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The paper presents a CPS-oriented course that integrates control theory and embedded computing. The course combines concurrent real-time programming and analysis with discrete-time sampled control theory and real-time networking. The contents of course, including the course projects are described in the paper as well as the experiences with the course.
Machining processes in the industry of today are rarely performed using industrial robots. In the cases where robots are used, machining is often performed using position control with a conservative feed-rate, to avoid excessive process forces. There is a great benefit in controlling the process forces instead, so as to improve the time-efficiency by applying the maximum allowed force, and thus re
The problem of communicating one bit over a memoryless Gaussian channel with an energy constraint is discussed. It is assumed that the channel is allowed to be used only two times. An ideal feedback channel is also supposed available. The optimal feedback strategy and the bit-error probability are derived. It is shown that feedback gives a significant performance gain and that the optimal strategy
We investigate methods for detection of rapid workload increases (load spikes) for cloud workloads. Such rapid and unexpected workload spikes are a main cause for poor performance or even crashing applications as the allocated cloud resources become insufficient. To detect the spikes early is fundamental to perform corrective management actions, like allocating additional resources, before the spi
The number of applications in computer vision that model higher-order interactions has exploded over the last few years. The standard technique for solving such problems is to reduce the higher-order objective function to a quadratic pseudo-boolean function, and then use roof duality for obtaining a lower bound. Roof duality works by constructing the tightest possible lower-bounding submodular fun
This work presents an extension of a design procedure for dynamic output feedback design for systems with nonlinearities satisfying quadratic constraints. In this work we used an axial gas compressor model described by the 3-state Moore-Greitzer compressor model (MG) that has some challenges for output feedback control design (Planovsky and Nikolaev 1990), (Rubanova 2013). The more general constra
In color-based detection methods, varying illumination often causes problems, since an object may be perceived to have different colors under different lighting conditions. In the field of color constancy this is usually handled by estimating the illumination spectrum and accounting for its effect on the perceived color. In this paper a method for designing a robust classifier is presented, i.e.,
This paper investigates both positional dependence in systems with friction and the influence an increase in temperature has on the friction behavior. The positional dependence is modeled with a Radial Basis Function network and the temperature dependence is modeled as a first order system with the power loss due to friction as input, eliminating the need for temperature sensing. The proposed meth
Bytecode folding is an effective technique for speeding up execution in Java virtual machines. This paper investigates a hardware implementation of the aforementioned technique on BlueJEP, a Java embedded processor. Since BlueJEP is a micro-programmed stack machine, we adopt a micro-instruction oriented approach, folding up to four microinstructions (corresponding to up to four bytecodes, on occas
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
Popular Abstract in Swedish Bakgrund: Förskrivning av läkemedel är en av de vanligaste medicinska åtgärderna men samtidigt den största orsaken till patientskador och patientsäkerhetsproblem i Sverige. Läkemedelsbehandling av multisjuka äldre och förskrivning av antibiotika mot okomplicerade luftvägsinfektioner är två områden där patientsäkerhetsproblem har uppmärksammats. Behandling med potentiellIntroduction: Drug therapy in primary care is a broad field, with two areas previously identified as particularly challenging: treatment of the elderly and prescription of antibiotics against uncomplicated upper respiratory tract infections (URTIs). General practitioners’ (GPs’) attitudes and adherence to evidence-based treatment guidelines might be influenced by different interventions and need t
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
A novel integrated approach to high-accuracy machining with industrial robots is presented in this paper. By combining a conventional industrial robot with an external compensation mechanism, a significantly higher bandwidth of the control of the relative position between the tool and the workpiece can be achieved. A model-based feedback controller for the compensation mechanism, as well as a mid-
Within process industry, and in many other areas, the PID controller is responsible for handling regulatory control. An educated guess is that the number of executing PID control loops lies in the billions (2011) and there are no signs indicating a decrease of this number. Properly tuning the PID controller, i.e., setting its parameter values based on characteristics of the process it controls t
Recently, the emergence of Kinect systems has demonstrated the benefits of predicting an intermediate body part labeling for 3D human pose estimation, in conjunction with RGB-D imagery. The availability of depth information plays a critical role, so an important question is whether a similar representation can be developed with sufficient robustness in order to estimate 3D pose from RGB images. Th
Constraining the temperature of computing systems has become a dominant design aspect. The supply voltage decrease has lost its pace even though the feature size is shrinking constantly. This results in an increased number of transistors per unit of area and hence a growing power density. Researchers started investigating dynamic thermal management techniques to trade-off performance for energy co
