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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
We consider robust output feedback distributed model predictive control (DMPC). The proposed controller is based on the results in [8] in which nominal stability and feasibility was proven for a DMPC-formulation without terminal constraint set or terminal cost in the optimization. We extend these results to show robust stability under state feedback as well as output feedback when dynamics and mea
Current market trends for industrial automation are the need for customizable production, shorter time to market, and powerful global competitive pressure. Based on these trends two challenges have been identified: 1) flexible production systems and 2) integration and utilization of devices and software. Applications from both process automation, manufacturing, and robotics have been considered.
LuCuGaO4 has magnetic Cu2+ and diamagnetic Ga3+ ions distributed on a triangular bilayer and is suggested to undergo a spin glass transition at T-g similar to 0.4 K. Using mu SR (muon spin rotation) and neutron scattering measurements, we show that at low temperature the spins form a short range correlated state with spin fluctuations detectable over a wide range of timescales: at 0.05 K magnetic
An approach for merging statically schedulable subr egions in dataflow models is pr esented. The approach combines abstr act int erpr etation, loop analysis, and static scheduling of cyclo-static dataflow networ ks. The approach has been implemented in a Java-based tool that per forms automatic classification of dataflow act or s, generat ion of stat ic schedules using constr aint programming, and
This thesis presents models and methods for feedback-based resource management for cyber-physical systems. Common for the scenarios considered are severe resource constraints, uncertain and time-varying conditions and the goal of enabling flexibility in systems design rather than restricting it. A brief survey on reservation-based scheduling, an important enabling technology for this thesis, is pr
This paper explores a formally grounded ap- proach to solve the problem of dynamic binding in service- oriented software architecture. Dynamic binding is a widely adopted mean to automatically bind exposed software interfaces to actual implementations. The execution of an operation on one or another implementation, though providing the same result, could turn out in different quality of service, e
Based on previous results on linear predictors and Kalman filter, this paper will formulate multi-step-ahead multi-variate predictors for application in multi-step-ahead predictive control.
In this paper we consider the problem of outlier removal for large scale multiview reconstruction problems. An efficient and very popular method for this task is RANSAC. However, as RANSAC only works on a subset of the images, mismatches in longer point tracks may go ndetected. To deal with this problem we would like to have, as a post processing step to RANSAC, a method that works on the entire (
This thesis explores methods for solving the structure-and-motion problem in computer vision, the recovery of three-dimensional data from a series of two-dimensional image projections. The first paper investigates an alternative state space parametrization for use with the Kalman filter approach to simultaneous localization and mapping, and shows it has superior convergence properties compared wit
The valence states of free neutral potassium clusters produced by a gas aggregation source were probed by synchrotron radiation based photoelectron spectroscopy. The first ionization energy (IE) of the clusters was determined to be 10% larger than the work function of bulk potassium. Using electrostatic concepts and the IE, the mean size of the clusters was estimated to be approximate to 2000 atom
Climate warming is expected to alter hydropower generation in California through affecting the annual stream-flow regimes and reducing snowpack. On the other hand, increased temperatures are expected to increase hydropower demand for cooling in warm periods while decreasing demand for heating in winter, subsequently altering the annual hydropower pricing patterns. The resulting variations in hydro
We consider the problem of localizing a novel image in a large 3D model. In principle, this is just an instance of camera pose estimation, but the scale introduces some challenging problems. For one, it makes the correspondence problem very difficult and it is likely that there will be a significant rate of outliers to handle. In this paper we use recent theoretical as well as technical advances t
Embedded systems often operate in so variable con- ditions that design can only be carried out for some worst-case scenario. This leads to over-provisioned resources, and undue power consumption. Feedback control is an effective (and not yet fully explored) way to tailor resource usage online, thereby making the system behave and consume as if it was optimized for each specific utilization case. A
The myeloid translocation gene 16 product MTG16 is found in multiple transcription factor-containing complexes as a regulator of gene expression implicated in development and tumorigenesis. A stable Tet-On system for doxycycline-dependent expression of MTG16 was established in B-lymphoblastoid Raji cells to unravel its molecular functions in transformed cells. A noticeable finding was that express
The rapidly growing collection of diverse genome-scale data from multiple tumor types sheds light on various aspects of the underlying tumor biology. With the objective to identify genes of importance for breast tumorigenesis in men and to enable comparisons with genes important for breast cancer development in women, we applied the computational framework COpy Number and EXpression In Cancer (CON
This report addresses the related problems of trajectory generation and time-optimal path tracking with online obstacle avoidance. We consider the class of four-wheeled vehicles with independent steering and driving on each wheel, also referred to as pseudo-omnidirectional vehicles. Appropriate approximations of the dynamic model enable a convex reformulation of the path-tracking problem. Using th
There is currently a strongly growing interest in obtaining optimal control solutions for vehicle maneuvers, both in order to understand optimal vehicle behavior and to devise improved safety systems, either by direct deployment of the solutions or by including mimicked driving techniques of professional drivers. However, it is nontrivial to find the right mix of models, formulations, and optimiza
