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In this paper we consider distributed adaptive stabilization for uncertain multivariable linear systems with a time-varying diagonal matrix gain. We show that uncertain multivariable linear systems are stabilizable by diagonal matrix high gains if the system matrix is an H-matrix with positive diagonal entries. Based on matrix measure and stability theory for diagonally dominant systems, we consid
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
An algorithm based on embedding phase space signal was developed by the authors in previous works. The algorithm detects the characteristic points of the waves of a multilead electroacardiogram (ECG). In the present work, the parameters of this algorithm are optimized to improve its performance. The algorithm uses 2 configurable parameters to obtain the phase spacethe dimension of the phase space
Classifying images of HEp-2 cells from indirect immunofluorescence has important clinical applications. We have developed an automatic method based on random forests that classifies an HEp-2 cell image into one of six classes. The method is applied to the data set of the ICPR 2012 contest. The previously obtained best accuracy is 79.3% for this data set, whereas we obtain an accuracy of 97.4%. The
Bakgrund: Obesitas och psykisk ohälsa tillhör de största globala hälsoutmaningarna i modern tid och har under de senaste decennierna varit ett växande problem. Människor har fått en mer stillasittande livsstil och större tillgång på kaloririk föda. Faktorerna som påverkar prevalensen är många men att det behöver ske en förändring är säkert. Syfte och frågeställningar: Syftet var att kartlägga BMI,
OBJECTIVE: To qualitatively explore the perceptions of Para athletes, coaches and stakeholders of the implementation, use and effects of the health promotion intervention 'Safe and Healthy Para sport' (SHAPE). A secondary aim was to explore participants' perceptions of how safety and health in Para sport could be further developed.METHODS: As part of a process evaluation, this qualitative, descrip
One of the most challenging problems in paleoclimate research is how orbital cyclicities forced Earth’s climate variations during the late Quaternary. To address this issue, we investigated the differences in silicate weathering, a sensitive climate indicator, at different latitudes on orbital timescales by examining geochemical and clay mineral data from the mid-latitude Sea of Okhotsk and integr
In this paper, we present a framework to identify discrete-time, single-input/single-output, switched linear systems (SISO-SLSs) from input–output data measurements. Continuous state is not assumed to be measured. The key step is a deadbeat observer-based transformation of the SLS model to a switched auto-regressive with exogenous input (SARX) model. Discrete states are estimated by a three-stage
The Auxiliary Particle Filter is a variant of the common particle filter which attempts to incorporate information from the next measurement to improve the proposal distribution in the update step. This paper studies how this can be done for Mixed Linear/Nonlinear Gaussian models, it builds on a previously suggested method and introduces two new variants which tries to improve the performance by u
A tracking problem for a mechanical system is considered. We start with a feedback controller that is designed without attention to disturbances, which are assumed to be adequately described by a dynamic LuGre friction model. We are interested in deriving a superimposed observer-based compensator to annihilate or reduce the influence of such a disturbance. We exploit a recently suggested approach
Submerged breakwaters (SBWs) are becoming a popular option for coastal protection, mainly due to their low aesthetic impact on the natural environment. However, SBWs have rarely been employed for coastal protection in the past and therefore, their efficacy remains largely unknown. The main objective of the present study was to investigate the structural and environmental conditions that govern the
This paper presents a novel control architecture for hybrid stiff and compliant control for minimally invasive surgery which satisfies the constraints of zero lateral velocity at the entry point for serial manipulators. For minimally invasive surgery it is required that there is no sideways motion at the point where the robots enter the abdomen. This is necessary to avoid any damage to the patient
In this paper, optimization problems arising in model predictive control (MPC) and in distributed MPC aresolved by applying a fast gradient method to the dual of the MPC optimization problem. Although the development of fast gradient methods has improved the convergence rate of gradient-based methods considerably, they are still sensitive to ill-conditioning of the problem data. Since similar opti
This paper proposes an individualized approach to closed-loop control of depth of hypnosis during propofol anesthesia. The novelty of the paper lies in the individualization of the controller at the end of the induction phase of anesthesia, based on a patient model identified from the dose-response relationship during induction of anesthesia. The proposed approach is shown to be superior to admini
Many cyber-physical systems comprise several control applications implemented on a shared platform, for which stability is a fundamental requirement. This is as opposed to the classical hard real-time systems where often the criterion is meeting the deadline. The stability of control applications depends on not only the delay experienced, but also the jitter. Therefore, the notion of deadline is c
Five recent techniques from hybrid and optimal control are evaluated on two power electronics benchmark problems. The benchmarks involve a number of practically interesting operating scenarios for fixed-frequency synchronous dc-dc converters. The specifications are defined such that good performance can only be obtained if the switched and nonlinear nature of the problem is accounted for during th
This thesis presents methods for improving the accuracy and efficiency of tasks performed using different kinds of industrial manipulators, with a focus on the application of machining. Industrial robots offer a flexible and cost-efficient alternative to machine tools for machining, but cannot achieve as high accuracy out of the box. This is mainly caused by non-ideal properties in the robot joint
Power and energy consumption, today essential in all types of systems, can be reduced by scaling the voltage/frequency at runtime and/or powering down idle components. Efficient management requires not only pertinent decisions, but also early access to workload information, as well as domain specific solutions. This paper focuses on runtime energy management for streaming applications running on m
