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Two main topics are considered in this thesis: Machining with industrial robot manipulators and optimal motion control of robots and vehicles. The motivation for research on the first subject is the need for flexible and accurate production processes employing industrial robots as their main component. The challenge to overcome here is to achieve high-accuracy machining solutions, in spite of the
Force sensing provides robots the capability to accomplish tasks where physical interaction with the environment is required, such as assembly. Small position uncertainties can then be corrected for by sensing the contact forces. This thesis considers the problem of force-controlled assembly, including how tasks can be specified in a simple and intuitive way and how robust task execution under unc
Generalized frequency division multiplexing is a non-orthogonal, digital multicarrier transmission scheme with attractive features that address the requirements of emerging applications of wireless communications systems in areas like cognitive radio and machine-to-machine communication. In this paper, first a linear system description is obtained for the transmitter by ordering data in a time-fre
The topological characteristics of an IEEE 802.16 mesh network including the tree’s depth and degree of its nodes affect the delay and throughput of the network. To reach the desired trade-off between delay and throughput, all potential trees should be explored to obtain a tree with the proper topology. Since the number of extractable tree topologies from a given network graph is enormous, we use
We investigate a family of protograph based rate-compatible LDPC convolutional codes. The code family shows improved thresholds close to the Shannon limit compared to their uncoupled versions for the binary erasure channel as well as the AWGN channel. In fact, the gap to Shannon limit is almost uniform for all members of the code family ensuring good performance for all subsequent incremental redu
The thesis discusses closed-loop control of the hypnotic and the analgesic components of anesthesia. The objective of the work has been to develop a system which independently controls the intravenous infusion rates of the hypnotic drug propofol and analgesic drug remifentanil. The system is designed to track a reference hypnotic depth level, while maintaining adequate analgesia. This is complicat
This thesis proposes approaches and models to increase the energy saving of the User Equipment (UE) in Long-Term Evolution (LTE) and 5G. The focus is mainly on Discontinuous Reception (DRX), the UE energy saving mechanism that was first introduced in LTE and will play an important role in 5G too.In this thesis, we take two main approaches. The first approach is based on joint optimization of DRX a
Massive MIMO enables a very high spectral efficiency by spatial multiplexing and opens opportunities to reduce transmit power per antenna. On the other side, it also introduces new challenges in tackling the power amplifier nonlinearity due to the increased number of antennas. The behavior of Out-of-Band radiation from PAs in Massive MIMO is non-trivial depending upon the applied precoding scheme,
Empirical software engineering research relies on good communication with industrial partners. Conducting joint research both requires and contributes to bridging the communication gap between industry and academia (IA) in software engineering. This study aims to explore communication between the two parties in such a setting. To better understand what facilitates good IA communication and what pr
We present a strategy for failure resilient cloud control using model predictive control (MPC) extended with explicit recovery. Based on an arbitrary and unmodified device controller, the remotely operated MPC can safely manipulate the network controlled plant through temporary adjustment of an error signal generator. We show ways to implement the reliable cloud controller, relate it to two-degree
Along with the rapid development of cloud computing technology, containerization technology has drawn much attention from both industry and academia. In this paper, we perform a comparative measurement analysis of Docker-sec, which is a Linux Security Module proposed in 2018, and a new AppArmor profile generator called Lic-Sec, which combines Docker-sec with a modified version of LiCShield, which
This study demonstrates the use of a photoelectrochemical device comprising earth-abundant hematite photoanode for the oxidation of 5-hydroxymethylfurfural (5-HMF), a versatile bio-based platform chemical, under ambient conditions in the presence of an electron mediator. The results obtained in this study showed that the hematite photoanode, upon doping with fluorine, can oxidize water even at low
Objective: Cognitive workload monitoring (CWM) can enhance human-machine interaction by supporting task execution assistance considering the operators cognitive state. Therefore, we propose a machine learning design methodology and a data processing strategy to enable CWM on resource-constrained wearable devices. Methods: Our CWM solution is built upon edge computing on a simple wearable system, w
The 5G Edge Intelligence for Vertical Experimentation (5G-DIVE) project aims at demonstrating the technical merits and business value proposition of 5G technologies in two vertical pilots, namely the Industry 4.0 (I4.0) and Autonomous Drones Scout (ADS) pilots. This paper presents an overview of the overall 5G-DIVE solution and reports the results of the initial validation campaign of the selected
Herglotz functions inevitably appear in pure mathematics, mathematical physics, and engineering with a wide range of applications. In particular, they are the pertinent functions to model passive systems, and thus appear in modeling of electromagnetic phenomena in circuits, antennas, materials, and scattering. In this chapter, we review the basic theory of Herglotz functions and its applications t
Optical wireless networks realized by means of gigabit optical wireless communication (OWC) systems are becoming, in a variety of applications, an important alternative, or a complementary solution, to their fiber-based counterparts. However, performance of the OWC systems can be considerably degraded in periods of unfavorable weather conditions, such as heavy fog, which temporarily reduce the eff
Internet of Things (IoT) is the next generation of network scenario where billions of devices are connected to the internet and capable to communicate with each other. However, they are especially vulnerable to Denial of Service (DoS) attack, which typically launched by overloading the server with bogus messages. Hence, unnecessary computation is performed by the IoT units, which can seriously wor
In this paper we study the convex envelopes of a new class of functions. Using this approach, we are able to unify two important classes of regularizers from unbiased non-convex formulations and weighted nuclear norm penalties. This opens up for possibilities of combining the best of both worlds, and to leverage each method’s contribution to cases where simply enforcing one of the regularizers are
