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Quantitative data comes with enormous possibilities for presenting key characteristics of the data in a very compressed form. Basic descriptive statistics, like mean and standard deviation, comprise thousands or millions of data points into single numbers. In contrast, qualitative data, with its focus on descriptions, words, and phrases does not come with such powerful tools, leading to wordy desc
Data assimilation methods provide a rigorous statistical framework for constraining parametric uncertainty in land surface models (LSMs), which in turn helps to improve their predictive capability and to identify areas in which the representation of physical processes is inadequate. The increase in the number of available datasets in recent years allows us to address different aspects of the model
A fundamental problem in robotics is the generation of motion for a task. How to translate a task to a set of movements is a non-trivial problem. The complexity of the task, the capabilities of the robot, and the desired performance, affect all aspects of the trajectory; the sequence of movements, the path, and the course of motion as a function of time.This thesis is about trajectory generation a
We study a two compartment, nonlinear, age structured model for the cell cycle. The phases of the cell cycle G1, S, G2 and M are grouped into two phases, which we call Phase 1 and Phase 2, where Phase 1 consists of the phase G1 and Phase 2 consists of the phases S, G2 and M. It is assumed that Phase 1 has a variable duration while the duration of Phase 2 is fixed. The model consists of a system of
The field of robotics offers a wide array of estimation problems, ranging from kinematic and dynamic calibration to pose estimation and computer vision. This thesis presents a set of methods to solve estimation problems encountered in robotics, with an emphasis on industrial robotics. The researched topics are all practically motivated and have found immediate use in applications.Industrial roboti
Although surface integral equations (SIEs) have been extensively used in solving electromagnetic problems of penetrable objects, there are still open issues relating to their application to the Theory of Characteristic Modes. This work demonstrates that when an SIE is used to solve for the characteristic modes (CMs) of a dielectric or magnetic object, the resulting eigenvalues are unrelated to the
The focus of this contribution is the estimation of multi-step-ahead linear multivariate predictors of the output making use of finite input-output data sequences. Different strategies will be presented, the common factor being the exploitations of geometric operations on appropriate subspaces spanned by the data. In order to test the capabilities of the proposed methods in predicting new data, a
The proper alignment of requirements engineering and testing (RET) can be key to software's success. Three practices can provide effective RET alignment: using test cases as requirements, harvesting trace links, and reducing distances between requirements engineers and testers. The Web extra https://youtu.be/M65ZKxfxqME is an audio podcast of author Elizabeth Bjarnason reading the the Requirements
The concept of dynamical movement primitives (DMPs) has become popular for modeling of motion, commonly applied to robots. This paper presents a framework that allows a robot operator to adjust DMPs in an intuitive way. Given a generated trajectory with a faulty last part, the operator can use lead-through programming to demonstrate a corrective trajectory. A modified DMP is formed, based on the f
Recently, several authors have shown local and global convergence rate results for Douglas–Rachford splitting under strong monotonicity, Lipschitz continuity, and cocoercivity assumptions. Most of these focus on the convex optimization setting. In the more general monotone inclusion setting, Lions and Mercier showed a linear convergence rate bound under the assumption that one of the two operators
This issue's letter discusses the proper use of sampling in software engineering research surveys.
Online 3D reconstruction has been an active research area for a long time. Since the release of the Microsoft Kinect Camera and publication of KinectFusion [11] attention has been drawn how to acquire dense models in real-time. In this paper we present a method to make online 3D reconstruction which increases robustness for scenes with little structure information and little texture information. I
We introduce the 'security index' of a discrete-time, linear time-invariant system under sensor attacks as a quantitative representation-free measure on the vulnerability of an observable system. Ideas from linear coding theory are employed in providing conditions for attack detection and correction in terms of a system's security index, along with methods for its computation based on different re
We consider channel shortening (CS) algorithms for communication systems where multiple single antenna nodes are transmitting single carrier signals to a single antenna receiver over known intersymbol interference channels. We discuss seven methods to shorten the intersymbol interference (ISI) channels, and the parameters are optimized from a generalized mutual information (GMI) perspective. The m
The pervasiveness and growing complexity of software systems are challenging software engineering to design systems that can adapt their behavior to withstand unpredictable, uncertain, and continuously changing execution environments. Control theoretical adaptation mechanisms have received growing interest from the software engineering community in the last few years for their mathematical groundi
This chapter presents a flexible platform that supports prototyping up to 20 MHz bandwidth 128-antenna multiple input, multiple output (MIMO). It devotes theory, design, implementation, and prototyping of Massive MIMO for 5G communication systems. The chapter overviews the principles and theory of Massive MIMO. It describes the channel modeling system with a focus on specific phenomena of large sc
In the near future, the number of connected mobile devices and data-rates are expected to dramatically increase. Demands exceed the capability of the currently deployed (4G) wireless communication systems. Development of 5G systems is aiming for higher data-rates, better coverage, backward compatibility, and conforming with “green communication” to lower energy consumption. Massive Multiple-Input
In wireless channel measurements, the relatively weak cross-polarized multipath components (MPCs) are typically severely affected by the measurement noise level. As shown in this letter, the typical cross-polarization ratio (XPR) model parameter estimation, which ignores the existence of censored samples, may lead to significant errors. We demonstrate how to achieve accurate parameter estimates wi
We present an optimization procedure that mixes advanced large-scale optimization methods and heuristics to solve large instances (with over 1.7 million integer variables) of the routing and spectrum allocation (RSA) problem - a basic optimization problem in flexgrid elastic optical networks. We formulate the problem as a mixed-integer program for which we develop a branch-and-price algorithm enha
