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One of the major research areas in computer vision is scene reconstruction from image streams. The advent of RGB-D cameras, such as the Microsoft Kinect, has lead to new possibilities for performing accurate and dense 3D reconstruction. There are already well-working algorithms to acquire 3D models from depth sensors, both for large and small scale scenes. However, these methods often break down w
New robotic applications often require physical interaction between the robot and its environment. To this purpose, external sensors might be needed, as well as a suitable way to specify the tasks. One complication that might cause problems in the task execution is orientation representation singularities. In this paper quaternions are used as a singularity-free orientation representation within t
We develop a representation of reverse-time migration (RTM) in terms of Fourier integral operators, the canonical relations of which are graphs. Through the dyadic parabolic decomposition of phase space, we obtain the solution of the wave equation with a boundary source and homogeneous initial conditions using wave packets. On this basis, we develop a numerical procedure for the reverse-time conti
This report contains derivations of a rigid double-track ground vehicle model including roll and pitch dynamics, using a Newton-Euler modeling approach. Suspension is incorporated in the model. The suspension system is modeled as a rotational spring and damper system, where the spring and damper constants for each wheel have been lumped to two constants, one for each degree of freedom. The resulti
This work describes the two-way coupling performed between the regional atmospheric model Brazilian Regional Atmospheric Modeling System (BRAMS) and the hydrological model MGB-IPH. As a first step of the atmosphere-hydrology coupling, only the water balance variables were coupled. Differences in temporal and spatial scales between MGH-IPH and BRAMS were analyzed. By default, MGB-IPH has a daily ti
Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but doesn't provide any information about r
We discuss general non-stationary spatio-temporal surfaces that involve dynamics governed by velocity fields. The approach formalizes and expands previously used models in analysis of satellite data of significant wave heights. We start with homogeneous spatial fields. By applying an extension of the standard moving average construction we obtain models which are stationary in time. The resulting
Diabetes Mellitus is a chronic disease, where the blood glucose concentration of the patient is elevated. This is either because of missing insulin production due to failure of the β-cells in the pancreas (Type 1) or because of reduced sensitivity of the cells in the body to insulin (Type 2). The therapy for Type 1 diabetic patients usually consists of insulin injections to substitute for the miss
This paper introduces a novel approach to building virtual laboratories of embedded control systems using TrueTime and Easy Java Simulations. TrueTime is a freeware MATLAB/Simulink based tool commonly used to simulate embedded control systems. Easy Java Simulations is a popular authoring tool that facilitates the creation of pedagogical simulations. According to the proposed approach, authors use
Abstract in UndeterminedStrong resilience properties of dynamical networks are analyzed for distributed routing policies. The latter are characterized by the property that the way the outflow at a non-destination node gets split among its outgoing links is allowed to depend only on local information about the current particle densities on the outgoing links. The strong resilience of the network is
Designing decorrelated MIMO antennas in small mobile terminals at frequencies below 1 GHz is challenging since more than one antenna tend to excite the single resonant mode available to a typical chassis structure. This challenge increases even further when multiple frequency bands are required from each antenna. Recently, a design framework to obtain efficient and decorrelated MIMO antennas based
This thesis investigates the combination of pose and radio channel estimation. Pose is the knowledge of the position and orientation of a device whereas the radio channel describes the transmission medium between radio transmitters and receivers. The two subjects are both active research topics with a long history of applications but there has to the author's knowledge been very little work publis
In this paper, we revisit the problem of estimating the trifocal tensor from image line measurements. With measurements of corresponding lines in three views, a linear method [1] requiring 13 lines was developed to estimate the trifocal tensor from which projective reconstruction of the scene is made possible. By further utilizing the nonlinear constraints on the trifocal tensor, we propose severa
Most distributed optimization methods used for distributed model predictive control (DMPC) are gradient based. Gradient based optimization algorithms are known to have iterations of low complexity. However, the number of iterations needed to achieve satisfactory accuracy might be significant. This is not a desirable characteristic for distributed optimization in distributed model predictive contro
The number of applications sharing the same embedded device is increasing dramatically. Very efficient mechanisms (resource managers) for assigning the CPU time to all demanding aplications are needed. Unfortunately existing optimization-based resource managers consume too much resource themselves. In this paper, we address the problem of distributed convergence to efficient CPU allocation for ti
Imaging and inverse scattering of seismic reflection data can be formulated in terms of a certain class of Fourier integral operators. We present an approximation and discretization of such operators following a multiscale approach, based on wave packets as the quanta for representing seismic data. One of the key ingredients in our approach is the coupling of dyadic parabolic decomposition and pro
Image warping for spatial forecast verification is applied to the test cases employed by the Spatial Forecast Verification Intercomparison Project (ICP), which includes both real and contrived cases. A larger set of cases is also used to investigate aggregating results for summarizing forecast performance over a long record of forecasts. The technique handles the geometric and perturbed cases with
A majority of the machining processes in the industry of today is performed using position-controlled machine tools, where conservative feed rates have to be used in order to avoid excessive process forces. By instead controlling the process forces, the feed rate, and consequently the material removal rate, can be maximized. In turn, this leads to decreased cycle times and cost savings. Furthermor
