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While only about 30% of California's usable water storage capacity lies at higher elevations, high-elevation (above 300 m) hydropower units generate, on average, 74% of California's in-state hydroelectricity. In general, high-elevation plants have small man-made reservoirs and rely mainly on snowpack. Their low built-in storage capacity is a concern with regard to climate warming. Snowmelt is expe
This paper presents a noise cancelling 0.7– 3.8GHz receiver front-end implemented in 65nm technology. The circuit has a main path consisting of a high input impedance gm-stage, current-mode passive mixers and baseband amplifiers, where the input match is provided by frequency translational negative feedback from baseband to RF input. An auxiliary path with tunable gain is introduced to cancel nois
In this paper, we consider robust stability analysis of large-scale sparsely interconnected uncertain systems. By modeling the interconnections among the subsystems with integral quadratic constraints, we show that robust stability analysis of such systems can be performed by solving a set of sparse linear matrix inequalities. We also show that a sparse formulation of the analysis problem is equiv
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
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
Aktivering av immunförsvaret dämpar den samme Kroppens immunförsvar består av en mängd olika typer av specialiserade celler, alla med sina unika egenskaper och nischer. För att immunförsvaret ska fungera så optimalt som möjligt krävs det att cellerna kan interagera och kommunisera med varandra, vilket görs med hjälp av proteiner som finns på cellernas yta. En typ av celler, som kallas CD8+ T cellAbstract 4-1BB (CD137/TNFRSF9) is a costimulatory receptor expressed by several cellular subsets of the immune system, but is commonly associated with CD8+ T cells. Stimulation of 4-1BB on CD8+ T cells with agonistic antibodies (α-4-1BB) causes a potent proliferation signal and an upregulated expression of CD11c. CD11c+CD8+ have previously been recognized to suppress other immune cells, such as F
This dissertation presents the design and implementation of a new block diagram programming language, Bloqqi, for building control systems with focus on variability. The language has been developed in collaboration with industry with the goal of reducing engineering time and improving reuse of functionality.When building a control system for a plant, there are typically different variants of the s
In multipath routing, maximization of the cardinality K of the disjoint-path set for a given source and destination assuming an upper bound on the differential delay D is one of the key factors enabling its practical applications. In the paper we study such an optimization problem for multipath routing involving maximization of K under the D constraint as the primary objective, and then minimizati
Optimization of channel utilization in wireless networks is typically based on transmission parallelization under signal-to-interference and noise constraint assuming minimum frame-length scheduling. In application scenarios like sensor networks this approach may not be suitable since it does not explicitly consider end-to-end packet delay nor energy consumption. In the paper we propose a mixed-in
A method for optimization of PID controller parameters and measurement filter time constant is presented. The method differs from the traditional approach in that the controller and filter parameters are simultaneously optimized, as opposed to standard, sequential, design. Control performance is maximized through minimization of the integrated absolute error (IAE) caused by a unit step load distur
Changes in soil moisture are likely to contribute to future changes in latent heat flux and various characteristics of daily precipitation. Such contributions during the second half of the twenty-first century are assessed using the simulations from the GLACE-CMIP5 experiment, applying a linear regression analysis to determine the magnitude of these contributions. As characteristics of daily preci
Change Impact Analysis (CIA) during software evolution of safety-critical systems is a labor-intensive task. Several authors have proposed tool support for CIA, but very few tools were evaluated in industry. We present a case study on ImpRec, a recommendation System for Software Engineering (RSSE), tailored for CIA at a process automation company. ImpRec builds on assisted tracing, using informati
