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Dynamic task offloading is essential for real-time robotic applications, enabling them to adapt to fluctuating computational demands and maintain efficiency under changing conditions. This paper introduces a dynamic task offloading framework that incorporates monitoring, decision making, offloading triggering, and performance monitoring to optimize resource usage by offloading real-time tasks to e
Realistic representation of atmospheric aerosol size distribution dynamics in large-scale climate models is important for developing accurate descriptions of aerosol-cloud interactions. Despite the dynamic nature of the distributions, which have large seasonal and diurnal changes, model evaluations often focus on the annual median size distribution. Using more comprehensive monthly and diurnal mod
The Hunga Tonga eruption on 15 January 2022 (HT-22) induced vigorous volcano–sea interaction. Here we study the stratospheric aerosol and water vapor resulting from the eruption using satellite-based instruments: the CALIOP lidar and the Microwave Limb Sounder (MLS). We investigate the stratospheric relative humidity following the record-breaking water vapor injections from the HT-22 eruption and
Structure-from-Motion (SfM) has become a ubiquitous tool for camera calibration and scene reconstruction with many downstream applications in computer vision and beyond. While the state-of-the-art SfM pipelines have reached a high level of maturity in well-textured and well-configured scenes over the last decades, they still fall short of robustly solving the SfM problem in challenging scenarios.
Chains of tasks are ubiquitous and used in a broad spectrum of applications. In these chains, tasks execute according to their timing. Then, they communicate by writing to and reading from shared memory. The schedule of tasks and the read/write instants are naturally subject to uncertainties (variability in the execution time, interference due to shared resources of higher priority tasks, etc.). D
The topic of this thesis is how to infer geometric information using sound data. Achieving this requires solving several subproblems. First, signal processing of the recorded sound is needed to compute measurements of primitive geometric relations. Secondly, robust estimation is needed to go from primitive geometric measurements to more useful higher-level information such as the locations of micr
Digital control systems introduce unavoidable computational latencies. For some controllers this time delay inhibits practical use, even though they in theory could provide more efficient control. For example, solving an optimization problem each sampling period when using model predictive control. By sampling faster than the computation time and executing independent controllers on distributed ha
A decentralized strategy for object transportation is presented, assuming that the object is grasped by a team of N cooperative manipulators. The proposed strategy consists of two steps. First, each robot estimates the wrenches applied to the object by all the others robots, even without all-to-all communication. Second, an admittance control scheme is used to limit internal wrenches, preventing e
Ensuring functional safety is crucial for the deployment of autonomous systems in real-life dynamic environments, as they must operate reliably and safely among humans. However, existing safety systems are designed with a closed-world assumption and can over-constrain the system by shutting down the robot at every safety violation, limiting the robot’s ability to complete its tasks. To address thi
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of contact forces and sliding velocities. The method is validated in both simulation and real-world experiments. Furthermore, we propose a heuristic to deal with fast
Modern real-time control systems can sporadically exceed the computation deadlines, which may lead to a deterioration in performance or even instability if not actively accounted for. This letter proposes a stochastic model predictive control approach that incorporates deadline miss probabilities of subsequent control task executions in a scenario tree. To account for the effect of missed deadline
Destructive leadership is a phenomenon widely known in organizations and may have severe consequences in high-risk environments such as the construction industry. The present study investigated the measurement of and relationship between safety climate, destructive leadership, and risk behavior on 2 construction sites in Sweden. It was assumed that the Destrudo-L exhibits at least an acceptable le
Past research on the determinants of voter turnout have focused on the socioeconomic conditions of electorates, institutional environments and electoral systems of countries. A neglected area of research has been the relationship between voter turnout and welfare expenditure. This paper examines the relationship between voter turnout and welfare expenditure within and between 31 OECD member countr
Previous research on Donna Tartt’s debut novel The Secret History in regards to its intertextual relevance has helped in understanding the traditional campus novel, as well as redefined the classical murder mystery. However, little research has been made on its characters and its portrayal of the human experience. Additionally, plenty of research has been made into Nietzsche’s philosophical work T
This study was motivated by the current vulnerable status of Chinese taught as a second language in Swedish gymnasium education, calling for further knowledge on how theories on second language (L2) acquisition can benefit instruction on L2 Chinese. Since language textbooks often constitute the curriculum in Swedish classrooms, two Chinese textbooks were targeted for analysis in terms of the seque
This thesis aims to address a dual crisis. Globally, the construction industry relies on a linear “take-make-dispose” approach and a “tabula rasa” tactic in each novel project, draining the Earth’s resources. Locally, around a half of residential buildings in Riga, Latvia, are of Soviet mass housing typology. These structures are on the verge of structural expiration, at risk of progressive collap
Manual gestures and speech form a single integrated system during nativelanguage comprehension. However, it remains unclear whether this hold forsecond language (L2) comprehension, more specifically for simultaneousinterpreting (SI), which involves comprehension in one language and simultaneousproduction in another. In a combined mismatch and priming paradigm,we presented Swedish speakers fluent i
Efficiently finding covariate model structures that minimize the need for random effects to describe pharmacological data is challenging. The standard approach focuses on identification of relevant covariates, and present methodology lacks tools for automatic identification of covariate model structures. Although neural networks could potentially be used to approximate covariate-parameter relation
We consider distributed consensus in networks where the agents have integrator dynamics of order two or higher (n≥2). We assume all feedback to be localized in the sense that each agent has a bounded number of neighbors and consider a scaling of the network through the addition of agents in a modular manner, i.e., without re-tuning controller gains upon addition. We show that standard consensus al
