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This thesis presents methods for improving the accuracy and efficiency of tasks performed using different kinds of industrial manipulators, with a focus on the application of machining. Industrial robots offer a flexible and cost-efficient alternative to machine tools for machining, but cannot achieve as high accuracy out of the box. This is mainly caused by non-ideal properties in the robot joint
Industry involvement in open source software development has become a popular practice among companies which, e.g., share software development costs with other community participants or implement an open source based business model. An increased understanding of the underlying development structure, especially in a case where the community participants are composed of competing industry members, c
We consider the problem of constructing linear precoders for quasi-stationary multiple-input multiple-output channels. Maximum-likelihood detection is assumed and the objective of the precoding is to maximize the minimum Euclidean distance of the signaling. Since the channel remains constant for some time, the precoding is performed spatially as well as across time. As will be shown, the precoder
The classical Kalman-Yakubovich-Popov lemma gives conditions for solvability of a certain inequality in terms of a symmetric matrix. The lemma has numerous applications in systems theory and control. Recently, it has been shown that for positive systems, important versions of the lemma can equivalently be stated in terms of a diagonal matrix rather than a general symmetric one. This paper generali
The research network "Basic Concepts for Convection Parameterization in Weather Forecast and Climate Models" was organized with European funding (COST Action E50905) for the period of 2010-2014. Its extensive brainstorming suggests how the subgrid-scale parameterization problem in atmospheric modeling, especially for convection, can be examined and developed from the point of view of a robust theo
We study the realizability and strong satisfiability problems for SAFETY LTL, a syntactic fragment of Linear Temporal Logic ([Formula presented]) capturing safe formulas. While it is well-known that realizability for this fragment lies in [Formula presented], the best-known lower bound is [Formula presented]-hardness. Surprisingly, closing this gap has proven an elusive task. Previous works have c
Perceiving and understanding human motion is a fundamental problem in computer vision, with diverse applications encompassing sports analytics, healthcare monitoring, entertainment, and intelligent interactive systems. Multi-camera systems, by capturing multiple viewpoints simultaneously, enable robust tracking and reconstruction of human poses in 3D, overcoming limitations of single-view approach
To solve the problem of fatigue of the UAV operator during long-term search and reconnaissance missions, a research hardware and software complex was created, in which the positioning of the auxiliary UAV video camera with a narrow field of view is carried out. Dynamixel Library for MATLAB and Simulink was used to organize the interaction of actuators with the virtual environment, which allows com
Extremely thinned layers and possible folding make the dating of the deepest sections of ice cores especially challenging. Cosmogenic radionuclides have the potential to provide independent age estimates. The 36Cl/10Be ratio is largely independent of production rate changes that affect individual radionuclides and has an effective half-life of 384 kyr, making it an ideal tool for dating the new 1.
During the Last Glacial Period (LGP), Greenland experienced approximately 30 abrupt warming phases, known as Dansgaard-Oeschger (D-O) events, followed by cooling back to baseline glacial conditions. Studies of mean climate change across warming transitions reveal indistinguishable phase offsets between shifts in temperature, dust, sea salt, accumulation, and moisture source, thus preventing a comp
One of the most challenging problems in paleoclimate research is how orbital cyclicities forced Earth’s climate variations during the late Quaternary. To address this issue, we investigated the differences in silicate weathering, a sensitive climate indicator, at different latitudes on orbital timescales by examining geochemical and clay mineral data from the mid-latitude Sea of Okhotsk and integr
In this paper, we present a framework to identify discrete-time, single-input/single-output, switched linear systems (SISO-SLSs) from input–output data measurements. Continuous state is not assumed to be measured. The key step is a deadbeat observer-based transformation of the SLS model to a switched auto-regressive with exogenous input (SARX) model. Discrete states are estimated by a three-stage
Robots operating in real-world settings must manage task variability, environmental uncertainty, and failures during execution. This thesis presents a unified framework for building self-reliant robotic systems by integrating symbolic planning, reinforcement learning, behavior trees (BTs), and vision-language models (VLMs).At the core of the approach is an interpretable policy representation based
Reliability in Ricean multiple-input-multiple-output (MIMO) channels is crucial for safety related vehicle-tovehicle (V2V) applications. Due to the time variability of vehicular communication channel, it is very significant to study the temporal evolution of channel characterization criteria. We present evaluation results of the temporal evolution of the spectral efficiency from channel sounder me
The COST2100 channel model is a reference channel model which provides dynamic multiple-input multiple-output channel responses for radio system simulations. In this paper, channels created by the COST2100 model were compared to channel measurements in order to understand behaviours of the model. Model parameters of the COST2100 model were derived by dynamic double-directional channel measurements
Clouds are essential elements within Earth's atmosphere, posing a challenge for cloud-resolving models in understanding the creation of new cloud ice particles from existing ice and liquid phases. Such ice initiation determines cloud microphysical and radiative properties, influencing cloud phase, precipitation and cloud extent/properties. To address this challenge effectively, it proves beneficia
Glacio-hydrological modeling is a key task for assessing the influence of snow and glaciers on water resources, essential for water resources management. The present study aims to enhance a conceptual hydrological model (namely Glacial Snow Melt (GSM)) by data-driven and swarm computing for enhancing the accuracy of rainfall runoff prediction. The proposed framework combines the conceptual hydrolo
We investigate the problem of risk averse robot path planning using the deep reinforcement learning and distributionally robust optimization perspectives. Our problem formulation involves modelling the robot as a stochastic linear dynamical system, assuming that a collection of process noise samples is available. We cast the risk averse motion planning problem as a Markov decision process and prop
