs we identify are a direct consequence of growing the network, and can be used to explain why poor

We consider least-squares approximation of a function of one variable by a continuous, piecewise-linear approximand that has a small number of breakpoints. This problem was notably considered by Bellman who proposed an approximate algorithm based on dynamic programming. Many suboptimal approaches have been suggested, but so far, the only exact methods resort to mixed integer programming with super

Overexpression of recombinant proteins in bacteria may lead to their aggregation and deposition in inclusion bodies. Since the conformational properties of proteins in inclusion bodies exhibit many of the characteristics typical of amyloid fibrils. Based on these findings, we hypothesize that the rate at which proteins form amyloid fibrils may be predicted from their propensity to form inclusion b

This paper discusses static stability of a planar object grasped by multifingers with three joints. Each individual joint (prismatic joint or revolute joint) is modeled as a linear spring stiffness. The object mass and the link masses are also included. We consider not only pure rolling contact but also frictionless sliding contact. The grasp stability is investigated using the potential energy me

Here, we propose a new procedure for output feedback design for systems with nonlinearities satisfying quadratic constraints. It provides an alternative for the classical observer-based design and relies on transformation of the closed-loop system with a dynamic controller of particular structure into a special block form. Asymptotic stability is shown using Lyapunov theory with strictly positive

AIMS: We aimed to investigate major adverse cardiac events (MACE: defined as all-cause mortality, re-infarction, and stroke), length of hospital stays (LOS), and comorbidities following acute coronary syndrome (ACS) in a population with schizophrenia.METHODS AND RESULTS: This Danish register study included patients diagnosed with ACS in the period between 1995 and 2013 with a preceding diagnosis o

Robotic trajectory generation is reformulated as a controller design problem. For minimum-jerk trajectories, an optimal controller using the Hamilton-Jacobi-Bellman equation is derived. The controller instantaneously updates the trajectory in a closed-loop system as a result of the changes in the reference signal. The resulting trajectories coincide with piece-wise fifth-order polynomial trajector

ne of the main limiting factors in improving glucose control for T1DM subjects is the lack of a precise description of meal and insulin intake effects on blood glucose. Knowing magnitude and duration of such effects would be useful not only for patients and physicians but also for the development of a controller targeting glycemia regulation. Therefore, in this paper we focus on estimating low-com