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High-energy linear particle accelerators enable exploration of the microscopic structure of pharmaceuticals, solar cells, fuel cells, high-temperature superconductors, and the universe itself. These accelerators accelerate charged particles using oscillating magnetic fields that are confined in metal cavities. The amplitudes and phases of the electromagnetic fields need to be accurately controlled
The proliferation of connected embedded devices, or the Internet of Things (IoT), together with recent advances in machine intelligence, will change the profile of future cloud services and introduce a variety of new research problems centered around empowering resource-limited edge devices to exhibit intelligent behavior, both in sensing and control. Cloud services will enable learning from data,
A method to decompose a motion-planning problem into several segments is presented. It is based on a modification of the original problem, such that certain variables at the splitting points are considered to be precomputed and thus fixed and the remaining variables are obtained by performing Lagrange relaxation. The resulting dual problem is split into several subproblems, allowing parallel compu
A simplified combined-slip model that only considers the extreme case at the friction limit is suggested and used in a closed-loop controller for autonomous vehicle handling in at-the-limit maneuvers. In the development of the controller it is assumed that the front wheels are individually steered, but it is demonstrated in a left-hand turn scenario that with a simple adaptation, the method is sti
This paper presents a real-time hand gesture recognition system by accelerating a convolutional neural network (CNN) using FPGA platform. More specifically, ZynqNet is adopted and modified to fulfill the classification task of recognizing the Swedish manual alphabet, which is used by sign language users for spelling purposes, also known as fingerspelling. Data augmentation and transfer learning te
This paper presents a continuous-time ΔΣ ADC in a 28nm-FDSOI CMOS technology. The ADC is clocked at 5GHz with a signal bandwidth of 250 MHz, for an oversampling ratio (OSR) of only 10. The conversion from high-level model to circuit-level implementation requires multiple high-speed design methodologies and a careful layout. A 4th order loop filter is adopted to enhance quantization noise shaping i
In this paper, we study event-based PID control from an optimal stochastic control perspective. The purpose is to better understand what implementation features are critical for achieving good event-based PID performance. For this end, we formulate an LQG control design problem for a double integrator process with an integral disturbance, where the solution is an ideal PID controller. We then cons
Signals are physical variables or quantities measured at various parts of a system, which when processed yield the desired information. A wide variety of signals are often encountered in describing many practical systems. Electrical signal, in form of current and voltage, is the most easily measured quantity, hence the need to use sensors and transducers to transform other non-electrical quantity
The ac frequency in electrical power systems is conventionally regulated by synchronous machines. The gradual replacement of these machines by asynchronous renewable-based generation, which provides little or no frequency control, increases system uncertainty and the risk of instability. This imposes hard limits on the proportion of renewables that can be integrated into the system. In this paper,
Control systems can be vulnerable to security threats where an attacker gathers information about the execution of the system. In particular, side-channel attacks exploit the predictability of real-time control systems and of their schedules. To counteract their action, a scheduler can randomize the temporal execution of tasks and limit the amount of information the attacker can gather. Schedule r
Control theory has contributed a set of foundational techniques to handle "change" at runtime in software applications. These techniques however have fundamental limitations as well: (i) they require the development and understanding of mathematical models; (ii) synthesizing solutions is often done on a per-problem basis, discouraging flexibility and generality. Software engineering, as a discipli
A wideband 65-nm CMOS power amplifier (PA) is presented, with a decade frequency range from 600 MHz to 6.0 GHz. In this frequency range, the output power exceeds 26.6 dBm and the power gain and power-added efficiency (PAE) exceed 18.1 dB and 49%, respectively. For a 7.5-dB peak-to-average-power-ratio (PAPR) long term evolution (LTE) signal at 1.9 GHz, the circuit provides an average output power o
A continuous-time, 65-nm CMOS, front-end for processing DNA sequencing measurements from biological nanopore sensors is presented. The measured design has an input referred noise floor of 8.5\;{\text{fA}}/\sqrt {{\text{Hz}}} for 100 pA DC current while consuming 10X less power. The chip also consists of an integrated ADC.
A fundamental problem in robotics is the generation of motion for a task. How to translate a task to a set of movements is a non-trivial problem. The complexity of the task, the capabilities of the robot, and the desired performance, affect all aspects of the trajectory; the sequence of movements, the path, and the course of motion as a function of time.This thesis is about trajectory generation a
We study a two compartment, nonlinear, age structured model for the cell cycle. The phases of the cell cycle G1, S, G2 and M are grouped into two phases, which we call Phase 1 and Phase 2, where Phase 1 consists of the phase G1 and Phase 2 consists of the phases S, G2 and M. It is assumed that Phase 1 has a variable duration while the duration of Phase 2 is fixed. The model consists of a system of
We propose a novel approach to the problem of inverse kinematics for possibly redundant planar manipulators. We show that, by considering the joints as point masses in a fictitious gravity field, and by adding proper constraints to take into account the length of the links, the kinematic inversion may be cast as a convex programming problem. Convex constraints in the decision variables (in particu
The problem of synthesizing network-decentralized observers arises when several agents, corresponding to the nodes of a network, exchange information about local measurements to asymptotically estimate their own state. The network topology is unknown to the nodes, which can rely on information about their neighboring nodes only. For homogeneous systems, composed of identical agents, we show that a
We address H-infinity state feedback and give a simple form for an optimal control law applicable to linear time invariant systems with symmetric and Hurwitz state matrix. More specifically, the control law as well as the minimal value of the norm can be expressed in the matrices of the system's state space representation, given separate cost on state and control input. Thus, the control law is tr
