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Single-master multi-slave (SMMS) teleoperation systems can perform multiple tasks remotely in a shorter time, cover large-scale areas, and adapt more easily to single-point failures, thereby effectively encompassing a broader range ofapplications. As the number of slave manipulators sharing a communicationnetwork increases, the limitation of communication bandwidth becomes critical. To alleviate b

This manuscript proposes a novel viewpoint on computing systems' modelling. The classical approach is to consider fully functional systems and model them, aiming at closing some external loops to optimise their behaviour. On the contrary, we only model strictly physical phenomena, and realise the rest of the system as a set of controllers. Such an approach permits rigorous assessment of the obtain

Adaptive reservation is a real-time scheduling technique in which each application is associated a fraction of the computational resource (a reservation) that can be dynamically adapted to the varying requirements of the application by using appropriate feedback control algorithms. An adaptive reservation is typically implemented by using an aperiodic server (e.g. sporadic server) algorithm with f

A parametrized model in addition to the control and state-space variables depends on time-independent design parameters, which essentially define a family of models. The goal of parametrized model reduction is to approximate this family of models. In this paper, a reduction method for linear time-invariant (LTI) parametrized models is presented, which constitutes the development of a recently prop

Beamforming is an important feature of 60 GHz communications. We present an analysis of the influence of beamforming in indoor ultrawideband radio channels measured in the mm-wave 60 GHz band. The performance of narrowband and wideband direction-based beamformers is investigated in terms of improving channel metrics such as the delay spread, excess delay, and the signal-to-noise ratio (SNR). The p

A low-power high linearity CMOS G(m)-C channel select filter for WLAN/WiMax receivers in 90-nm CMOS technology is presented. To reduce power consumption a biquad cell with simple architecture and few devices is used. A simple but efficient technique is also used to improve the linearity of the filter without increasing its power consumption. The cutoff frequency of the sixth order Butterworth low-

We consider model predictive control (MPC) problems with linear dynamics, polytopic constraints, and quadratic objective. The resulting optimization problem is solved by applying an accelerated gradient method to the dual problem. The focus of this paper is to provide bounds on the number of iterations needed in the algorithm to guarantee a prespecified accuracy of the dual function value and the

This correspondence deals with the construction of minimum Euclidean distance precoders for multiple-input multiple-output (MIMO) systems with up to four transmit antennas. By making use of a state-of-the-art technique for optimization over the unitary group, we can numerically optimize the MIMO precoders. The correspondence then proceeds by identifying the obtained precoders as well-known lattice

This work studies the design of linear precoder codebooks for N-r x N-t MIMO channels with MMSE detection at the receiver. A natural split of precoder-design is unitary precoding and non-unitary precoding. Unitary precoding is only performing rotation of the data in a way beneficial for the channel. Non-unitary precoding additionally also uses power-loading to further improve the performance. Some

Safe coexistence of industrial robots and human operators in the same workspace is one of the long standing goals of robotics research. One way to enforce safety is to endow the robotic system with additional sensors that can to some extent monitor the environment surrounding the robot and allow fast reaction to unexpected obstacles. This paper discusses the design of one such anti-collision syste

It has recently been shown that several classical open problems in linear system theory, such as optimization of decentralized output feedback controllers, can be readily solved for positive systems using linear programming. In particular, optimal solutions can be verified for large-scale systems using computations that scale linearly with the number of interconnections. Hence two fundamental adva

In high throughput applications, such as in multimedia, it is preferable to fully utilize computing resources, even at the price of some (bounded) delay. However, in real-time systems, where the maximum admissible delay is modeled by a deadline, most of the theory is developed with the assumption of a task deadline smaller than or equal to the task period. The reason of this limitation is in the i

We propose an energy-based framework for approximating surfaces from a cloud of point measurements corrupted by noise and outliers. Our energy assigns a tangent plane to each (noisy) data point by minimizing the squared distances to the points and the irregularity of the surface implicitly defined by the tangent planes. In order to avoid the well-known "shrinking" bias associated with first-order

Increasing the number of persons working on quality assurance (QA) tasks, e.g., reviews and testing, increases the number of defects detected – but it also increases the total effort unless effort is controlled with fixed effort budgets. Our research investigates how QA tasks should be configured regarding two parameters, i.e., time and number of people. We define an optimization problem to answer

A fundamental problem in robotics is generating the motion for a task. How to translate a task to motion or a series of movements is a non-trivial problem. The complexity of the task, the structure of the robot, and the desired performance determine the sequence of movements, the path, and the course of motion as a function of time, namely the trajectory. As we discuss in this thesis, a trajectory

Realistic radio channel models are crucial for the success of vehicle-to-vehicle (V2V) system investigations. In this paper, we summarize the important parameters for V2V channel models and describe relevant measurement campaigns. Also, we develop and evaluate an ns-3 simulation model of a realistic V2V channel model that is based on measurements in Sweden. The channel model incorporates the effec

The use of duty-cycled ultralow-power wake-up receivers (WRxs) can significantly extend a node lifetime in low-power sensor network applications. In the WRx design, both the low-power operation of the WRx and the wake-up beacon (WB) detection performance are of importance. We present a system-level analysis of a duty-cycled WRx design, including an analog front end, a digital baseband, the WB stru