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Anticipatory and predictive models are becoming very important features of robot systems. This thesis investigates some aspects of predictive modeling. Is prediction always a good thing? How important is it to anticipate what will happen in the future? Is it better to anticipate far into the future or to focus on the next few seconds? What are the requirements for predictive models? Predictive mod
Personalized patient care has gained increasing attention in recent years. Precise drug dosing is critical for patient safety and good clinical outcomes, especially in intensive care units, where patients often are in critical conditions. Such treatments can include stabilizing blood pressure and heart rate or maintaining safe anesthesia levels. However, the inter-patient variability in the drug r
In this paper a method for contour-based rigid body tracking with simultaneouscamera calibration is developed. The method works for a singleeye-in-hand camera with unknown hand-eye transformation,viewing a stationary object with unknown position. The method usesdual quaternions to express the relationship between the camera- andend-effector screws. It is shown how using the measured motion of ther
1 June 2026 13:00 to 14:00 | Master Thesis presentation by Axel Lagerstedt and Sean Small Title: Autonomous Escort with an Unmanned Surface Vessel Using Model Predictive ControlAuthor: Axel Lagerstedt & Sean SmallDate & Time: June 1st, 13:00-14:00Location: Seminar Room M:O (M:3170-73) in the M-building, LTHSupervisor: Björn Olofsson, Erik Börjesson (Saab Naval), Johan Silvander (Saab Naval)Examin
https://www.control.lth.se/calendar/autonomous-escort-unmanned-surface-vessel-using-model-predictive-control - 2026-10-05
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
In this paper, a virtual sensor for the estimation of the injected pilot mass in-cycle is proposed. The method provides an early estimation of the pilot mass before its combustion is finished. Furthermore, the virtual sensor can also estimate pilot masses when its combustion is incomplete. The pilot mass estimation is conducted by comparing the calculated heat release from in-cylinder pressure mea
Wireless communication has seamlessly integrated itself into our daily lives, with Ericsson pioneering the development of comprehensive mobile ecosystems. As the demand for data traffic continues to surge, the enhancement of both cellular radio systems and backhaul infrastructure remains paramount. Within this context, Ericsson leverages microwave transport network solutions to address backhaul ne
This thesis investigated the modeling and control problems in the context of the flex-fuel compression-ignition (CI) engine and fuel cell, which shows great potential in the transition from fossil fuel to renewable energy sources.The modeling parts included the flex-fuel engine combustion process and intake system, and the system scale fuel cell model.The flex-fuel engine gas system models describ
Traffic safety is a complex and important research area with the potential to save many lives in the future. Two key problems are considered, namely the gathering of reliable and detailed road user statistics which can be used to estimate the safety of a traffic environment and taking advantage of surveillance infrastructure to guide and assist vehicles in real time, primarily autonomous ones. A c
Popular Abstract in Swedish Skogar är av stor betydelse ur klimatsynpunkt på grund av deras stora förmåga att binda kol. Skogar på de nordligare breddgraderna spelar en viktig roll med sitt stora kolupptag, men eftersom dessa nordliga skogar troligen kommer att påverkas av klimatförändringarna i hög grad är det osäkert hur framtida kolupptag kommer att utvecklas. Ett varmare klimat kommer sannolikForests are of major importance to climate change mitigation due to their strong capacity to sequester carbon. Nearly half of the terrestrial carbon is stored in forests, and forests contribute to half of the terrestrial primary productivity, with forests in the mid- and high latitude ecosystems as major contributors. These high latitude forests are, however, projected to be strongly influenced by
Hydrofluorocarbons (HFCs) are used in a range of industrial applications and have largely replaced previously used gases (CFCs and HCFCs). HFCs are not ozone-depleting but have large global warming potentials and are, therefore, reported to the United Nations Framework Convention on Climate Change (UNFCCC). Here, we use four independent inverse models to estimate European emissions of the two HFCs
Since the invention of the first car available to masses, the 1908 Ford Model T, technology has advanced towards making car travel safer for occupants and bystanders. In recent years, wireless communication has been introduced in the vehicular industry as a means to avoid accidents and save lives.Wireless communication may sometimes be challenging due to obstacles in the physical world that intera
Popular Abstract in Swedish Personer med insulinbehandlad diabetes saknar, eller har kraftigt försämrad, kroppsegen förmåga att reglera blodsockernivån genom utsöndring av hormonet insulin, och måste därför ta flera injektioner insulin dagligen. De flesta injektioner tas i samband med måltid, och individen bestämmer normalt sina måltidsdoser utifrån aktuell blodsocker- och hälsostatus i kombinatioDiabetes is a disease characterized by insufficient capacity to regulate the blood glucose level. In insulin-dependent diabetes, multiple daily injections of insulin have to be administered. In-between scheduled visits to the care provider, the patient has to manage the glucose control independently. Insulin dosing is a non-trivial task and many patients find it difficult. This is reflected in the
The propagation channel determines the fundamental basis of wireless communications, as well as the actual performance of practical systems. Therefore, having good channel models is a prerequisite for developing the next generation wireless systems. This thesis first investigates one of the main channel model building blocks, namely clusters. To understand the concept of clusters and channel chara
Professor Contact details Email: anders [dot] rantzer [at] control [dot] lth [dot] se Phone: +46 46 222 87 78Organisation Department of Automatic Control Room number: 3158-59 Service point: 9 WebpageAnders Rantzers profile in Lund University research portalOther affiliations Profile area member LTH Profile Area: AI and Digitalization Member of Strategic Research Area ELLIIT: the Linköping-Lund ini
https://www.ai.lu.se/anders-rantzer - 2026-10-05
A numerical simulation is performed to identify the material parameters of an elastic/visco-plastic material under tensile impact loading. The identification is based on an inverse analysis using the Kaiman filter technique and the finite element method. The input data to the inverse analysis are the time histories of the strains on specimens. The measurement errors can be treated reasonably by th
The purpose of this thesis is to model and forecast Swedish government yields by using three classes of the Nelson Siegel Model Family. The three models considered are the Dynamic Nelson Siegel Model, Arbitrage-Free Nelson Siegel Model and Dynamic Nelson Siegel Svensson Model. A brief introduction to interest rate theory is given with emphasis on coupon bonds and yield curves. To introduce the con
This report aims at finding methods for reducing the errors in district heating load forecasts by suggesting a method for online correction of the base forecast. Online correction is generally carried out by utilizing patterns in the historic prediction errors. Traditionally the correction has been made using a correction method detailed by a few governing parameters. Values for these parameters a
