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We compare the technique of using the orbital angular momentum (OAM) of radio waves for generating multiple channels in a radio communication scenario with traditional multiple-in-multiple-out (MIMO) communication methods. We demonstrate that, for certain array configurations in free space, traditional MIMO theory leads to eigen-modes identical to the OAM states. From this we conclude that communi
Unit verification, including software inspections and unit tests, is usually the first code verification phase in the software development process. However, principles of unit verification are weakly explored, mostly due to the lack of data, since unit verification data are rarely systematically collected and only a few studies have been published with such data from industry. Therefore, we explor
This thesis investigates the topic of joint positioning and radio channel estimation and prediction. Both positioning and radio channel estimation have a long history of research with many publications but the combination of the two has so far at large been left unexplored. The reason for studying this topic is twofold: improvement of positioning and improvement of radio channel prediction. Positi
Time synchronisation is crucial for distributed systems, and particularly for Wireless Sensor Networks (WSNs), where each node is executing concurrent operations to achieve a real-time objective. However, synchronisation is quite difficult to achieve in WSNs, due to the unpredictable deployment conditions and to physical effects like thermal stress, that cause drifts in the local node clocks. As a
We propose a distributed optimization algorithm for mixed L_1/L_2-norm optimization based on accelerated gradient methods using dual decomposition. The algorithm achieves convergence rate O(1/k^2), where k is the iteration number, which significantly improves the convergence rates of existing duality-based distributed optimization algorithms that achieve O(1/k). The performance of the developed al
Low-complex and low power non-coherent energy detector (ED) is interesting for low data rate impulse radio (IR) ultra wideband (UWB) systems but, compared to coherent receivers, it suffers from a loss in performance due to low signal-to-noise ratio (SNR) at the detector. In addition, the performance of an ED strongly depends on the integration interval (window size) of the integrator and the window
In manipulation tasks, motion trajectories are characterized by a set of key phases (i.e., motion primitives). It is therefore important to learn the motion primitives embedded in such tasks from a complete demonstration. In this paper, we propose a core framework that autonomously segments motion trajectories to support the learning of motion primitives. For this purpose, a set of segmentation po
Accessibility is an important factor in land-use planning and several methods have been developed to calculate and to predict it. Nevertheless, it is seldom applied in planning situations, maybe because many land-use planners and elected officials lack the knowledge and resources needed to use traffic models. Consequently, accessibility is often used as a concept and a goal in daily planning, but
Despite recent attempts to relax the phase-noise demands on voltage-controlled oscillators (VCOs) for cellular communications [1], mainstream radios require harmonic VCOs capable of a very low phase noise with moderate power consumption, associated to a large tuning range (TR) and a high insensitivity to interfering signals. Ideally, the TR should be in excess of one octave, since this allows the
We perform a minimum distance analysis of a class of two-dimensional intersymbol interference (ISI) channels applicable to multitrack magnetic recording and orthogonal frequency division multiplex transmission systems. Exact minimum distance for a wide class of ISI responses is derived. The fundamental analytical technique is to transform the channel into an equivalent minimum phase channel. The r
The popularity of Open Source Software (OSS) has increased the interest in using it in safety critical applications. The aim of this study is to review research carried out on usage of open source code in development of safety-critical software and systems. We conducted a systematic mapping study through searches in library databases and manual identification of articles from open source conferenc
This paper suggests an extension of an existing, clinically evaluated, closed-loop drug delivery system for hypnotic depth control using propofol. The extension introduces closed-loop administration of the analgesic drug remifentanil, thus forming a multiple input–single output (MISO) control system. Remifentanil acts and is metabolized at a significantly faster time scale than propofol. Direct co
The management of resources among competing QoS-aware applications is often solved by a resource manager (RM) that assigns both the resources and the application service levels. However, this approach requires all applications to inform the RM of the available service levels. Then, the RM has to maximize the "overall quality" by comparing service levels of different applications which are not nece
Two main topics are considered in this thesis: Machining with industrial robot manipulators and optimal motion control of robots and vehicles. The motivation for research on the first subject is the need for flexible and accurate production processes employing industrial robots as their main component. The challenge to overcome here is to achieve high-accuracy machining solutions, in spite of the
This paper presents a 2.45 GHz wake-up receiver front-end intended for use in sensor networks, and is designed to receive data modulated with on-off-keying. Manufactured in 65 nm CMOS it employs an uncertain IF structure with three phase passive mixer and high gain amplifier chain. With the modulation frequency response tailored to the detector behaviour, it achieves a sensitivity of -88 dBm at BE
Abstract in UndeterminedYou may think that your requirements engineering process is fairly limited and currently not too complex to manage. Or you may be right in the middle of a storm of requirements where it is impossible to manage even the most important ones comprehensively. If you are in the former situation, it may be dangerous to relax as many successful software-intensive products have a t
Industrial robots are traditionally programmed using only the internal joint position sensors, in a sense leaving the robot blind and numb. Using external sensors, such as cameras and force sensors, allows the robot to detect the existence and position of objects in an unstructured environment, and to handle contact situations not possible using only position control. This thesis presents work on
Force sensing provides robots the capability to accomplish tasks where physical interaction with the environment is required, such as assembly. Small position uncertainties can then be corrected for by sensing the contact forces. This thesis considers the problem of force-controlled assembly, including how tasks can be specified in a simple and intuitive way and how robust task execution under unc
