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Anticipatory and predictive models are becoming very important features of robot systems. This thesis investigates some aspects of predictive modeling. Is prediction always a good thing? How important is it to anticipate what will happen in the future? Is it better to anticipate far into the future or to focus on the next few seconds? What are the requirements for predictive models? Predictive mod
Homogeneous charge compression ignition (HCCI) is a promising internal combustion engine concept. It holds promise of combining low emission levels with high efficiency. However, as ignition timing in HCCI operation lacks direct actuation and is highly sensitive to operating conditions and disturbances, robust closed-loop control is necessary. To facilitate control design and allow for porting of
Energy and power efficiency are becoming important topics within the graphics community. In this paper, we present a simple, straightforward method for measuring per-frame energy consumption of real-time graphics workloads. The method is non-invasive, meaning that source code is not needed, which makes it possible to measure on a much wider range of applications. We also discuss certain behaviors
This paper presents a new approach to buffer dimensioning for dynamic dataflow implementations. A novel transformation applied to the execution trace graph of a dataflow program is introduced in order to generate an event driven system. It is shown how model predictive control theory techniques can be applied to such a system to analyse the execution space of a dataflow program and to define and t
In the 1980s much effort was made to get an, until then, unknown Viking Age silver hoard into the University Museum of Lund for registration. It was a large hoard consisting of over 900 coins, jewelry and hacksilver. We succeeded to have the hoard on display a few days in 1986.Thereafter the hoard was collected again by the finders and it
Objectives. This study aimed to investigate the consistency between results of the American Conference for Governmental Occupational Hygienists (ACGIH) threshold limit value (TLV) for hand activity and proposed action levels of objective measurements in risk assessments of work-related musculoskeletal disorders. Methods. Wrist velocities and forearm muscular load were measured for 11 assemblers du
This is the software artifact for the paper "Efficient Demand Evaluation of Fixed-Point Attributes Using Static Analysis" published in SLE 2024.This artifact supports the evaluation of a new demand-driven algorithm for efficient circular Reference Attribute Grammar evaluation, specifically designed to improve performance of higly circular applications, e.g., dataflow analyses for Java. The artifac
In this paper, we present novel key-recovery attacks on Approximate Homomorphic Encryption schemes, such as CKKS, when employing noise-flooding countermeasures based on non-worst-case noise estimation. Our attacks build upon and enhance the seminal work by Li and Micciancio at EUROCRYPT 2021. We demonstrate that relying on average-case noise estimation undermines noise-flooding countermeasures, ev
We study the joint design of optimal linear MIMO encoders and decoders for filtering and transmission of a vector- valued signal over parallel Gaussian channels subject to a real- time constraint. The objective is to minimize the sum of the estimation error variances at the receiving end. The design problem is nonconvex, but it is shown that a global optimum can be found by solving a related two-s
Multi-sample anti-aliasing is a popular technique for reducing geometric aliasing (jagged edges) and is supported in all modern graphics processors. With multi-sampling anti-aliasing, visibility and depth are sampled more than once per pixel, while shading is done only once per pixel per primitive. Although this significantly reduces the appearance of jagged edges around object boundaries, the ima
This paper presents a dataflow design methodology and an associated co-exploration environment, focusing on the optimization of buffer sizes. The approach is applicable to dynamic dataflow designs and its performance is presented and validated by experimental results on the porting of an MPEG-4 Simple Profile decoder to the STM STHORM manycore platform. For the purpose of this work, the decoder ha
Model-based analysis of in-cylinder pressure sensor signals has been a key component for internal combustion engine research, diagnostics and controller development during the past decades. This analysis is often based on simple thermodynamic models of the in-cylinder processes. In order for the analysis to give accurate results, the models need to be sufficiently calibrated. This paper investigat
We propose a depth cache that keeps the depth data in compressed format, when possible. Compared to previous work, this requires a more flexible cache implementation, where a tile may occupy a variable number of cache lines depending on whether it can be compressed or not. The advantage of this is that the effective cache size increases proportionally to the compression ratio. We show that the dep
With the arrival of heterogeneous manycores comprising various features to support task, data and instruction-level parallelism, developing applications that take full advantage of the hardware parallel features has become a major challenge. In this paper, we present an extension to our CAL compilation framework (CAL2Many) that supports data parallelism in the CAL Actor Language. Our compilation f
We present a new SAH guided approach to subdividing triangles as the scene is coarsely partitioned into smaller sets of spatiallycoherent triangles. Our triangle split approach is integrated into the partitioning stage of a fast BVH construction algorithm, butmay as well be used as a stand alone pre-split pass. Our algorithm significantly reduces the number of split triangles comparedto previous m
This work proposes a novel design for secure cloud storage systems using a third party to meet three seemingly opposing demands: reduce storage requirements on the cloud, protect against erasures (data loss), and maintain confidentiality of the data. More specifically, we achieve storage cost reductions using data deduplication without requiring system users to trust that the cloud operates honest
Navigation with terrestrial wireless infrastructure is appealing to overcome geometrical limitations of satellite navigation for users in environments with limited sky views. However, terrestrial signals are also prone to multipath that can result in angular and range estimates that are not representative of actual transmitter-receiver geometry. In this paper, some of these propagation effects a
