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This paper investigates the stabilization of underactuated vehicles moving in a three-dimensional vector space. The vehicle's model is established on the matrix Lie group SE(3), which describes the configuration of rigid bodies globally and uniquely. We focus on the kinematic model of the underactuated vehicle, which features an underactuation form that has no sway and heave velocity. To compensat
In this paper we target the color transfer estimation problem, when we have pixel-to-pixel correspondences. We present a feature-based method, that robustly fits color transforms to data containing gross outliers. Our solution is based on an optimal inlier maximization algorithm that maximizes the number of inliers in polynomial time. We introduce a simple feature detector and descriptor based on
In this paper we present a unified formulation for a large class of relative pose problems with radial distortion and varying calibration. For minimal cases, we show that one can eliminate the number of parameters down to one to three. The relative pose can then be expressed using varying calibration constraints on the fundamental matrix, with entries that are polynomial in the parameters. We can
This thesis proposes approaches and models to increase the energy saving of the User Equipment (UE) in Long-Term Evolution (LTE) and 5G. The focus is mainly on Discontinuous Reception (DRX), the UE energy saving mechanism that was first introduced in LTE and will play an important role in 5G too.In this thesis, we take two main approaches. The first approach is based on joint optimization of DRX a
Atmospheric inversions are used to derive constraints on the net sources and sinks of CO2 and other stable atmospheric tracers from their observed concentrations. The resolution and accuracy that the fluxes can be estimated with depends, among other factors, on the quality and density of the observational coverage, on the precision and accuracy of the transport model used by the inversion to relat
Regression via classification (RvC) is a common method used for regression problems in deep learning, where the target variable belongs to a set of continuous values. By discretizing the target into a set of non-overlapping classes, it has been shown that training a classifier can improve neural network accuracy compared to using a standard regression approach. However, it is not clear how the set
This work considers direction-finding using a monostatic multiple-input multiple-output (MIMO) radar in the presence of impulsive noise. Employing a novel low-order covariance-based exponential kernel function, the proposed maximum likelihood (ML) formulation exploits an introduced quantum whale optimization algorithm (QWOA) to form the direction estimates. The resulting estimates are shown to be
This is a comment on the review by Korolev and Leisner (2020, hereafter KL2020). The only two laboratory/field studies ever to measure the breakup in ice-ice collisions for in-cloud conditions were negatively criticised by KL2020, as were our subsequent theoretical and modelling studies informed by both studies. First, hypothetically, even without any further laboratory experiments, such theoretic
Prior results on target localization and circumnavigation with bearing measurements in $\mathbb {R}^{2}$ are extended with integral action, resulting in a control system that is robust to bounded load disturbances on the control inputs. Such disturbances may arise in practice due to modeling errors and need to be considered to ensure small tracking errors. The control inputs are modeled as the sys
Jump models switch infrequently between states to fit a sequence of data while taking the ordering of the data into account We propose a new framework for joint feature selection, parameter and state-sequence estimation in jump models. Feature selection is necessary in high-dimensional settings where the number of features is large compared to the number of observations and the underlying states d
In this paper, we extend the generalized SPICE estimator to the multichannel case, illustrating the resulting performance gain for direction of arrival estimation. The resulting estimator is found to offer improved estimation performance and robustness to the presence of correlated sources.
In this paper, we focus on solving the time delay as a separateproblem to the reconstruction of the microphone and sound locations.The time delay estimation appears as one of the main steps in sensorcalibration problem, once the time delays are known or estimated, wecan solve the time-difference-of-arrival problems by converting them totime-of-arrival problems. In this paper we make use of an alte
In this paper we present a novel, fast and accurate system for detecting the presence of cars in parking lots. The system is based on fast integral channel features and machine learning. The methods are well suited for running embedded on low performance platforms. The methods are tested on a database of nearly 700,000 images of parking spaces, where 48.5% are occupied and the rest are free. The e
There is a need for an automatic Gleason scoring system that can be used for prostate cancer diagnosis. Today the diagnoses are determined by pathologists manually, which is both a complex and a time-consuming task. To reduce the pathologists' workload, but also to reduce variations between different pathologists, an automatic classification system would be of great use. Some previous works have a
Among hereditary colorectal cancer predisposing syndromes, Lynch syndrome (LS) caused by mutations in DNA mismatch repair genes MLH1, MSH2, MSH6 or PMS2 is the most common. Patients with LS have an increased risk of early onset colon and endometrial cancer, but also other tumors that generally have an earlier onset compared to the general population. However, age at first primary cancer varies wit
NTRU is a public-key cryptosystem, where the underlying mathematical problem is currently safe against large-scale quantum computer attacks. The system is not as well investigated, as for example RSA, and the company behind NTRU has created the NTRU Challenges, to remedy this. These challenges consist of 27 different public keys of increasing size, where the task in each challenge is to calculate
This work evaluates the personal safety in case of a fire in Halmstad Arena hall D, an ice rink which is also used for exhibitions during the summer. Simulations and calculations were performed on possible design fires based on information given by an on-site visit and given design drawings. Solutions were discussed and conclusions drawn to increase the maximum number of people allowed in the buil
