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Self-driving technology has the opportunity to increase safety in automotive transportation by reducing the impact of human error. Motion planning is a key component of an autonomous system, responsible for providing reference trajectories and paths that the vehicle should follow. This thesis studies a motion-planning algorithm based on positively invariant sets. The focus is on design, implementa

Imputation of data is the process of filling in missing values in an incomplete data set. Missing data is a common problem in many fields, not least in clinical research. This report aims to evaluate different methods for imputing missing data in health records of dialysis patients. The imputed data will, in a related project, be used to predict hospitalizations of dialysis patients. The hope is t

This contribution reviews theory, algorithms, and validation results for system identification of continuous-time state-space models from finite input-output sequences. The algorithms developed are autoregressive methods, methods of subspace-based model identification and stochastic realization adapted to the continuous-time context. The resulting model can be decomposed into an input-output model

In this paper, we present a robust multipath-based localization and mapping framework that exploits the phases of specular multipath components (MPCs) using a massive multiple-input multipleoutput (MIMO) array at the base station. Utilizing the phase information related to the propagation distances of the MPCs enables the possibility of localization with extraordinary accuracy even with limited ba

Haldex Traction can with their Active Yaw Control prevent unwanted handling by applying an extra yaw torque with their all wheel drive system. To be able to calculate when or when not, yaw torque should be applied, it is important to accurate know the different state information about the vehicle. When driving on banked roads, vehicle dynamics and sensor measurements are changed compared to drivin

In this thesis we employ computer vision methods in order to extend and improve the functionality of automatic doors. This thesis is based around the implementation of a door entrance system which uses information from detected pedestrians to make qualified decisions regarding door activation. This can lead to a reduced amount of unnecessary openings which will reduce the energy consumption of bui

Industrial robots are fast and accurate when working with known objects at precise locations in well-structured manufacturing environments, as done in the classical automation setting. In one sense, limited use of sensors leaves robots blind and numb, unaware of what is happening in their surroundings. Whereas equipping a system with sensors has the potential to add new functionality and increase

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

To reduce flooding risks and improve urban drainage management, there is a need to increase the forecasting accuracy for rainfall models on small typical urban time and space scales. Increased rainfall forecasting accuracy will in turn improve runoff prediction and thus, prevent flooding hazards, decrease pollution discharge through combined sewers, increase waste water treatment efficiency, etc.

A model based on the two‐dimensional stochastic advection‐diffusion equation is developed to forecast properties of individual rain cells in urban areas such as speed and spatial rainfall intensity. Two different modeling approaches are employed, and examples of the results are given. The first approach involves a Gaussian distribution as an analytic solution to the advection‐diffusion equation, w

Ever since the end of the second world war, Europe has been lagging behind the United States in rocket development. In particular in the last 10 years, the technological gap and American competitive advantage have grown thanks to SpaceX’s development of reusable launch vehicles. A key enabler for the reusability of booster stages is precise rocket engine control. This thesis addresses the objectiv

A new type of Remotely Operated Vehicle (ROV) has been designed by Marin Mätteknik (MMT) in cooperation with Reach Subsea and Kystdesign AS; the Surveyor ROV. Although MMT is successfully using the SROV in day-to-day operations, no mathematical model describing the system has previously been derived. In this thesis project, a mathematical model describing the SROV is developed through system ident

For the performance of the Haldex Active Yaw Control, accurate information about vehicle's lateral dynamic is important. It is for practical reasons not possible to measure the vehicle's lateral velocity, wherefore this state has to be estimated. Previous work [1] with an observer based on a single track bicycle model show promising results but with limited accuracy at high lateral acceler

When deploying networked computing-based applications, proper resource management of the server-side resources is essential for maintaining quality of service and cost efficiency. The work presented in this thesis is based on six papers, all investigating problems that relate to resource management of server-based systems. Using a queueing system approach we model the performance of a database sys

CO2 fluxes for the Netherlands and surroundings are estimated for the year 2008, from concentration measurements at four towers, using an inverse model. The results are compared to direct CO2 flux measurements by aircraft, for 6 flight tracks over the Netherlands, flown multiple times in each season. We applied the Regional Atmospheric Mesoscale Modeling system (RAMS) coupled to a simple carbon fl

The methodology for production of biologics is going through a paradigm shift from batch-wise operation to continuous production. Lot of efforts are focused on integration, intensification, and continuous operation for decreased foot-print, material, equipment, and increased productivity and product quality. These integrated continuous processes with on-line analytics become complex processes, whi

Digital controllers are traditionally implemented using periodic sampling, computation, and actuation events. As more control systems are implemented to share limited network and CPU bandwidth with other tasks, it is becoming increasingly attractive to use some form of event-based control instead, where precious events are used only when needed. Forms of event-based control have been used in prac

This thesis presents methods for estimation and autonomous control of a hexacopter which is an unmanned aerial vehicle with six rotors. The hexacopter used is a ArduCopter 3DR Hexa B and the work follows a model-based approach using Matlab Simulink, running the model on a PandaBoard ES after automatic code generation. The main challenge will be to investigate how data from an Internal Measurement