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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
This paper presents a study on iconic programming support for mainly position-based lead-through programming of an ABB YuMi collaborative robot. A prototype tool supporting a hybrid programming and execution mode was developed and evaluated with 21 non-expert users with varying programming and robotics experience. We also present a comparison of the programming times for an expert robot programmer
The kinetics and mechanism of the reactions between trans-[PtI3(PPh3)]– and trans-[PtI3(SbPh3)]– with pyridine, 2- and 4-methylpyridine in acetonitrile solvent have been studied by stopped-flow spectrophotometry. The crystal and molecular structures of the tetrabutylammonium salts of the two anions have been determined. Substitution of iodide trans to stibine is reversible and takes place via paraThe kinetics and mechanism of the reactions between trans-[PtI3(PPh3)]– and trans-[PtI3(SbPh3)]– with pyridine, 2- and 4-methylpyridine in acetonitrile solvent have been studied by stopped-flow spectrophotometry. The crystal and molecular structures of the tetrabutylammonium salts of the two anions have been determined. Substitution of iodide trans to stibine is reversible and takes place via para
A three bit second order delta sigma modulator for audio applications implemented in 130nm CMOS technology is presented. The modulator features two integrators, a flash quantizer and two current steering DACs. In order to minimize the effect of delays in the DACs, excessive loop delay (ELD) compensation is utilized. Using an oversampling ratio (OSR) of 80, the design consumes 2.8mW and achieves a
In this paper we present an audio synthesizer that creates audio signals, intended to be reproduced as sound by a loudspeaker. This paper details the design, implementation and verification of an analog, subtractive audio synthesizer. The synthesizer produces a variety of waveforms spanning approximately 3 octaves. The frequency is controlled by an external voltage and the harmonic content is regu
This thesis addresses problems which require low-rank solutions under convex constraints. In particular, the focus lies on model reduction of positive systems, as well as finite dimensional optimization problems that are convex, apart from a low-rank constraint. Traditional model reduction techniques try to minimize the error between the original and the reduced system. Typically, the resulting re
We examine the capacity of artificial biomolecular networks to respond to perturbations with structurally signed steady-state changes. We consider network architectures designed to balance their output production as a function of downstream demand: the species producing the output, called a source, up- or down-regulates its production rate as a function of the demand. Using an exact algorithm we s
We study diffusion of cooperation in a two-population game in continuous time. At each instant, the game involves two random individuals, one from each population. The game has the structure of a Prisoner's dilemma where each player can choose either to cooperate (c) or to defect (d), and is reframed within the field of approachability in two-player repeated game with vector payoffs. We turn the g
The clinical success of targeted cancer therapies is limited by the emergence of drug resistance often due to pre-existing tumor genetic heterogeneity and acquired, therapy-induced resistance. Targeted therapies have varied success in addressing metastatic disease, due to their ability to penetrate certain physiological compartments. This paper considers an evolutionary cancer model that incorpora
Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (CCFE) at the TCP, since an increased amount of joint level information is available for estimating t
A simple form for the optimal H-infinity state feedback of linear time-invariant infinite-dimensional systems is derived. It is applicable to systems with bounded input and output operators and a closed, densely defined, self-adjoint and strictly negative state operator. However, unlike other state-space algorithms, the optimal control is calculated in one step. Furthermore, a closed-form expressi
Time synchronization is crucial for wireless sensor networks (WSNs), where operations often rely on time ordering of events. WSNs are deployed in different scenarios, and therefore their timing requirements are often related to the peculiar characteristics of the specific environment they have to act in. Synchronization is anyway always an issue: transactional applications need monotonicity of the
A linear parameter-varying (LPV) spectral decomposition method, based on least-squares estimation and kernel expansions, is developed. Statistical properties of the estimator are analyzed and verified in simulations. The method is linear in the parameters, applicable to both the analysis and modeling problems and is demonstrated on both simulated signals as well as measurements of the torq
The problem of the orbital stabilization of the forced periodic motions of a non-linear all-wheel drive mechanical system is considered within the framework of a model that is widely used in problems of the planning of the motions and feedback design for industrial robotic manipulators. The basic result is the explicit indication of one of the possible redundant sets of coordinates tranverse to th
Recent findings indicate a strong correlation between the risk of future heart disease and the volume of adipose tissue inside of the pericardium. So far, large-scale studies have been hindered by the fact that manual delineation of the pericardium is extremely time-consuming and that existing methods for automatic delineation lack accuracy. An efficient and fully automatic approach to pericardium
Control theory is one of the key intellectual underpinnings that allows us to analyze the interaction of software with the physical world. However, control theory abstracts software actions as actions that take no time to execute. In reality, software execution takes time – and this execution time can be affected by a number of platform issues, including the speed of the processor, the scheduler u
We introduce a scalable observer architecture to estimate the states of a discrete-time linear-time-invariant (LTI) system whose sensors can be manipulated by an attacker. Given the maximum number of attacked sensors, we build on previous results on necessary and sufficient conditions for state estimation, and propose a novel multi-modal Luenberger (MML) observer based on efficient Satisfiability
In this paper two architectures for tunable duplexersare presented. The tuning is accomplished through variablecapacitance and resistance. The architectures are based on athree element series-parallel resonator, with one pass and onestop frequency. Both architectures rely on filtering as well ascancellation for good Tx to Rx isolation while maintaining lowinsertion loss. The first architecture, the
One of the most widely used strategies for visual object detection is based on exhaustive spatial hypothesis search. While methods like sliding windows have been successful and effective for many years, they are still brute-force, independent of the image content and the visual category being searched. In this paper we present principled sequential models that accumulate evidence collected at a sm
