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In this paper we provide an analytical solution to an H2 optimal control problem, that applies whenever the process corresponds to a uniformly damped network of masses and springs. The solution covers both stable and unstable systems, and illustrates analytically how damping affects the levels of achievable performance. Furthermore, the resulting optimal controllers can be synthesised using passiv
The transition to agile manufacturing, Industry 4.0, and high-mix-low-volume tasks require robot programming solutions that are flexible. However, most deployed robot solutions are still statically programmed and use stiff position control, which limit their usefulness. In this paper, we show how a single robot skill that utilizes knowledge representation, task planning, and automatic selection of
Objective: To investigate the association between female body mass index (BMI) and live birth rates and maternal and perinatal outcomes after in-vitro fertilization (IVF). Methods: We performed a national, population-based cohort study including women undergoing IVF between 2002 and 2020. The cohort included 126,620 fresh cycles and subsequent frozen embryo transfers between 2007 and 2019 (subpopu
We present a novel class of minimax optimal control problems with positive dynamics, linear objective function and homogeneous constraints. The proposed problem class can be analyzed with dynamic programming and an explicit solution to the Bellman equation can be obtained, revealing that the optimal control policy (among all possible policies) is linear. This policy can in turn be computed through
Sex-limited morphs can provide profound insights into the evolution and genomic architecture of complex phenotypes. Inter-sexual mimicry is one particular type of sex-limited polymorphism in which a novel morph resembles the opposite sex. While inter-sexual mimics are known in both sexes and a diverse range of animals, their evolutionary origin is poorly understood. Here, we investigated the genom
STUDY QUESTION: Has cumulative live birth rate (CLBR) improved over time and which factors are associated with such an improvement? SUMMARY ANSWER: During an 11-year period, 2007-2017, CLBR per oocyte aspiration increased significantly, from 27.0% to 36.3%, in parallel with an increase in blastocyst transfer and cryopreservation by vitrification. WHAT IS KNOWN ALREADY: While it has been shown that
The AI Act’s (AIA) requirements for high-risk AI systems affect many aspects of modern software systems. Knowing which AIA-related technical challenges are relevant to different companies is essential to focus compliance-oriented research on the aspects that matter. We therefore conducted an interview study in collaboration with a case company that specializes in network video solutions within the
In this paper, we provide the following simple equivalent condition for a nonsymmetric Algebraic Riccati Equation to admit a stabilizing cone-preserving solution: an associated coefficient matrix must be stable. The result holds under the assumption that said matrix be cross-positive on a proper cone, and it both extends and completes a corresponding sufficient condition for nonnegative matrices i
Research efforts to push the integration density of circuits with technologies that transcend Moore's law have gained significant attention in recent years. This study investigates the silicon area gains of Sequential 3D technology, utilizing the third dimension of integrated circuits by accommodating nMOS and pMOS transistors in two stacked tiers with high-density and low-pitch 3D vias. The effic
When deploying deep neural networks on robots or other physical systems, the learned model should reliably quantify predictive uncertainty. A reliable uncertainty allows downstream modules to reason about the safety of its actions. In this work, we address metrics for uncertainty quantification. Specifically, we focus on regression tasks, and investigate Area Under Sparsification Error (AUSE), Cal
The utilization of industrial side streams for generating value has always been of interest, but in today's society, with a high focus on the circular economy, it is becoming increasingly important. Lime mud (whose major component is calcium carbonate, CaCO3) is a low-value by-product of the pulp and paper industry that is generated in considerable amounts during the causticizing process. Designin
Objectives: In this nationwide cohort study in a Scandinavian setting, we aimed to investigate the magnitude of association between flucloxacillin use and drug-induced liver injury (DILI). Methods: Nationwide cohort study among adults in Sweden, 2006–2018, was conducted. Register data on filled prescriptions, patient characteristics, co-medications, and DILI were linked. All filled prescriptions f
Contextual shifts are crucial for episodic memory, setting event boundaries during event segmentation. While lab research provides insights, it often lacks the complexity of real-world experiences. We addressed this gap by examining perceptual and conceptual boundaries using virtual reality (VR). Participants acted as salespeople, interacting with customers in a VR environment. Spatial boundaries
The automotive domain is becoming increasingly complex through the integration of new technologies. As a result, cybersecurity is recognized as a pressing issue. This study focuses on the ISO/SAE 21434:2021 standard for road vehicles cybersecurity engineering, evaluating the effectiveness of the standard’s risk assessment approach. The standard suggests a set of assessment steps, and previous rese
Atmospheric new particle formation (NPF) is a naturally occurring phenomenon, during which high concentrations of sub-10 nm particles are created through gas to particle conversion. The NPF is observed in multiple environments around the world. Although it has observable influence onto annual total and ultrafine particle number concentrations (PNC and UFP, respectively), only limited epidemiologic
Language exposure and use (LEU) are widely viewed as key factors in multilingual development, and research highlights the importance of considering not just the frequency and quantity of LEU, but also contextual factors such as when and where a language is used, with whom and why. In this study, we illustrate the complexity of LEU in two contexts (study abroad and migration) by applying sequential
We study dynamical optimal transport of discrete time systems (dDOT) with Lagrangian cost. The problem is approached by combining optimal control and Kantorovich duality theory. Based on the derived solution, a first order splitting algorithm is proposed for numerical implementation. While solving partial differential equations is often required in the continuous time case, a salient feature of ou
We investigate optimal mass transport problem of affine-nonlinear dynamical systems with input and density constraints. Three algorithms are proposed to tackle this problem, including two Uzawa-type methods and a splitting algorithm based on the Douglas-Rachford algorithm. Some preliminary simulation results are presented to demonstrate the effectiveness of our approaches.
This paper investigates the use of decentralised control architectures with heterogeneous dynamics for improving performance in large-scale systems. Our focus is on two well-known decentralised approaches; the 'predecessor following' and 'bidirectional' architectures for vehicle platooning. The former, utilising homogeneous control dynamics, is known to face exponential growth in disturbance ampli
