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This paper considers robust stability analysis of a large network of interconnected uncertain systems. To avoid analyzing the entire network as a single large, lumped system, we model the network interconnections with integral quadratic constraints. This approach yields a sparse linear matrix inequal- ity which can be decomposed into a set of smaller, coupled linear matrix inequalities. This allow
There is currently a strongly growing interest in obtaining optimal control solutions for vehicle manoeuvres, both in order to understand optimal vehicle behaviour and, perhaps more importantly, to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is non-trivial to find the right combination
This thesis presents an improved version of the classic relay autotuner. The proposed autotuner uses an asymmetric relay function to better excite the process in the experiment phase. The improved excitation provides the possibility to obtain better models and hence better tuning, without making the autotuner more complicated or time consuming.Some processes demand more accurate modeling and tunin
Advances in quantum computing pose a fundamental threat to classical public-key cryptosystems, including RSA and elliptic-curve cryptography (ECC), which form the foundation for authentication and key exchange in the Transport Layer Security (TLS) protocol. In response to these emerging threats, Korea launched the KpqC (Korea Post-Quantum Cryptography) project in 2021 to design, evaluate, and stan
Background: Occupational balance (OB) is a subjective feeling of having the right amount and variety of occupations. Aims/objectives: The study aims to translate the Occupational Balance Questionnaire (OBQ11) into Chinese (OBQ11-C) and to examine its psychometric properties for people with depression in Taiwan. Material/methods: The OBQ11 was translated and reviewed by 10 experts. Subjects with de
In this paper, we revisit the question of key recovery using side-channel analysis for unrolled, single-cycle block ciphers. In particular, we study the Princev2 cipher. While it has been shown vulnerable in multiple previous studies, those studies were performed on side-channel friendly ASICs or older FPGAs (e.g., Xilinx Virtex II on the SASEBO-G board), and using mostly expensive equipment. We s
Populärvetenskaplig sammanfattning: Platåleror utgör ett markant inslag i det inre backlandskapet söder om Romeleåsen i Skåne. De är kvadratkilometer stora, cirkulära lerområden, med en svagt undulerande yta som täcker landskapets högsta kullformer. Runt platålerorna ligger oftast s k kantryggar som huvudsakligen består av grus och sand. I snart hundra år har bildningsmiljön för platålerorna och kPlateau-clays are significant features in the hummocky moraine area south of Romeleåsen ridge, Skåne, southern Sweden. The plateau clays are smoothly undulating circular areas of glaciolacustrine clay, which drape the highest hummocks in the landscape. Rim ridges often surround the plateau-clays. During the last hundred years the formation of these plateau clays has been studied and discussed. In
The use of industrial robots in the aircraft industry has been hampered by a combination of poor accuracy of the robots and poor calibration of the workcell, and also manufacturing variability in composite parts. A way to handle these difficulties is using force control. An experimental case where a semi-compliant rib is aligned to multiple surfaces is used as an example to show this. The constrai
Parallel robots are generally said to be more accurate but to have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with a large, reconfigurable workspace was presented. This article tries to identify the maximum achievable end-effector positioning accuracy of the Gantry-Tau robot. To this end, a couple of new kinematic error models are presented and evalu
Theory for Distributed Model Predictive Control (DMPC) is developed based on dual decomposition of the convex optimization problem that is solved in each time sample. The process to be controlled is an interconnection of several subsystems, where each subsystem corresponds to a node in a graph. We present a stopping criterion for the DMPC scheme that can be locally verified by each node and that g
We approach the simultaneous localization and mapping problem by using an ultrasound sensor and wheel encoders on a mobile robot. The measurements are modeled to yield a conditionally linear model for all the map states. Moreover, we implement a Rao-Blackwellized particle smoother (RBPS) for jointly estimating the position of the robot and the map. The method is applied and successfully verified b
A resource management framework for media applications modelled as dataflow streams is described. The framework is aimed at multi-core applications and the main resource managed is the CPU time. The management is implemented using reservation-based scheduling in combination with optimization and feedback. Experiences of applying the framework to media applications are reported. A simulation model
During the recent years, researchers in control engineering have proposed more resource-efficient control strategies than the traditional periodic control paradigm, resulting in two main control approaches: event-based and self-triggered control. Such nonperiodic, state-based control methods, although subject to many open research problems, can provide similar control performance as periodic contr
We consider a class of distributed algorithms for computing arithmetic averages (average consensus) over net- works of agents connected through digital noisy broadcast channels. Our algorithms combine error-correcting codes with the classical linear consensus iterative algorithm, and do not require the agents to have knowledge of the global network structure. We improve the performance by introduc
Many computing systems are constrained by power budgets. While they could temporarily draw more power, doing so creates unsustainable temperatures and unwanted electricity consumption. Developing systems that operate within power budgets is a constrained optimization problem: configuring the components within the system to maximize performance while maintaining sustainable power consumption. This
