Sökresultat

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

Since IPCC AR4 in 2007, climate science has made continual progress for more than three years. This is reflected both in the number of new scientific papers, but also in the development of the research agenda. By and large, the physical climate science as assessed by IPCC Working Group I in AR4 appears robust in the light of more recent research. The knowledge base is of course continuously develo

Semantic segmentation and object detection are nowadays dominated by methods operating on regions obtained as a result of a bottom-up grouping process (segmentation) but use feature extractors developed for recognition on fixed-form (e.g. rectangular) patches, with full images as a special case. This is most likely suboptimal. In this paper we focus on feature extraction and description over free-

Many embedded systems comprise several controllers sharing available resources. It is well known that such resource sharing leads to complex timing behavior that degrades the quality of control, and more importantly, can jeopardize stability in the worst-case, if not properly taken into account during design. Although stability of the control applications is absolutely essential, a design flow dri

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

A new numerical model was developed to simulate regional sediment transport and shoreline response in the vicinity of tidal inlets based on the one-line theory combined with the reservoir analogy approach for volumetric evolution of inlet shoals. Sand bypassing onshore and sheltering effects on wave action from the inlet bar and shoals were taken into account. The model was applied to unique field

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.

We report on a revisit in 2009 to sites where vegetation was recorded in 1967 and 1970 on Disko Island, West Greenland. Re-sampling of the same clones of the grass Phleum alpinum after 39 years showed complete stability in biometrics but dramatic earlier onset of various phenological stages that were not related to changes in population density. In a fell-field community, there was a net species l

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

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

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 (

Condensation and evaporation modify the properties and effects of atmospheric aerosol particles. We studied the evaporation of aqueous succinic acid and succinic acid/ammonium sulfate droplets to obtain insights on the effect of ammonium sulfate on the gas/particle partitioning of atmospheric organic acids. Droplet evaporation in a laminar flow tube was measured in a Tandem Differential Mobility A

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

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

A majority of the machining processes in the industry of today is performed using position-controlled machine tools, where conservative feed rates have to be used in order to avoid excessive process forces. By instead controlling the process forces, the feed rate, and consequently the material removal rate, can be maximized. In turn, this leads to decreased cycle times and cost savings. Furthermor

This thesis investigates the combination of pose and radio channel estimation. Pose is the knowledge of the position and orientation of a device whereas the radio channel describes the transmission medium between radio transmitters and receivers. The two subjects are both active research topics with a long history of applications but there has to the author's knowledge been very little work publis

In this paper, we revisit the problem of estimating the trifocal tensor from image line measurements. With measurements of corresponding lines in three views, a linear method [1] requiring 13 lines was developed to estimate the trifocal tensor from which projective reconstruction of the scene is made possible. By further utilizing the nonlinear constraints on the trifocal tensor, we propose severa