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In this paper we investigate a system for tracking the motion of box jellyfish tripedalia cystophora in a special test setup. The goal is to measure the motor response of the animal given certain visual stimuli. The approach is based on tracking the special sensory structures – the rhopalia – of the box jellyfish from high-speed video sequences. We have focused on a realtime system with simple bui
Tight human-robot interaction and collaboration will characterize future robot tasks. Robot working environments will be increasingly unstructured, as safety barriers will be removed to allow a continuous cooperation of robotic and human workers. Such a working scenario calls for novel safety systems capable of combining productivity with workers’ safety. In this paper, a method for the definition
The use of industrial robots in the aircraft industry has been hampered by a combination of poor accuracy of the robots and poor calibration of the workcell, and also manufacturing variability in composite parts. A way to handle these difficulties is using force control. An experimental case where a semi-compliant rib is aligned to multiple surfaces is used as an example to show this. The constrai
Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evalu
Theory for Distributed Model Predictive Control (DMPC) is developed based on dual decomposition of the convex optimization problem that is solved in each time sample. The process to be controlled is an interconnection of several subsystems, where each subsystem corresponds to a node in a graph. We present a stopping criterion for the DMPC scheme that can be locally verified by each node and that g
We approach the simultaneous localization and mapping problem by using an ultrasound sensor and wheel encoders on a mobile robot. The measurements are modeled to yield a conditionally linear model for all the map states. Moreover, we implement a Rao-Blackwellized particle smoother (RBPS) for jointly estimating the position of the robot and the map. The method is applied and successfully verified b
A resource management framework for media applications modelled as dataflow streams is described. The framework is aimed at multi-core applications and the main resource managed is the CPU time. The management is implemented using reservation-based scheduling in combination with optimization and feedback. Experiences of applying the framework to media applications are reported. A simulation model
During the recent years, researchers in control engineering have proposed more resource-efficient control strategies than the traditional periodic control paradigm, resulting in two main control approaches: event-based and self-triggered control. Such nonperiodic, state-based control methods, although subject to many open research problems, can provide similar control performance as periodic contr
Microsoft Word - DRAFT 3 Master’s thesis Landscape planning from a child’s perspective A case study in the Vombsänkan in southernmost Sweden Lund, 25 May 2009 Lund University Master’s Programme in Environmental Studies and Sustainability Science “LUMES” Submitted by: Mirjam van der Hoek mirjamvanderhoek@hotmail.com Supervised by: Göran Ewald goran.ewald@lucsus.lu.se 2 Abstract Landscapes are mostl
https://www.lumes.lu.se/sites/lumes.lu.se/files/vanderhoek_mirjam_0.pdf - 2026-07-10
Being Interdisciplinary 12 Being i nterdisciplinary When I started to write this book, I called it “ The Beginners Guide to Interdisciplinary Studies ” . 1 But calling it a guidebook suggests that it is possible to guide the newcomer through the territory. The crux of interdis- ciplinary work is that you enter an unknown territory that requires a protean sensibility. Rather than a compilation of g
https://www.cec.lu.se/sites/cec.lu.se/files/oberg_2011_being_interdisciplinary.pdf - 2026-07-10
2020-01-31_SE – translated into English 2020-06-11_CK 1 Strategic plan for the Strategic Research Area (SRA) "Epidemiology for Health" (EpiHealth) during the period 2020-2025 The current 5-year strategic plan is based on the previous plan for the years 2017-2021, endorsed by the Board of SRA EpiHealth in accordance with the minutes of the board meeting on January 26, 2017. The basis of this strate
https://www.epihealth.lu.se/sites/epihealth.lu.se/files/epihealth_strategisk_plan_2020-2025_eng_final.pdf - 2026-07-10
Forensics of the Readymade w/Kirsty Bell Forensics of the Readymade Valbar kurs på BFA-nivån/Optional BFA-level course Antal hp/Credits: 3 hp Lärare/Teacher: Kirsty Bell Tid/Time: 25 – 29 November Språk/Language: English Antal studenter/Number of students: Course description Introduction This seminar proposes to look at the role of existing objects in artworks, to loosen these objects from the d
https://www.khm.lu.se/sites/khm.lu.se/files/forensics_of_the_readymade.docx - 2026-07-10
Syftet med denna uppsats berör hur kön, utbildningsgrad och ålder påverkar en individs tillit till andra människor, samhällets institutioner och olika typer av media. Vidare undersöks sambandet mellan social tillit och förtroende för olika typer av media. En enkätundersökning används som underlag för att kunna mäta skillnader mellan de olika grupperna. Det är endast svensk media och svenska instit
Inresource-constrained systems, the interference generated by the concurrent execution of multiple controller tasks leads to extra delay and jitter, which degrade control performance and may even jeopardize the stability of the controlled system. This work presents a general methodology that integrates control issues and real-time schedulability analysis to improve the control performance in embed
Separable Lyapunov functions play vital roles, for example, in stability analysis of large-scale systems. A Lyapunov function is called max-separable if it can be decomposed into a maximum of functions with one-dimensional arguments. Similarly, it is called sum-separable if it is a sum of such functions. In this paper it is shown that for a monotone system on a compact state space, asymptotic stab
In this paper, nonlinear model predictive control (NMPC) is applied to the start-up of a combined-cycle power plant. An object-oriented first-principle model library expressed in the high-level language Modelica has been written for the plant and used to set up the simulation and optimization models. The NMPC optimization problems are both encoded, using a high-level notation, and solved in the op
Autonomic computing was proposed as a promising solution to overcome the complexity of modern systems, which is causing management operations to become increasingly difficult for human beings. This work proposes the Adaptation Manager, a comprehensive framework to implement autonomic managers capable of pursuing some of the objectives of autonomic computing (i.e., self-optimization and self-healin
Recently, several control systems for closed-loop anesthesia have been demonstrated both in simulation and clinical studies. A set of performance measures, proposed by Varvel et al., have constituted the standard means of comparing such systems. This paper debates the adequacy of the Varvel measures, as applied to closed-loop anesthesia, and proposes an alternative set of measures. Key features o
Cloud applications are often subject to unexpected events like flash crowds and hardware failures. Without a predictable behaviour, users may abandon an unresponsive application. This problem has been partially solved on two separate fronts: first, by adding a self-adaptive feature called brownout inside cloud applications to bound response times by modulating user experience, and, second, by intr
