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This paper describes how PID controllers can be designed by optimizing performance subject to robustness constraints. The optimization problem is solved using convex-concave programming. The method admits general process descriptions in terms of frequency response data and it can cope with many different constraints. Examples are presented and some pitfalls in optimization are discussed.
Sentiment analysis, or opinion mining, is the process of extracting sentiment from documents or sentences, where the expressed sentiment is typically categorized as positive, negative, or neutral. Many different techniques have been proposed. In this paper, we report the reimplementation of nine algorithms and their evaluation across four corpora to assess the sentiment at the sentence level. We e
We investigate the out-of-sequence measurements particle filtering problem for a set of conditionally linear Gaussian state-space models, known as mixed linear/nonlinear state-space models. Two different algorithms are proposed, which both exploit the conditionally linear substructure. The first approach is based on storing only a subset of the particles and their weights, which implies low memory
This paper considers switching output feedback control of linear systems and variable structure systems. Theory for stability analysis and design for a class of observer-based feedback control systems is presented. A circle-criterion approach can be used to design an observer-based state feedback control which yields a closed-loop system with specified robustness characteristics. The approach is r
We are concerned with software that can self-adapt to satisfy certain reliability requirements, in spite of adverse changes affecting the environment in which it is embedded. Self-adapting software architectures are heavily based on dynamic binding. The bindings among components are dynamically set as the conditions that require a self-adaptation are discovered during the system's lifetime. By ado
A complex picture was shown to 12 subjects, and each subject was asked to describe it from memory. Their spoken descriptions were recorded, transcribed and segmented into intonation units (Chafe 1994). The transcripts were then qualitatively analyzed with respect to how the picture had been conceptualized. As a result, two different styles of description could be identified. Perceiving space was d
In control theory there exist two convenient representations of a model, which are transfer functions and state-space matrices. However, structure in the transfer functions is not clearly seen in the state-space form, and on the other hand structure in the state-space form is not clearly seen in the transfer functions. The main reason for this is that Laplace transformation destroys most types of
Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expen
Feature quantization is a crucial component for efficient large scale image retrieval and object recognition. By quantizing local features into visual words, one hopes that features that match each other obtain the same word ID. Then, similarities between images can be measured with respect to the corresponding histograms of visual words. Given the appearance variations of local features, traditio
This paper presents a combined experiment and identification procedure, well suited to obtain low-order dynamic models of a patients’ response to continuous drug administration. The experiment requires no a priori information and is of very short duration. The identification method provides both a parametric low-order model, and an estimate of the parameter error covariance. It has been demonstrat
Embedded systems are becoming increasingly complex. At the same time, the components that make up the system grow more uncertain in their properties. For example, current developments in CPU design focuses on optimizing for average performance rather than better worst case performance. This, combined with presence of 3rd party software components with unknown properties, makes resource management
Production plants need to be set up and reconfigured faster to fulfill increasing market demands. Highly flexible automation systems are needed and a promising approach is Service Oriented Architecture (SOA) which has recently received much attention in both academia and industry. OPC Unified Architecture (OPC UA), the next generation of the de facto standard for interoperability in the automation
We consider distributed model predictive control (DMPC) where a sparse centralized optimization problem without a terminal cost or a terminal constraint set is solved in distributed fashion. Distribution of the optimization algorithm is enabled by dual decomposition. Gradient methods are usually used to solve the dual problem resulting from dual decomposition. However, gradient methods are known f
