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The application of robotic solutions to small-batch production is challenging: economical constraints tend to dramatically limit the time for setting up new batches. Organizing robot tasks into modular software components, called skills, and allowing the assignment of multiple concurrent tasks to a single robot is potentially game-changing. However, due to cycle time constraints, it may be necessa
This paper focuses on the computation of the joint spectral radius (JSR), when the involved matrices are sparse. We provide a sparse variant of the procedure proposed by Parrilo and Jadbabaie to compute upper bounds of the JSR by means of sum-of-squares (SOS) programming. Our resulting iterative algorithm, called SparseJSR, is based on the term sparsity SOS (TSSOS) framework developed by Wang, Mag
Industrial control systems (ICSs) are a significant part of industry and they play an important role in monitoring and controlling industrial processes. Traditionally, ICSs have been isolated from the Internet, and thereby secured from various Internet-based security threats. In recent years, since the cloud can provide huge advantages regarding storage and computing resources, industry has been m
Camera sensor networks, mainly with surveillance cameras, are growing in size and complexity. Storage space is the prime resource in such systems but current surveillance setups are still very much centralized and limited in resources due to cost and security constraints. Allocating the correct amount of storage to each camera sensor considering their large difference in characteristics and video
The lack of methods to evaluate mechanical function of donated hearts in the context of transplantation imposes large precautionary margins, translating into a low utilization rate of donor organs. This has spawned research into cyber-physical models constituting artificial afterloads (arterial trees), that can serve to evaluate the contractile capacity of the donor heart. The Windkessel model is
The 4th generation of district heating systems face a potential problem where lowered water temperatures lead to higher flow rates, which requires higher hydraulic capacity in terms of pipe and pump sizes. This increases the effect of the already existing issue of hydraulic bottlenecks, causing peripheral units (customers) to experience reduced flow rates. A coordinating control strategy is presen
Class-C operation is leveraged to implement a K-band CMOS VCO where the upconversion of the 1/f noise from the core transistors is robustly contained at a minimal level. Implemented in a bulk 28 nm CMOS technology,the VCO shows a phase noise as low as -108.5 dBc/Hz at 1 MHz offset (-83 dBc/Hz at 100 kHz offset) from the 19.5 GHz carrier,while consuming 14.4 mW and featuring a 12% tuning range.
A Ka-band,32-43 GHz,differential power amplifier (PA) for millimeter wave applications is presented. The PA is a three stage design with a nominal gain of 36 dB. A device periphery ratio of 1:2:4 is adopted for pre-driver,driver and final stage,respectively. To enable use of 2.7 V supply,a cascode topology was employed in all three stages. The input is 80 ω differential and the output load is 50 ω
The lack of methods to evaluate mechanical function of donated hearts in the context of transplantation imposes large precautionary margins, translating into a low utilization rate of donor organs. This has spawned research into cyber-physical models constituting artificial afterloads (arterial trees), that can serve to evaluate the contractile capacity of the donor heart.The Windkessel model is a
The response of clouds to the changes in climate is uncertain, and the representation of the cloud-climate feedback is a key challenge in the global circulation models (GCM) for future climate projections. Factors contributing to this uncertainty include processes that involve particles of various sizes and phases, as well as the interactions between these particles and the surrounding atmosphere.
Paleo-proxy data indicate that a “Green Sahara” thrived in northern Africa during the early- to mid-Holocene (MH; 11 000 to 5000 years before present), characterized by more vegetation cover and reduced dust emissions. Utilizing a state-of-the-art atmospheric chemical transport model, TM5-MP, we assessed the changes in biogenic volatile organic compound (BVOC) emissions, dust emissions and seconda
Hematopoietic stem cells (HSCs) enable hematopoietic stem cell transplantation (HCT) through their ability to replenish the entire blood system. Proliferation of HSCs is linked to decreased reconstitution potential, and a precise regulation of actively dividing HSCs is thus essential to ensure long-term functionality. This regulation becomes important in the transplantation setting where HSCs unde
We present Clog, a declarative language for describing static code checkers for C. Unlike other extensible state-of-the-art checker frameworks, Clog enables powerful interprocedural checkers without exposing the underlying program representation: Clog checkers consist of Datalog-style recursive rules that access the program under analysis via syntactic pattern matching and control flow edges only.
Fundamental bounds on the performance of monochromatic scattering-cancellation and field-zeroing cloaks made of prescribed linear passive materials occupying a predefined design region are formulated by projecting field quantities onto a sub-sectional basis and applying quadratically constrained quadratic programming. Formulations are numerically tested revealing key physical trends as well as adv
We propose an observer for rotational dynamics subject to directional and gyroscopic measurements, which simultaneously estimates the gyroscopic biases and attitude rates. We show uniform almost global asymptotic and local exponential stability of the resulting error dynamics, implying robustness against bounded disturbances. This robustness is quantified with respect to a popular nonlinear comple
The past evolution of precipitation and atmospheric convection in the Western Pacific Warm Pool (WPWP) is critical for global climate changes but is under debate because of its forcing mechanisms. Here, we present a high temporal resolution (∼156 years) grain-size record of core MD01–2385 over the last 140 kyr, in offshore northern New Guinea to reveal sediment dynamics as a proxy for precipitatio
Background: People with Intellectual disabilities (ID) have more healthcare utilization, especially unplanned inpatient care. One reason could be too early hospital discharges, resulting in readmissions. This is an important aspect of quality of care that has not been thoroughly assessed among people with ID. Aim: To investigate readmission to hospital within 30 days among people with ID compared
Folklore in complexity theory suspects that circuit lower bounds against NC1 or P/poly, currently out of reach, are a necessary step towards proving strong proof complexity lower bounds for systems like Frege or Extended Frege. Establishing such a connection formally, however, is already daunting, as it would imply the breakthrough separation NEXP ⊈ P/poly, as recently observed by Pich and Santhan
In the context of global warming, escalating water cycles have led to a surge in drought frequency and severity. Yet, multidecadal fluctuations in drought and their multifaceted influencing factors remain inadequately understood. This study examined the multide-cadal changes in drought characteristics (frequency, duration, and severity) and their geographical focal points within China’s north-sout
A system has been developed to convert manual wheelchairs into electric wheelchairs, providing assistance to users through the implemented algorithm, which ensures safe driving and obstacle avoidance. While manual wheelchairs are typically controlled indoors based on user preferences, they do not guarantee safe driving in areas outside the user’s field of vision. The proposed model utilizes the dy
