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In modern day industry, robots are indispensable for achieving high production rates and competitiveness. In small and medium scale enterprises, where the production may shift rapidly, it is vital to be able to reprogram robots quickly. Kinesthetic teaching, also known as lead-through programming (LTP), provides a fast approach for teaching a trajectory. In this approach, a trajectory is demonstra
Food and Agriculture Organization (FAO) dual crop coefficient (FAO-2Kc) is one of the widely used formulation to estimate soil evaporation (E) due to its operationality and simplicity. The FAO-2Kc method could explicitly distinguish the contribution of E and plant transpiration, separately. However, systematic and random uncertainty in E observations still exist. In this vein, this paper attempts
The time-difference of arrival techniques are adapted to locate networked enemy radars using a cooperative team of unmanned aerial vehicles. The team is engaged in deceiving the radars, which limits where they can fly and requires accurate radar positions to be known. Two time-differences of radar pulse arrivals at two vehicle pairs are used to localize one of the radars. An explicit solution for
By using a turbo the operating range of the HCCI engine can be increased, but at the expense of increased controller complexity. The dynamics the turbo introduces in the intake and the exhaust manifolds, have a large impact on the in-cylinder mixture temperature, pressure and finally the combustion phasing. To compensate for this and to maintain desired combustion phasing, precise control of the n
In this letter, we propose a class of efficient, accurate, and general methods for solving state-estimation problems with equality and inequality constraints. The methods are based on recent developments in variable splitting and partially observed Markov processes. We first present the generalized framework based on variable splitting, then develop efficient methods to solve the state-estimation
Reliable six-degree-of-freedom pose estimation is a key requirement for autonomous on-orbit servicing (OOS), in which a robotic spacecraft performs tasks such as inspection, maintenance, and life extension of other satellites in orbit. However, generating trustworthy ground truth for algorithm development remains challenging. This thesis investigates calibration, sensor evaluation, and sensor fusi
Combustion processes serve as important sources of energy for both power generation and for transport, ranging from large scale power stations to micro turbines and aeroplane engines. Lean premixed combustion offers a potential to reduce the emission levels, but suffers from instability problems which can be overcome by the use of active control. This thesis addresses the problem of actively contr
During, for example, search-and-rescue operations at sea, technical equipment like spotlights and thermal cameras are important aids. However, heave and sway affect the ship and make it harder for finding a person in distress. This thesis presents a way of stabilizing a thermal camera by controlling a stepper motor connected to it. Moreover, the thermal camera can only be turned upwards and downwa
In prediction markets actors trade contracts whose payout is linked to the occurrence of real-world events. Markets based on questions of the type "Will event A occur before time T?" are particularly interesting in geopolitical contexts, but are understudied in comparison to standard election-style contracts. I present, to the best of my knowledge, the first pricing model for this type o
The core objective of this project was to design a controller for a drone (or quadcopter) that would allow the drone to keep a target in the center of a video filmed by a camera mounted on the drone. This was done by controlling the pitch of the gimbal, on which the camera was placed, and the yaw of the entire drone combined with using an image recognition program that could identify the target. F
Using antenna arrays for direction of arrival (DoA) estimation and source localization is a well-researched topic. In this paper, we analyze virtual antenna arrays for DoA estimation where the antenna array geometry is acquired using data from a low-cost inertial measurement unit (IMU). Performance evaluation of an unaided inertial navigation system with respect to individual IMU sensor noise para
One of the basic requirements of today's sophisticated world is the availability of electrical energy, and neglect of this matter may have irreparable damages such as an extensive blackout. The problems which were introduced about the traditional power grid, and also, the growing advances in smart technologies make the traditional power grid go towards smart power grid. Although widespread utilisa
The anesthetic drug propofol is commonly used to control hypnotic depth (suppression of awareness) in patients undergoing surgery or intensive care. In addition to manual titration, a model-based open-loop feed-forward strategy called target-controlled infusion (TCI) has attained some clinical popularity. Research on closed-loop control, with awareness estimates derived from an electroencephalogra
Today we have different location based services available in a mobile phone or mobile station (MS). These services include: direction finding to nearby ATMs, locating favorite food restaurants, or finding any target destination. Similarly, we see different applications of the positioning and navigation systems in firefighting or other rescue operations. The common factor in almost all of the locat
Recent work has highlighted the potential benefits of exploiting ellipsoidal uncertainty-set-based robust Capon beamformer (RCB) techniques in passive sonar. Regrettably, the computational complexity required to form RCB weights is cubic in the number of adaptive degrees of freedom, which is often prohibitive in practice. For this reason, several low-complexity techniques for computing RCB weights
Event-based sensing and communication holds the promise of lower resource utilization and/or better performance for remote state estimation applications found in e.g. networked control systems. Recently, stochastic event-triggering rules have been proposed as a means to avoid the complexity of the problem that normally arises in event-based estimator design. By using a scaled Gaussian function in
Robust autonomy stacks require tight integration of perception, motion planning, and control layers, but these layers often inadequately incorporate inherent perception and prediction uncertainties, either ignoring them altogether or making questionable assumptions of Gaussianity. Robots with nonlinear dynamics and complex sensing modalities operating in an uncertain environment demand more carefu
The COST 2100 channel model is a geometry based stochastic channel model (GSCM) for multiple-input multiple-output (MIMO) simulations. This paper presents parameterization and validation of the channel model for peer-to-peer communication in the 300 MHz band. Measurements were carried out in outdoor environments for both line-of-sight (LOS) and non line-of-sight (NLOS) scenarios. The COST 2100 cha
Distributed multiple-input multiple-output (MIMO), also known as cell-free massive MIMO, has emerged as a promising technology for sixth-generation (6G) wireless networks. This letter introduces an indoor channel measurement campaign designed to explore the behavior of multipath components (MPCs) in distributed MIMO channels. Fully coherent channels were measured between eight distributed uniform
