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For assembly tasks, the knowledge of both trajectory and forces are usually required. Consequently, we may use kinesthetics or teleoperation for recording human demonstrations. In order to have a more natural interaction, the operator has to be provided with a sense of touch. We propose a bilateral teleoperation system which is customized for this purpose. We introduce different coordinate frames
The aim of this work is to investigate different methods to solve the problem of allocating the correct amount of resources (network bandwidth and storage space) to video camera systems. Here we explore the intersection between two research areas: automatic control and game theory. Camera systems are a good example of the emergence of the Internet of Things (IoT) and its impact on our daily lives
Over the last decades, dramatic improvements in combinatorialoptimisation algorithms have significantly impacted artificialintelligence, operations research, and other areas. These advances,however, are achieved through highly sophisticated algorithms that aredifficult to verify and prone to implementation errors that can causeincorrect results. A promising approach to detect wrong results is tous
Dynamic resource management is a difficult problem in modern microservice applications. Many proposed methods rely on the availability of an analytical performance model, often based on queueing theory. Such models can always be hand-crafted, but this takes time and requires expert knowledge. Various methods have been proposed that can automatically extract models from logs or tracing data. Howeve
Autumn phenology plays a key role in regulating the terrestrial carbon and water balance and their feedbacks to the climate. However, the mechanisms underlying autumn phenology are still poorly understood, especially in subtropical forests. In this study, we extracted the autumn photosynthetic transition dates (APTD) in subtropical China over the period 2003–2017 based on a global, fine-resolution
Climate warming has substantially advanced the timing of spring leaf-out of woody species at middle and high latitudes, albeit with large differences. Insights in the spatial variation of this climate warming response may therefore help to constrain future trends in leaf-out and its impact on energy, water and carbon balances at global scales. In this study, we used in situ phenology observations
This study, for the first time, assesses the impact of critical environmental factors on groundwater using Bayesian network (BN) integrated with analytical hierarchy process (AHP) and develops a groundwater vulnerability map. The considered environmental factors are divided into the following categories: physical (rainfall, temperature (Tmax/Tmin), relative humidity (RHmax/RHmin)), water use and d
Vehicular networks allow for a variety of applications ranging from platooning to fully automated driving. Most of such applications require the vehicles that constitute the networks to be aware of their relative or absolute position as well as the position of nearby vehicles. To this end, multiple positioning methods can be employed, among such methods are Global Positioning Systems or methods th
The effects of insect herbivores on forest functioning are not well understood even though they can have important impacts on ecosystem processes by intercepting foliage before resorption and depositing nutrient-rich materials to the soil. In this thesis, I investigated the impact and drivers of insect folivores on carbon (C), nitrogen (N), phosphorus (P) and silica (Si) cycling in broadleaf fores
In this paper, a novel three-dimensional (3D) massive multiple-input multiple-output (MIMO) millimeter wave (mmWave) geometry-based stochastic model (GBSM) is proposed for sixth-generation (6G) vehicle-to-vehicle (V2V) channels. In the proposed GBSM, clusters in the environment are divided into static clusters and dynamic clusters. Furthermore, the time-variant acceleration together with the integ
In this thesis, we focus on the problem of estimating receiver and sender node positions given some form of distance measurements between them. This kind of localization problem has several applications, e.g., global and indoor positioning, sensor network calibration, molecular conformations, data visualization, graph embedding, and robot kinematics. More concretely, this thesis makes contribution
Droughts affect ecosystems at multiple time scales, but their sub-seasonal legacy effects on vegetation activity remain unclear. Combining the satellite-based enhanced vegetation index MODIS EVI with a novel location-specific definition of the growing season, we quantify drought impacts on sub-seasonal vegetation activity and the subsequent recovery in the Northern Hemisphere. Drought legacy effec
Lake ice loss has been detected worldwide due to recent climate warming, yet spatially and temporally detailed information on the changes in global ice phenology does not exist. Here, we build a global lake ice phenology database comprising three lake ice phenologies—freeze-up, break-up, and ice duration—for each year across two centuries (1900–2099). The timing of all three phenologies experience
It is reported that the China–Pakistan Economic Corridor has been affected by extreme precipitation events. Since the 20th century, extreme weather events have occurred frequently, and the damage and loss caused by them have increased. In particular, the flood disaster caused by excessive extreme precipitation seriously hindered the development of the human society. Based on CRiteria Importance Th
This article aims at providing insights for a comprehensive understanding of THz propagation channels. Specifically, we discuss essential THz channel characteristics to be well understood for the success of THz communications. The methodology of establishing realistic and 6G-compliant THz channel models based on measurements is then elaborated on, followed by a discussion on existing THz channel m
This paper presents the hardware/software generation backend of a code generation framework. The backend aims at synthesizing complete systems based on RISC-V cores with accelerators from a single-language description. The framework takes the dataflow description of an algorithm as input and generates a combination of hardware (in Chisel) and software (in C) that interacts with the hardware. The h
With the purpose of examining biased updates in variance-reduced stochastic gradient methods, we introduce SVAG, a SAG/SAGA-like method with adjustable bias. SVAG is analyzed in a cocoercive root-finding setting, a setting which yields the same results as in the usual smooth convex optimization setting for the ordinary proximal-gradient method. We show that the same is not true for SVAG when biase
