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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
The classical Kalman-Yakubovich-Popov lemma gives conditions for solvability of a certain inequality in terms of a symmetric matrix. The lemma has numerous applications in systems theory and control. Recently, it has been shown that for positive systems, important versions of the lemma can equivalently be stated in terms of a diagonal matrix rather than a general symmetric one. This paper generali
The research network "Basic Concepts for Convection Parameterization in Weather Forecast and Climate Models" was organized with European funding (COST Action E50905) for the period of 2010-2014. Its extensive brainstorming suggests how the subgrid-scale parameterization problem in atmospheric modeling, especially for convection, can be examined and developed from the point of view of a robust theo
This paper describes the design of a robust PID controller for propofol infusion in children and presents the results of clinical evaluation of this closed-loop system during endoscopic investigations in children age 6y-17y. The controller design is based on a set of models that describes the inter- patient variability in the response to propofol infusion in the study population. The PID controlle
In this paper we investigate the problem of embedding a number of points given certain (but typically not all) inter-pair distance measurements. This problem is relevant for multi-dimensional scaling problems with missing data, and is applicable within anchor-free sensor network node calibration and anchor-free node localization using radio or sound TOA measurements. There are also applications wi
Closed-loop control of anesthesia is expected to decrease drug dosage and wake up time while increasing patient safety and decreasing the work load of the anesthesiologist. The potential of closed-loop control in anesthesia has been demon- strated in several clinical studies. One of the challenges in the development of a closed-loop system that can be widely accepted by clinicians and regulatory a
The first part of the thesis deals with adaptive CPU resource management for multicore platforms. The work was done as a part of the resource manager component of the adaptive resource management framework implemented in the European ACTORS project. The framework dynamically allocates CPU resources for the applications. The key element of the framework is the resource manager that combines feedfor
We consider the problem of trajectory generation for time-optimal path tracking for the class of pseudo-omnidirectional mobile robots. An Euler-Lagrange model of the robot dynamics is derived, and by writing it on special form a convex reformulation of the path-tracking problem can be utilized. This enables the use and regeneration of time-optimal trajectories during runtime. The proposed approach
Many cyber-physical systems comprise several control applications sharing communication and computation resources. The design of such systems requires special attention due to the complex timing behavior that can lead to poor control quality or even instability. The two main requirements of control applications are: (1) robustness and, in particular, stability and (2) high control quality. Althoug
This paper addresses the need of continued education of process industry practitioners such as operators and instrumentation engineers. The process industry regulatory control tuning situation of today is reviewed. Areas of potential improvement are identified. A course, aimed at fulfilling these needs is presented. Especially, useful laboratory experiments are outlined. The suggested course was g
Two main topics are considered in this thesis: Machining with industrial robots and optimal control of road-vehicles in critical maneuvers. 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 strong
This paper is based on a new procedure for dynamic output feedback design for systems with nonlinearities satisfying quadratic constraints. The new procedure is motivated by the challenges of output feedback control design for the 3-state Moore-Greitzer compressor model. First, we use conditions for stability of a transformed system and the associated matching conditions to find the data of the st
Feedback is an ancient idea, but feedback control is a young field. Nature long ago discovered feedback since it is essential for homeostasis and life. It was the key for harnessing power in the industrial revolution and is today found everywhere around us. Its development as a field involved contributions from engineers, mathematicians, economists and physicists. It is the first systems disciplin
This paper introduces a novel approach to building virtual laboratories of embedded control systems using TrueTime and Easy Java Simulations. TrueTime is a freeware MATLAB/Simulink based tool commonly used to simulate embedded control systems. Easy Java Simulations is a popular authoring tool that facilitates the creation of pedagogical simulations. According to the proposed approach, authors use
Abstract in UndeterminedStrong resilience properties of dynamical networks are analyzed for distributed routing policies. The latter are characterized by the property that the way the outflow at a non-destination node gets split among its outgoing links is allowed to depend only on local information about the current particle densities on the outgoing links. The strong resilience of the network is
One of the major research areas in computer vision is scene reconstruction from image streams. The advent of RGB-D cameras, such as the Microsoft Kinect, has lead to new possibilities for performing accurate and dense 3D reconstruction. There are already well-working algorithms to acquire 3D models from depth sensors, both for large and small scale scenes. However, these methods often break down w
