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Control applications contain both logic, sequencing, and control algorithms. A holistic view of this is seldom presented in teaching and papers. One reason is the separation of communities -- automation groups typically come from the Programmable Logic Controller (PLC) world while control engineers primarily come from the Distributed Control System (DCS) world. Both logic, sequencing, and control
A robotic assembly task is usually implemented as a sequence of simple motions, and the transitions between the motions are made when some events occur. These events can usually be detected with thresholds on some signal, but faster response is possible by detecting the transient on that signal. This paper considers the problem of detecting these transients. A force-controlled assembly task is use
The vehicle-estimation problem is approached by fusing measurements from wheel encoders, an inertial measurement unit, and (optionally) a global positioning system in a Rao-Blackwellized particle filter. In total 14 states are estimated, including key variables in active safety systems, such as longitudinal velocity, roll angle, and wheel slip for all four wheels. The method only relies on kinemat
Embedded real-time systems must meet timing constraints while minimizing energy consumption. To this end, many energy optimizations are introduced for specific platforms or specific applications. These solutions are not portable, however, and when the application or the platform change, these solutions must be redesigned. Portable techniques are hard to develop due to the varying tradeoffs experie
For using industrial robots in applications where the robot physically interacts with the environment, such as assembly, force control is usually needed. A force sensor may, however, be expensive and add mass to the system. An alternative is therefore to estimate the external force using the motor torques. This paper considers the problem of force estimation for the case when the robot is not movi
This work presents a broadband SiGe Power Amplifier (PA) for operation between 60-90 GHz covering both 71-76 GHz and 81-86 GHz E-Band sub-bands. It consists of a two-stage differential cascode amplifier using an LC-interstage matching network in the interface between the stages. Single-ended to differential conversion is accomplished by the use of two stacked 1-To-1 transformers, achieving a simul
Many standard optimization methods for segmentation and reconstruction compute ML model estimates for ap- pearance or geometry of segments, e.g. Zhu-Yuille [23], Torr [20], Chan-Vese [6], GrabCut [18], Delong et al. [8]. We observe that the standard likelihood term in these formu- lations corresponds to a generalized probabilistic K-means energy. In learning it is well known that this energy has a
Deep neural network architectures have recently produced excellent results in a variety of areas in artificial intelligence and visual recognition, well surpassing traditional shallow architectures trained using hand-designed features. The power of deep networks stems both from their ability to perform local computations followed by pointwise non-linearities over increasingly larger receptive fiel
In the paper we introduce an optimization framework for traffic restoration in optical wireless networks. As such networks experience multiple partial link failures, we introduce a generic extension of restoration strategies developed for wired networks (that assume total link failures) which enables handling partial link failures as well. The particular traffic restoration strategy studied in the
We formulate two simple benchmark problems for event-based control, where the optimal solutions in the continuous-time setting turn out to be ordinary PI and PID controllers. The benchmarks can be used to compare the performance of continuous-time, discrete-time, and various event-based controllers with regard to for instance disturbance attenuation, control effort, and average sampling or actuati
We consider a type of optimal switching problems with non-uniform execution delays and ramping. Such problems frequently occur in the operation of economical and engineering systems. We first provide a solution to the problem by applying a probabilistic method. The main contribution is, however, a scheme for approximating the optimal control by limiting the information in the state-feedback. In a
In the day-to-day operation of a power system, the system operator repeatedly solves short-term generation planning problems. When formulating these problems the operators have to weigh the risk of costly failures against increased production costs. The resulting problems are often high-dimensional and various approximations have been suggested in the literature. In this article we formulate the
One of the most widely used strategies for visual object detection is based on exhaustive spatial hypothesis search. While methods like sliding windows have been successful and effective for many years, they are still brute-force, independent of the image content and the visual category being searched. In this paper we present principled sequential models that accumulate evidence collected at a sm
The symmetric PMCHWT method of moments (MoM) impedance matrix allows for the characteristic modes (CMs) of a structure containing dielectric to be found. Recently, this impedance matrix was proven to provide non-real solutions which can be attributed to the MoM internal resonance problem. These internal resonances can be removed through different CM post-processing techniques. However, these studi
This paper presents a new black-box algorithm for identification of a nonlinear autonomous system in stable periodic motion. The particle filtering based algorithm models the signal as the output of a continuous-time second order ordinary differential equation (ODE). The model is selected based on previous work which proves that a second order ODE is sufficient to model a wide class of nonlinear s
In the framework of the subspace-based identification of linear systems, the first step for the construction of a state-space model from observed input-output data involves the estimation of the output predictor. Such construction is based on projection operations of certain structured data matrices onto suitable subspaces spanned by the collected data. To the purpose of predictive control using s
Applications hosted in the cloud have become indispensable in several contexts, with their performance often being key to business operation and their running costs needing to be minimized. To minimize running costs, most modern virtualization technologies such as Linux Containers, Xen, and KVM offer powerful resource control primitives for individual provisioning - that enable adding or removing
Controllers with a diagonal-plus-low-rank structure constitute a scalable class of controllers for multi-agent systems. Previous research has shown that diagonal-plus-low-rank control laws appear as the optimal solution to a class of multi-agent H2 coordination problems, which arise in the control of wind farms. In this paper we show that this result extends to the case where the information excha
Closed-loop positivity of feedback interconnections of positive monotone nonlinear systems is investigated. It is shown that an instantaneous gain condition on the open-loop systems which implies feedback well-posedness also guarantees feedback positivity. Furthermore, the notion of integral linear constraints (ILC) is utilised as a tool to characterise uncertainty in positive feedback systems. Ro
