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This report contains derivations of a rigid double-track ground vehicle model including roll and pitch dynamics, using a Newton-Euler modeling approach. Suspension is incorporated in the model. The suspension system is modeled as a rotational spring and damper system, where the spring and damper constants for each wheel have been lumped to two constants, one for each degree of freedom. The resulti
This work describes the two-way coupling performed between the regional atmospheric model Brazilian Regional Atmospheric Modeling System (BRAMS) and the hydrological model MGB-IPH. As a first step of the atmosphere-hydrology coupling, only the water balance variables were coupled. Differences in temporal and spatial scales between MGH-IPH and BRAMS were analyzed. By default, MGB-IPH has a daily ti
Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but doesn't provide any information about r
Diabetes Mellitus is a chronic disease, where the blood glucose concentration of the patient is elevated. This is either because of missing insulin production due to failure of the β-cells in the pancreas (Type 1) or because of reduced sensitivity of the cells in the body to insulin (Type 2). The therapy for Type 1 diabetic patients usually consists of insulin injections to substitute for the miss
This paper introduces a novel approach to building virtual laboratories of embedded control systems using TrueTime and Easy Java Simulations. TrueTime is a freeware MATLAB/Simulink based tool commonly used to simulate embedded control systems. Easy Java Simulations is a popular authoring tool that facilitates the creation of pedagogical simulations. According to the proposed approach, authors use
Abstract in UndeterminedStrong resilience properties of dynamical networks are analyzed for distributed routing policies. The latter are characterized by the property that the way the outflow at a non-destination node gets split among its outgoing links is allowed to depend only on local information about the current particle densities on the outgoing links. The strong resilience of the network is
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
Most distributed optimization methods used for distributed model predictive control (DMPC) are gradient based. Gradient based optimization algorithms are known to have iterations of low complexity. However, the number of iterations needed to achieve satisfactory accuracy might be significant. This is not a desirable characteristic for distributed optimization in distributed model predictive contro
The number of applications sharing the same embedded device is increasing dramatically. Very efficient mechanisms (resource managers) for assigning the CPU time to all demanding aplications are needed. Unfortunately existing optimization-based resource managers consume too much resource themselves. In this paper, we address the problem of distributed convergence to efficient CPU allocation for ti
Imaging and inverse scattering of seismic reflection data can be formulated in terms of a certain class of Fourier integral operators. We present an approximation and discretization of such operators following a multiscale approach, based on wave packets as the quanta for representing seismic data. One of the key ingredients in our approach is the coupling of dyadic parabolic decomposition and pro
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
In this paper a controller reduction method for discrete-time linear time-invariant systems is described. Using the bounded-real lemma, the proposed method generates reduced controllers with closed loop stability and H-infinity norm performance guarantee. Information of the full controller is used as a basis for reduction using singular value decomposition. This is different from traditional model
In this paper, we study the problems of estimating relative pose between two cameras in the presence of radial distortion. Specifically, we consider minimal problems where one of the cameras has no or known radial distortion. There are three useful cases for this setup with a single unknown distortion: (i) fundamental matrix estimation where the two cameras are uncalibrated, (ii) essential matrix
A numerical model that combines a random wave transformation and a wave-induced current model was developed in order to predict the wave and current fields around a detached breakwater. The wave field was determined using the EBED model, as reported by Mase in 2001, with a modified energy dissipation term. The surface roller associated with wave breaking was modeled based on a modification of the
The thesis covers different topics related to model predictive control (MPC) and particularly distributed model predictive control (DMPC). One topic of the thesis is gradient-based optimization algorithms for solving the optimization problem arising in DMPC in a distributed manner. The underlying idea is to solve the optimization problem in distributed fashion using dual decomposition, which is a
Feedback is an ancient idea, but feedback control is a young field. Nature long ago discovered feedback since it is essential for homeostasis and life. It was the key for harnessing power in the industrial revolution and is today found everywhere around us. Its development as a field involved contributions from engineers, mathematicians, economists and physicists. It is the first systems disciplin
Aquifers and groundwater-dependent ecosystems (GDEs) are facing increasing pressure from water consumption, irrigation and climate change. These pressures modify groundwater levels and their temporal patterns and threaten vital ecosystem services such as arable land irrigation and ecosystem water requirements, especially during droughts. This review examines climate change effects on groundwater a
