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The dramatic improvements in Boolean satisfiability (SAT) solving since the turn of the millennium have made it possible to leverage state-of-the-art conflict-driven clause learning (CDCL) solvers for many combinatorial problems in academia and industry, and the use of proof logging has played a crucial role in increasing the confidence that the results these solvers produce are correct. However,
Contact-rich manipulation tasks remain a hard problem in robotics that requires interaction with unstructured environments. Reinforcement Learning (RL) is one potential solution to such problems, as it has been successfully demonstrated on complex continuous control tasks. Nevertheless, current state-of-the-art methods require policy training in simulation to prevent undesired behavior and later d
Mission-critical applications such as industrial control processes are evolving towards a new development paradigm by offloading their heavy computations to the edge of the emerging Fifth Generation Wireless Specifications (5G) network. In this manner, the applications can gain the economical and efficiency benefits of cloud computing, as well as reliable communication from the 5G network. However
Reconstruction of movement control properties of the brain could result in many potential advantages for application in robotics. However, a hampering factor so far has been the lack of knowledge of the structure and function of brain circuitry in vivo during movement control. Much more detailed information has recently become available for the area of the cerebellum that controls arm-hand movemen
Channel fingerprinting entails associating a point in space with measured properties of a received wireless signal. If the propagation environment for that point in space remains reasonably static with time, then a receiver with no knowledge of its own position experiencing a similar channel in the future might reasonably infer proximity to the original surveyed point. In this article, measurement
This paper shows how a channel sounder can be built with National Instruments (NI) Universal Software Radio Peripheral (USRP) equipment, featuring onboard FPGA processing and utilizing open-source tools. Compared to other USPR-based channel sounders, our design eases the requirements on the data link between the USRP and the host, limits the measurement data size, and increases the signal-to-noise
In this paper, we apply an optimal Linear Quadratic (LQ) controller, which has an inherent structure that allows for a distributed implementation, to an irrigation network. The network consists of a water reservoir and connected water canals. The goal is to keep the levels close to the set-points when farmers take out water. The LQ controller is designed using a first-order approximation of the ca
Patients undergoing treatment for acute lymphoblastic leukaemia (ALL) are at risk of coagulopathy, especially thromboembolism. We conducted a survey on practices in the assessment and management of coagulopathy during the new ALLTogether protocol in 29 (17 paediatric, 12 adult) Nordic and Baltic cancer centres. While 92% of adult centres used thromboprophylaxis with low-molecular-weight heparin, n
Channel sounding is essential for the development of radio systems. One flexible strategy is the switched-array-based channel sounding, where antenna elements are activated at different time instants to measure the channel spatial characteristics. Although its hardware complexity is decreased due to fewer radio-frequency (RF) chains, sequentially switching the antenna elements can result in aliasi
Electric power systems are undergoing huge changes due to the shift from conventional power production to more renewable-based generation like solar and wind. This is primarily driven by the need to mitigate climate change by reducing CO2 emissions. The shift to more generation from solar and wind will affect the dynamical behaviour of power systems, and consequently how they should be controlled.
The advent of 6G wireless communication marks a transformative era in technological connectivity, bringing forth challenges and opportunities alike. This paper unveils an innovative, open-source simulator, meticulously crafted for cell-free 6G wireless networks. This simulator is not just a tool but a gateway to the future, blending cutting-edge channel models with the simulation of both physical
Dataflow is a Model of Computation (MoC) that describes applications as networks of actors. The CAL Actor Language (CAL) is one of the programming languages for describing such actors. A downside to CAL is that the actors and their networks are rigidly defined - it is not possible to have a parametric number of ports or actions in an actor. This makes it difficult to define flexible applications o
In the last couple of decades, developments in SAT-based optimization have led to highly efficient maximum satisfiability (MaxSAT) solvers, but in contrast to the SAT solvers on which MaxSAT solving rests, there has been little parallel development of techniques to prove the correctness of MaxSAT results. We show how pseudo-Boolean proof logging can be used to certify state-of-the-art core-guided
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision avoidance without direct use of obstacle information in the optimization problem. This is achieved by guaranteeing tracking performance of an appropriately designed re
Background: Most patients diagnosed with breast cancer present with a node-negative disease. Sentinel lymph node biopsy (SLNB) is routinely used for axillary staging, leaving patients with healthy axillary lymph nodes without therapeutic effects but at risk of morbidities from the intervention. Numerous studies have developed nodal status prediction models for noninvasive axillary staging using po
INTRODUCTION: Reporting of sex and gender analysis in medical research has been shown to improve quality of the science and ensures findings are applicable to women and men. There is conflicting evidence on whether efforts by funding agencies and medical journals to encourage reporting of sex and gender analysis has resulted in tangible improvements. This study mapped the inclusion of sex and gend
Driven by the idea to use alarm data to explore machine learning across Industry 4.0 applications, the goal of this pilot study was to explore how to collect, store, manage and share data from the ESS Control System. Generally, we seek to make any control system data available for research and innovation but started with alarms as a feasible domain in which to explore machine learning. The goals w
