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This thesis is devoted to statistical problems in mobile communication, in particular disturbance rejection and change detection are studied. Co-channel interference is a significant problem for systems based on TDMA, e.g. EDGE. We show methods for detection and suppression of such interference, when the terminal is equipped with only one antenna. Our algorithms are able to detect an interferer fo
The focus of this thesis is on modeling and control of the Open Plate Reactor (OPR), a new heat exchange reactor being developed by Alfa Laval AB. It combines intensified mixing with enhanced heat transfer capacity into one operation. With the novel concept, highly exothermic reactions can be produced using more concentrated reactants, thus saving time and energy in the subsequent separation stage
Marine operations depend on the ability to forecast suddenly appearing storms and failures often cause great damage. As a part of a sea state alarm study, meteorological forecasts overlaid with satellite measurements sent to ships have been found to be a useful tool. In this paper we present a real-time assimilation algorithm that extends this tool using statistical methods. The algorithm is appli
Camera Calibration and 2D-3D Mapping for Safer Traffic and Saving Lives and Stuff Martin Ahrnbom 31/03/2022 Data driven traffic safety research has previously been difficult due to a lack of an efficient way of collecting large amounts of accurate, non-biased 3D road user statistics. Computer Vision is a promising approach for solving this problem. This seminar will explore how camera calibration
https://www.maths.lu.se/fileadmin/maths/personal_staff/PhD_seminar/martinahrnbom-phdseminar.pdf - 2026-10-08
Laboratory experiments offer one way to introduce more realism into the education of automatic control. This paper describes a control laboratory and a sequence of experiments performed in the basic automatic control courses at Lund Institute of Technology. The laboratory is based on level control of two cascaded tanks. An Apple II computer is used to implement control laws and to provide graphics
Measuring the diffusivity of various substances in cortical bone is in general difficult. For instance, making use of micro computed tomography requires agents that can be separated from bone, blood and other substances that exist in cortical bone. Here a more easily accessible method is presented. A series of cortical bovine bone samples were put in a saturated solution of potassium chloride for
Many ships today rely on Global Navigation Satellite Systems (GNSS), for their navigation, where GPS (Global Positioning System) is the most well-known. Unfortunately, the GNSS systems make the ships dependent on external systems, which can be malfunctioning, be jammed or be spoofed. There is today some proposed techniques where, e.g., bottom depth measurements are compared with known maps using B
Sliding mode control (SMC) is to keep the system to a stable differential manifold. Model predictive control (MPC) calculates the control input by solving an optimization problem on receding horizon. The method of receding horizon sliding control (RHSC) includes the predicted information into the SMC design by combining SMC and MPC. Considering the modeling error and measurement noise, there are m
Air quality data assimilation aims to find a best estimate of the control parameters (see theory chapter) for those processes of the atmosphere which govern the chemical evolution of biologically relevant height levels, typically located in the the lowermost atmosphere. As in data assimilation (see theory chapters), we have to resort to numerical models to complement usually sparse observation net
In alpine and high-latitude regions, water resource decision making often requires large-scale estimates of snow amounts and melt rates. Such estimates are available through distributed snow models which in some situations can be improved by assimilation of remote sensing observations. However, in regions with frequent cloud cover, complex topography, or large snow amounts satellite observations m
Abstract Time series analysis is a tool that is now commonly used when analysing the states of natural populations. This is a particularly complicated task for ungulates, since the data involved usually contain large observation errors and span short periods of time relative to the species’ life expectancies. Here we develop a method that expands on previous analyses, combining statistical state s
Recursive state estimation is considered for discrete time linear systems with mixed process and measurement disturbances that have stochastic and (convex) set-bounded terms. The state estimate is formed as a linear combination of initial guess and measurements, giving an estimation error of the same mixed type (and causing minimal interference between the two kinds of error). An ellipsoidal over-
The objective was to clarify whether and how it is possible to detect, track and identify with an EO/IR (electro optical/infrared) sensor. Moreover, the sight of robotic system 90 was tested in order to clarify the possibilities of using it as a sensor. The sight has a field of view of 3x4° with the TV camera and 4x6° with the IRV camera. Therefore, the project focused on a moving sensor, in order
A summary of a study covering both modelling and control of a drum boiler is presented. A systematic approach to the modelling problem - numerical modelbuilding - is introduced. This technique was applied to the modelling of the drum of the boiler. The dynamics of different order models were compared. The load disturbances were modelled from measurements as a stationary stochastic process with rat
There has been an amazing development of modeling and simulation from its beginning in the 1920s, when the technology was available only at a handful of University groups who had access to a mechanical differential analyzer. Today, tools for modeling and simulation are available for every student and engineer. This paper gives a perspective on the development with particular emphasis on technology
We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2) × R3, and relate this result to a family of geometric tracking controllers on SO(3) × R3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) syste
