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This work studies the design of linear precoder codebooks for N-r x N-t MIMO channels with MMSE detection at the receiver. A natural split of precoder-design is unitary precoding and non-unitary precoding. Unitary precoding is only performing rotation of the data in a way beneficial for the channel. Non-unitary precoding additionally also uses power-loading to further improve the performance. Some

Safe coexistence of industrial robots and human operators in the same workspace is one of the long standing goals of robotics research. One way to enforce safety is to endow the robotic system with additional sensors that can to some extent monitor the environment surrounding the robot and allow fast reaction to unexpected obstacles. This paper discusses the design of one such anti-collision syste

It has recently been shown that several classical open problems in linear system theory, such as optimization of decentralized output feedback controllers, can be readily solved for positive systems using linear programming. In particular, optimal solutions can be verified for large-scale systems using computations that scale linearly with the number of interconnections. Hence two fundamental adva

In high throughput applications, such as in multimedia, it is preferable to fully utilize computing resources, even at the price of some (bounded) delay. However, in real-time systems, where the maximum admissible delay is modeled by a deadline, most of the theory is developed with the assumption of a task deadline smaller than or equal to the task period. The reason of this limitation is in the i

We propose an energy-based framework for approximating surfaces from a cloud of point measurements corrupted by noise and outliers. Our energy assigns a tangent plane to each (noisy) data point by minimizing the squared distances to the points and the irregularity of the surface implicitly defined by the tangent planes. In order to avoid the well-known "shrinking" bias associated with first-order

Increasing the number of persons working on quality assurance (QA) tasks, e.g., reviews and testing, increases the number of defects detected – but it also increases the total effort unless effort is controlled with fixed effort budgets. Our research investigates how QA tasks should be configured regarding two parameters, i.e., time and number of people. We define an optimization problem to answer

A fundamental problem in robotics is generating the motion for a task. How to translate a task to motion or a series of movements is a non-trivial problem. The complexity of the task, the structure of the robot, and the desired performance determine the sequence of movements, the path, and the course of motion as a function of time, namely the trajectory. As we discuss in this thesis, a trajectory

Realistic radio channel models are crucial for the success of vehicle-to-vehicle (V2V) system investigations. In this paper, we summarize the important parameters for V2V channel models and describe relevant measurement campaigns. Also, we develop and evaluate an ns-3 simulation model of a realistic V2V channel model that is based on measurements in Sweden. The channel model incorporates the effec

The use of duty-cycled ultralow-power wake-up receivers (WRxs) can significantly extend a node lifetime in low-power sensor network applications. In the WRx design, both the low-power operation of the WRx and the wake-up beacon (WB) detection performance are of importance. We present a system-level analysis of a duty-cycled WRx design, including an analog front end, a digital baseband, the WB stru

Vehicle-to-vehicle (V2V) communication is an enabler for improved traffic safety and congestion control. As for any wireless system, the ultimate performance limit is determined by the propagation channel. A particular point of interest is the shadowing effect of large vehicles such as trucks and buses, as this might affect the communication range significantly. In this paper we present measuremen

In this paper we introduce a new algorithm for seismic imaging based on the flow out of Gaussian wave packets. We follow the standard strategy of decomposing data into wave packets and flowing them out along rays to approximate the downward wavefield extrapolation, and finally applying an imaging condition. We revisit each computational step to gain efficiency. Furthermore, we develop procedure fo

The purpose of this technical note is to present a new formula to compute the incipient breaking wave properties based on a simplified solution of the wave energy flux conservation equation combined with Snell's law. The execution time and calculated results of the new formula were compared with those of the iterative method which is commonly used in coastal engineering calculations, including in

A 12 GHz PLL with digital output phase control has been implemented in a 90 nm CMOS process. It is intended for LO signal generation in integrated phased array transceivers. Locally placed PLLs eliminate the need of long high frequency LO routing to each transceiver in a phased array circuit. Routing losses are thereby reduced and the design of integrated phased array transceivers becomes more mod

Industrial robots are fast and accurate when working with known objects at precise locations in well-structured manufacturing environments, as done in the classical automation setting. In one sense, limited use of sensors leaves robots blind and numb, unaware of what is happening in their surroundings. Whereas equipping a system with sensors has the potential to add new functionality and increase

Context: Scope management is a core part of software release management and often a key factor in releasing successful software products to the market. In a market-driven case, when only a few requirements are known a priori, the risk of overscoping may increase. Objective: This paper reports on findings from a case study aimed at understanding overscoping in large-scale, market-driven software dev

Current trends in industrial automation are the need for customizable production, vertical integration, more advanced sensors and actuators, and shorter time to market. The currently used control systems and languages for control were developed with a more static production in mind. More flexible languages and tools are needed to get a more flexible production. The flexible graphical programming l