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An algorithm for high-performance path tracking for robot manipulators in the presence of model uncertainties and actuator constraints is presented. The path to be tracked is assumed given, and the nominal trajectories are computed using, for example, well-known algorithms for time-optimal path tracking. For online path tracking, the nominal, feedforward trajectories are combined with feedback in
Industrial robots typically require very structured and predictable working environments, and explicit programming, in order to perform well. Therefore, expensive and time-consuming engineering work is a major obstruction when mediating tasks to robots. This thesis presents methods that decrease the amount of engineering work required for robot programming, and increase the ability of robots to ha
Operating systems code is often developed according to principles like simplicity, low overhead, and low memory footprint. Schedulers are no exceptions. A scheduler is usually developed with flexibility in mind, and this restricts the ability to provide real-time guarantees. Moreover, even when schedulers can provide real-time guarantees, it is unlikely that these guarantees are properly quantifie
Evidence of arterial pulse pressure variations caused by cardio-pulmonary interactions, and their connection to volume status via the Frank–Starling relationship, are well documented in the literature. Computation of pulse pressure variations from arterial pressure measurements is complicated by the fact that systolic and diastolic peaks are not evenly spaced in time. A robust, structurally uncomp
We present the suggested temperature control system of the future ESS phase-reference line. The poster describes modeling, simulation, choice of hardware components, control algorithm, and measurement results from a 4.5 meter prototype developed at the Department of Automatic Control at Lund University in close collaboration with the European Spallation Source (ESS). The measurement results indica
This brief presents an on-chip memory subsystem for massive multiple-input-multiple-output (MIMO) baseband processing at the base station. In massive MIMO systems, the required memory bandwidth and capacity are orders of magnitude higher than those used in conventional wireless systems, due to the large number of serving antennas. These are further combined with design targets on low access latenc
We develop a simple routine unifying the analysis of several important recently-developed stochastic optimization methods including SAGA, Finito, and stochastic dual coordinate ascent (SDCA). First, we show an intrinsic connection between stochastic optimization methods and dynamic jump systems, and propose a general jump system model for stochastic optimization methods. Our proposed model recover
There is a strong industrial drive to use cloud computing technologies and concepts for providing timing sensitive services in the networking domain since it would provide the means to share the physical resources among multiple users and thus increase the elasticity and reduce the costs. In this work, we develop a mathematical model for user-stateless virtual network functions forming a forwardin
This paper investigates the topology-independent stability of homogeneous dynamical networks, composed of interconnected equal systems. Precisely, dynamical systems with identical nominal transfer function F(s) are associated with the nodes of a directed graph whose arcs account for their dynamic interactions, described by a common nominal transfer function G(s). It is shown that topology-independ
There is a strong industrial drive to use cloud computing technologies and concepts for providing timing sensitive services in the networking domain since it would provide the means to share the physical resources among multiple users and thus increase the elasticity and reduce the costs. In this work, we develop a mathematical model for user-stateless virtual network functions forming a forwardin
Cloud computing technology provides the means to share physical resources among multiple users and data center ten- ants by exposing them as virtual resources. There is a strong industrial drive to use similar technology and concepts to provide timing sensitive services. One such is virtual net- working services, so called services chains, which consist of several interconnected virtual network fu
Complex-valued dynamics can be used for modeling rotationally invariant two-input two-output systems and bandpass systems when they are considered in the baseband. In a few instances, control design has been done in the complex domain, which facilitated analysis and synthesis. While previous work has been application specific, we will discuss more generally how complex valued dynamics arise, basic
This paper is about line search for the generalized alternating projections (GAP) method. This method is a generalization of the von Neumann alternating projections method, where instead of alternating projections, relaxed projections are alternated. The method can be interpreted as an averaged iteration of a nonexpansive mapping. Therefore, a recently proposed line search method for such algorith
Modern computing systems are often formed by multiple components that interact with each other through the use of shared resources (e.g., CPU, network bandwidth, storage). In this paper, we consider a representative scenario of one such system in the context of an Internet of Things application. The system consists of a network of self-adaptive cameras that share a communication channel, transmit
Cloud computing technology provides the means to share physical resources among multiple users and data center tenants by exposing them as virtual resources. There is a strong industrial drive to use similar technology and concepts to provide timing sensitive services. One such domain is a chain of connected virtual network functions. This allows the capacity of each function to be scaled up and d
Marine seismic data are distorted by ghosts as waves propagating upward reflect downward from the sea surface. Ghosts appear on the source side and the receiver side. However, whereas the receiver-side ghost problem has been studied in detail, and many different solutions have been proposed and implemented commercially, the source-side ghost problem has remained largely unsolved with few satisfact
