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Rotational singularities inherent to three different geometric controllers on SE (3) are studied. A new singularity-free method of incrementally generating a reference rotation is proposed, removing a class of singularities without affecting proven stability properties of the closed-loop systems. If satisfying a bound on attitude rate and maximum loop rate in the reference generation, the proposed
We consider temperature stabilization of the phase-reference line at the European Spallation Source, a facility for neutron spallation currently under construction. Based on extensive modeling of the heat dynamics, a prototype model-based control system with associated hardware architecture is developed and experimentally evaluated on a small-scale setup. The results indicate that temperature stab
Big Data Applications (BDAs) manage so much data to require a cluster of machines for computation and storage. Their execution often has temporal constraints, such as deadlines to process the data. BDAs are executed within Big Data Frameworks (BDFs), that provide mechanisms to automatically manage the complexity of the computation distribution. For a BDA to fulfill its deadline when executed in a
Abstrakt Title: The Swedish stockmarket relationship with the exchangerate Author: Anton Holmgren & Philip Högberg Advisor: Hossein Asgharian Seminar date: 2011-01-21 Purpose: The purpose of this thesis is to study the relationship between OMXS30 and the effective exchangerate index KIX Methodology: Throug regression analsys with included macrovariables we will study the relationship be
During the 15th, 16th and 17th century many commodities were traded from east to west and vice versa through The Sound. One commodity of great importance was cloth. To these large quantities of cloth lead cloth seals were attached as a hallmark of quality control. In this study the cloth trade between the Netherlands and Scania during the Late Middle Ages and Early Modern Times is investigated for
A brain-computer interface (BCI) is a real-time system that converts a user’s brain activity into commands, enabling control over applications such as moving a cursor on the screen. This conversion is made possible by machine learning techniques and other algorithms. Historically, BCI research has focused on the analysis of brain signals offline. However, increasing computational power and algorit
While a naive algorithm for multiplying two 2 × 2 matrices requires eight multiplications and four additions, Strassen showed how to compute the same matrix product using seven multiplications and 18 additions. Winograd reduced the number of additions to 15, which was assumed to be optimal. However, by introducing a change of basis, Karstadt and Schwartz showed how to lower the number of additions
Advances in quantum computing pose a fundamental threat to classical public-key cryptosystems, including RSA and elliptic-curve cryptography (ECC), which form the foundation for authentication and key exchange in the Transport Layer Security (TLS) protocol. In response to these emerging threats, Korea launched the KpqC (Korea Post-Quantum Cryptography) project in 2021 to design, evaluate, and stan
Single-master multi-slave (SMMS) teleoperation systems can perform multiple tasks remotely in a shorter time, cover large-scale areas, and adapt more easily to single-point failures, thereby effectively encompassing a broader range ofapplications. As the number of slave manipulators sharing a communicationnetwork increases, the limitation of communication bandwidth becomes critical. To alleviate b
This letter addresses loss of packets in a wireless fronthaul link being interpreted as channel errors for the service link. This may occur if, for instance, User Equipment (UE) is served by a radio unit in an Uncrewed Aerial Vehicle (UAV) via a wireless fronthaul link to a baseband unit (BU) on the ground. The fronthaul packet loss leads to a mismatch between the real and estimated channel state,
The Chambolle–Pock method is a versatile three-parameter algorithm designed to solve a broad class of composite convex optimization problems, which encompass two proper, lower semicontinuous, and convex functions, along with a linear operator L. The functions are accessed via their proximal operators, while the linear operator is evaluated in a forward manner. Among the three algorithm parameters
Solving partially observable Markov decision processes (POMDPs) typically requires reasoning about the values of exponentially many state beliefs. Towards practical performance, state-of-the-art solvers use value bounds to guide this reasoning. However, sound upper value bounds are often computationally expensive to compute, and there is a tradeoff between the tightness of such bounds and their co
The aim of this chapter is to outline a theoretical framework for the comparative study of emotions in Western legal systems of different countries. Our focus is on the legal actors, and our primary interest is how internal legal culture – conceptualized as ‘the emotive-cognitive judicial frame’ – is embedded in a broader context of a socio-culturally specific emotional regime. The emotive-cogniti
Age of Information (AoI) is a widely used metric to quantify the freshness of updates in communication systems. Existing AoI analyses implicitly assume a shared or synchronized notion of time between transmitter and receiver, thereby neglecting distortions arising from relative motion and gravitational effects. In this paper, we investigate the impact of relativistic time dilation on information f
The development and manufacturing process for Integrated Circuits (ICs) has become complex and globally distributed. System integrators use a mix of custom made logic with third-party Intellectual Property (IP) blocks, untrusted software tools, and external actors for manufacturing, post-production test, and validation. The many untrusted actors involved throughout the IC’s lifetime become a secur
Combinatorial optimization is a powerful way to solve complex problems, like planning, scheduling, or hardware verification, by expressing the problem in a mathematical form using discrete variables that can be solved by general solvers. Due to major advances in algorithms for solving combinatorial optimization problems, these solvers can tackle real-world challenges efficiently. However, as solve
This paper investigates a behavioral-feedback SIR model in which the infection rate adapts dynamically based on the fractions of susceptible and infected individuals. We introduce an invariant of motion and we characterize the peak of infection. We further examine the system under a threshold constraint on the infection level. Based on this analysis, we formulate an optimal control problem to keep
Sensitivity measures how much the output of an algorithm changes, in terms of Hamming distance, when part of the input is modified. While approximation algorithms with low sensitivity have been developed for many problems, no sensitivity lower bounds were previously known for approximation algorithms. In this work, we establish the first polynomial lower bound on the sensitivity of (randomized) ap
We consider two optimization problems in which a planner aims to influence the average transient opinion in the Friedkin-Johnsen dynamics on a network by intervening on the agents' innate opinions. Solving these problems requires full network knowledge, which is often not available because of the cost involved in collecting this information or due to privacy considerations. For this reason, we foc
