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Contact-rich manipulation tasks remain a hard problem in robotics that requires interaction with unstructured environments. Reinforcement Learning (RL) is one potential solution to such problems, as it has been successfully demonstrated on complex continuous control tasks. Nevertheless, current state-of-the-art methods require policy training in simulation to prevent undesired behavior and later d
Reconstruction of movement control properties of the brain could result in many potential advantages for application in robotics. However, a hampering factor so far has been the lack of knowledge of the structure and function of brain circuitry in vivo during movement control. Much more detailed information has recently become available for the area of the cerebellum that controls arm-hand movemen
In this paper, we apply an optimal Linear Quadratic (LQ) controller, which has an inherent structure that allows for a distributed implementation, to an irrigation network. The network consists of a water reservoir and connected water canals. The goal is to keep the levels close to the set-points when farmers take out water. The LQ controller is designed using a first-order approximation of the ca
Channel sounding is essential for the development of radio systems. One flexible strategy is the switched-array-based channel sounding, where antenna elements are activated at different time instants to measure the channel spatial characteristics. Although its hardware complexity is decreased due to fewer radio-frequency (RF) chains, sequentially switching the antenna elements can result in aliasi
Electric power systems are undergoing huge changes due to the shift from conventional power production to more renewable-based generation like solar and wind. This is primarily driven by the need to mitigate climate change by reducing CO2 emissions. The shift to more generation from solar and wind will affect the dynamical behaviour of power systems, and consequently how they should be controlled.
Organisms in the wild are faced with multiple threats and a common response is a change in behaviour. To disentangle responses to several threats, we exposed two differently sized species of the freshwater invertebrate Daphnia to solar ultraviolet radiation (UVR) and predation from either moving pelagic or benthic ambush predators. Using an advanced nanotechnology-based method, we tracked the thre
Syfte: Syftet med studien är att med en enkätundersökning kartlägga dagliga aktivitetsmönster, välbefinnande samt olika motivationsfaktorer hos arbetssökande unga vuxna i åldern 18–25 år. Syftet är också att kartlägga vilket stöd målgruppen upplever sig ha och vilket värde ett arbete skulle ha för målgruppen. Metod: Deltagarna som medverkade var enligt exklusionskriterierna: Sjukskrivna, ej aktivtPurpose: The purpose of the study is using a survey to map daily occupational patterns, well-being, and how different motivational factors are perceived and experienced in the target group able-bodied young adults age 18–25. The purpose is also to map the support the target group have, and what values a job would have for the target group. Method The participants where picked with the exclusion cr
Food is a fundamental human need – a physical requirement for survival. At the current historical juncture, the global food system is entangled in a web of neoliberal capitalist exchange relations and suffers from heavy dependence on fossil energy inputs. Today’s agro-industrial complex, which has evolved jointly with fossil capitalism and is organized according to its principles, is firmly entren
Quantum Cascade Lasers (QCLs) have since their invention in 1994 become a crucial source for mid-infrared and THz radiation. Mid-infrared QCLs have achieved room temperature operation while THz QCLs have not. As such, simulations are an important tool in order to achieve a THz QCL operational at room temperature. This work uses a simulation package based on a nonequilibrium Green’s function model
Cloud is used more than ever before, and the trend seems to continue as more and more organizations choose to use cloud services such as database, storage, computing, or web servers. As more organizations choose cloud, the question of which cloud platform that best suits their needs is more relevant than ever. Within this thesis, the four largest cloud platforms have been evaluated to give future
General Purpose AI systems like ChatGPT pose unique dangers to society owing to the rapid evolution in their capabilities, and their ability to be utilized for a large variety of purposes, including those unintended by the developers of these AI systems. This thesis examines those dangers, and critically analyses the EU’s draft AI Act and its amendments with a view to ascertain if the draft law ad
This report is an external evaluation of the scientific basis of the Norwegian assessment system for ecological condition (Fagsystem for økologisk tilstand), commissioned by the Ministry of Climate and Environment (KLD). Two assessment methods are currently used for various terrestrial and marine ecosystems: the Panel-Based Assessment of Ecological Condition (PAEC) and the Index-Based Ecological CThis reportis an external evaluation of the scientific basis of the Norwegian assessment system for ecological condition, commissioned by the Ministry of Climate and Environment. Two assessment methods are currently used for various terrestsrial and marine ecosystem: the Panel-Based Assessment of Ecological Condition (PAEC) and the Index-Based Ecological Condition Assessment (IBECA). The purpose o
This paper gives a global solution to an H-infinity control problem for systems with symmetric state matrix and state-dependent input matrix. A simple, closed-form expression for the minimizing controller is obtained. This is in contrast to already established theory in which nonlinear H-infinity problems are solved locally. The result is then illustrated through an example, and the potential for
A well-balanced exploration-exploitation trade-off is crucial for successful acquisition functions in Bayesian optimization. However, there is a lack of quantitative measures for exploration, making it difficult to analyze and compare different acquisition functions. This work introduces two novel approaches - observation traveling salesman distance and observation entropy - to quantify the explor
Bayesian optimization (BO ) is an effective method for optimizing expensive-to-evaluate black-box functions. While high-dimensional problems can be particularly challenging, due to the multitude of parameter choices and the potentially high number of data points required to fit the model, this limitation can be addressed if the problem satisfies simplifying assumptions. Axis-aligned subspace appro
We summarize the theory and implementation of an open source solver for rotationally symmetric scatterers. The purpose of the code is to compute reference solutions for electrically large radome problems. The rotational symmetry decouples the azimuthal modes, enabling the three-dimensional problem to be broken down into a sequence of decoupled two-dimensional problems which require much less memor
