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This paper presents a scheme to construct distributed observers for a system consisting of agents interconnected in a graph structure. The scheme is an iterative procedure to improve the observers with respect to global performance. It is modular in the sense that each agent iterates using only local model information. As a consequence, the complexity of the scheme scales linearly with the size of
In production industry today a lot of engineering time is required to develop and maintain control applications. One part of the control applications are the state machines which typically are written in Grafcet/SFC. Several efforts have been made to extend Grafcet/SFC to achieve more effective and convenient development, e.g. by introducing hierarchical structuring, reusable sub-state machines, a
Parallel robots are generally said to be more accurate and have a smaller workspace compared to serial robots. With the Gantry-Tau robot, a parallel robot with relatively large workspace was presented. This article examines the end-effector positioning accuracy of the Gantry-Tau robot. End-effector positioning errors arising from joint positioning or modeling errors are studied. A geometric approa
In radioimmunotherapy of tumors, uptake of the monoclonal antibody (MAb) used is often too low in relation to its uptake in normal tissues. The purpose of these studies was to improve experimental tumor radioimmunotargeting with (a) extracorporeal immunoadsorption (ECIA), where excess of radiolabeled MAbs circulating in blood is removed, (b) or by preload with unlabeled MAb prior to injection of r
Theory for Adaptive Nonlinear Model Predictive Control is developed based on the relaxed dynamic programming inequality. The adaptivity in the controller lies in the choice of control horizon. The control horizon is chosen such that a variation of the relaxed dynamic programming inequality holds for all time steps along the closed loop trajectory. This provides guarantees for asymptotic stability
Composition is a practice of key importance in software engineering. When real-time applications are composed it is necessary that their timing properties (such as meeting the deadlines) are guaranteed. The composition is performed by establishing an interface between the application and the physical platform. Such an interface does typically contain information about the amount of computing capac
Using a simulated model of a house consisting of two adjacent rooms, the temperature of the two rooms is controlled with a PI controller and a decoupled PI controller. This is compared to MPC control. In the simulation example here, both the MPC controller and the decoupled PI controller decreased the interaction between the temperature dynamics of the two rooms, as compared to an independent PI c
