Filetype
The design of an adaptive controller with bounded L2-gain from disturbances to errors for linear time-invariant systems with uncertain parameters restricted to a finite set is investigated. The synthesis of the controller requires finding matrices satisfying non-convex matrix inequalities. We propose an approach for finding these matrices based on repeatedly linearizing the terms that cause the no
The manuscript is devoted to optimal control for a class of linear positive systems with linear objective function and linear constraints. The solution to the corresponding Bellman equation is a linear value function, which can be found by linear programming.
Contact-rich manipulation tasks remain a hard problem in robotics that requires interaction with unstructured environments. Reinforcement Learning (RL) is one potential solution to such problems, as it has been successfully demonstrated on complex continuous control tasks. Nevertheless, current state-of-the-art methods require policy training in simulation to prevent undesired behavior and later d
This paper gives an overview of the approach of working methods at the Aedas R&D Computational Design and Research [CDR] Group. It first contextualizes research in architectural practice and tries to propose an explanation for the difficulties in implementing it; then explains the evolution of the groups' computing approach from bespoke to heuristic sets of lightweight applications. It conclud
Two-view estimation is a fundamental problem in 3D computer vision, and an important sub-task of multi-view estimation pipelines such as Structure-from-Motion (SfM) and Simultaneous Localization and Mapping (SLAM). In recent years, the main focus in the field has been on keypoint-based methods, where interest points are first detected and matched across the two images, followed by robust estimatio
Previous research on A/B testing and continuous experimentation has mostly focused on large-scale settings with company-external customers. However, work efficiency and satisfaction for company coworkers may be highly related to internal tools and their fit-for-use. In this study, we therefore explore A/B testing for online services exclusively used by company co-workers. We A/B tested two version
Automated testing is a safeguard against software regression and provides huge benefits. However, it is yet a challenging subject. Among others, there is a risk that the test cases are too specific, thus making them inefficient. There are many forms of undesirable behaviour that are compatible with a typical program’s specification, that however, harm users. An efficient test should provide most p
Driving automation systems, including autonomous driving and advanced driver assistance, are an important safety-critical domain. Such systems often incorporate perception systems that use machine learning to analyze the vehicle environment. We explore new or differing topics and challenges experienced by practitioners in this domain, which relate to requirements engineering (RE), quality, and sys
Human physiology is the study of how organisms, organ systems, and individual organs function under normal circumstances. As a consequence of its paramount importance to medicine, physiology has been studied since ancient times, but the models studied in this book follow the tradition of modern physiology pioneered by Claude Bernard in the mid 1800s.The focus of the book lies on how dynamical mech
Pharmacometric modeling plays an important role in drug development and personalized medicine. Pharmacometric covariate models can be used to describe the relationships between patient characteristics (such as age and weight) and pharmacokinetic (PK) parameters. Traditionally, the functional structure of these relationships are obtained manually. This is a time-consuming task, and consequently lim
In the last column, we promised to return to one of the inevitable challenges that vibe coding leaves us with. At the AI Engineer World’s Fair 2025, OpenAI’s Sean Grove claimed that whoever writes the specification is now the programmer since AI can take it from there. Sounds amazing, but what gets lost along the way? To explore this, I’m joined by Jan-Philipp Steghöfer, a researcher at XITASO and
High motion performance, stiffness, and accuracy are crucial for industrial robot applications, but these requirements are in practice contradictory. Using a novel type of robot, the so called Gantry Tau, new combinations of stiffness and accuracy are in principle possible, except for the backlash in the drive-trains of each joint. Existing techniques for backlash reduction are either mechanicall
In this paper we present some experiments on the MySQL database server. The objective of the experiments was to investigate the high load dynamics for varying relation sizes and requests. We show that the dynamics for SELECT (read) requests can be modeled as a modified M/M/1 system, whereas, the dynamics for UPDATE (write) are completely different. Our results can be used for designing control and
Objective: Long-term automatic detection of focal seizures remains one of the major challenges in epilepsy due to the unacceptably high number of false alarms from state-of-the-art methods. Our aim was to investigate to what extent a new patient-specific approach based on similarly occurring morphological electroencephalographic (EEG) signal patterns could be used to distinguish seizures from nons
Atmospheric new particle formation (NPF) is an important phenomenon in terms of global particle number concentrations. Here we investigated the frequency of NPF, formation rates of 10 nm particles, and growth rates in the size range of 10–25 nm using at least 1 year of aerosol number size-distribution observations at 36 different locations around the world. The majo
This bachelor thesis builds on an uneven diabetic health care, more specific at Swedish medical clinics where patients with type-1 diabetes are being treated. Today patients are not able to get the same benefits, the access and quality of health care is based on where patients are getting their treatment. However, this is not compatible with the Swedish law saying that the purpose of health care i
