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Distributed optimal control is known to be challenging and can become intractable even for linear-quadratic regulator problems. In this work, we study a special class of such problems where distributed state feedback controllers can give near-optimal performance. More specifically, we consider networked linear-quadratic controllers with decoupled costs and spatially exponentially decaying dynamics
Characteristic modes of arbitrary 2-D periodic systems are analyzed using scattering parameter data. This approach bypasses the need for periodic integral equations and allows for characteristic modes to be computed from generic simulation or measurement data. Example calculations demonstrate the efficacy of the method through comparison against a periodic method of moments (MoM) formulation for a
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any
BACKGROUND: Transcatheter aortic valve implantation is an effective treatment for patients with aortic stenosis; however, complications related to paravalvular leakage (PVL) persist, including increased risk of mortality, cardiovascular mortality, and rehospitalisation. AIMS: We sought to evaluate the clinical outcomes and valve performance at 1 year in patients with severe aortic stenosis treated
We verify safety of a nonlinear continuous-time system controlled by a neural network controller. The system is decomposed into low-dimensional subsystems connected in a feedback loop. Our application is a rocket landing, and open-loop properties of the two-dimensional altitude subsystem are verified using worst-case simulations. Closed-loop safety properties (crash-avoidance) of the full system a
Recent methods on privacy-preserving image-based localization use a random line parameterization to protect the privacy of query images and database maps. The lifting of points to lines effectively drops one of the two geometric constraints traditionally used with point-to-point correspondences in structure-based localization. This leads to a significant loss of accuracy for the privacy-preserving
Beyond-5G wireless communication systems will feature advanced, key technologies such as large intelligent surfaces (LISs) composed of a very large number of antenna elements. The concomitant tremendous data rate requirements, due to the communication between these antennas, necessitate careful algorithm-architecture codesign. This paper presents an application-specific integrated circuit (ASIC) a
In the mining industry, flotation is a commonly used process to separate valuable minerals from waste rock in a concentrator. The rougher flotation is the first stage of the process and in Boliden AB’s concentrator at Aitik, it consists of two lines of four flotation cells each. In this paper we consider one line and the buffer tank upstream of it. Modeling this process step, and maintaining an up
Mixed-effects models are used to describe the inter-patient variability in drugs. Modeling of these variabilities include both fixed and random effects. Fixed effects relate covariates such as age and weight to compartment volumes and clearances, whereas random effects account for unexplained variability. Traditionally, the development of fixed effects models is an inefficient process where covari
Control theory allows one to design controllers that are robust to external disturbances, model simplification, and modelling inaccuracy. Researchers have investigated whether the robustness carries on to the controller’s digital implementation, mostly looking at how the controller reacts to either communication or computational problems. Communication problems are typically modelled using random
Shape control strategies seek to bring deformable objects towards a desired target shape. However, conventional methods focus on reaching the target shape without considering the extent to which the object is deformed during the control process. Control actions may generate unnecessary deformations and thus, increase the possibility of object over-stressing and failure. In this letter, we tackle t
The assignment of products to storage locations significantly impacts the efficiency of warehouse operations. We propose a multi-phase optimizer for a Storage Location Assignment Problem (SLAP) where solution quality is based on a distance estimate of future-forecasted order picking. Candidate assignments are first sampled using a Markov Chain accept/reject method. Future-forecasted pick-rounds ar
Control systems are ubiquitous and often at the core of Cyber-Physical Systems, like cars and aeroplanes. They are implemented as embedded software, that interacts in closed loop with the physical world through sensors and actuators. As a consequence, the software cannot just be tested in isolation. To close the loop in a testing environment and root causing failure generated by different parts of
Optimal inverse design, including topology optimization and evaluation of fundamental bounds on performance, which was introduced in Part 1, is applied to various antenna design problems. A memetic scheme for topology optimization combines local and global techniques to accelerate convergence and maintain robustness. Method-of-moments (MoMs) matrices are used to evaluate objective functions and al
This work is part of a research project studying the learning of fine motor skills in rats. A system for tracking a rat paw using a system of high-speed cameras is presented along with preliminary analysis of the correlation between paw movement and neural data. The tracking method is generative, modeling the rat paw as a set of linked ellipsoids. To find the most probable paw pose a number of hyp
This study aimed to investigate self-reported physical activity levels, perceived body appearance, and body functioning in relation to perceived wellbeing among adolescents. A cross-sectional survey was performed in four upper secondary schools in one municipality in southern Sweden. Data were obtained from questionnaires completed by 1,491 adolescents (55.4% females; median age 16; range 15–17 ye
An optimal control problem on finite-dimensional positive cones is stated. Under a critical assumption on the cone, the corresponding Bellman equation is satisfied by a linear function, which can be computed by convex optimization. A separate theorem relates the assumption on the cone to the existence of minimal elements in certain subsets of the dual cone. Three special cases are derived as examp
