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This report contains derivations of a rigid double-track ground vehicle model including roll and pitch dynamics, using a Newton-Euler modeling approach. Suspension is incorporated in the model. The suspension system is modeled as a rotational spring and damper system, where the spring and damper constants for each wheel have been lumped to two constants, one for each degree of freedom. The resulti
Tracking human body motions using inertial sensors has become a well-accepted method in ambulatory applications since the subject is not confined to a lab-bounded volume. However, a major drawback is the inability to estimate relative body positions over time because inertial sensor information only allows position tracking through strapdown integration, but doesn't provide any information about r
This paper proposes a closed-loop propofol admission strategy for depth of hypnosis control in anesthesia. A population-based, robustly tuned controller brings the patient to a desired level of hypnosis. The novelty lies in individualizing the controller once a stable level of hypnosis is reached. This is based on the identified patient parameters and enhances suppression of output disturbances, r
This study investigates seasonal changes in near-surface wind speeds in the Arctic using the regional climate model (RCM) simulations with RCA4 driven by four global climate models (GCMs) CMIP5 under Representative Concentration Pathways (RCP) 4.5 and 8.5 scenarios. In addition, the RCM RCA-GUESS (RCA4 with interactive vegetation dynamics) is used to investigate the role of biogeophysical feedback
We study the realizability and strong satisfiability problems for SAFETY LTL, a syntactic fragment of Linear Temporal Logic ([Formula presented]) capturing safe formulas. While it is well-known that realizability for this fragment lies in [Formula presented], the best-known lower bound is [Formula presented]-hardness. Surprisingly, closing this gap has proven an elusive task. Previous works have c
Perceiving and understanding human motion is a fundamental problem in computer vision, with diverse applications encompassing sports analytics, healthcare monitoring, entertainment, and intelligent interactive systems. Multi-camera systems, by capturing multiple viewpoints simultaneously, enable robust tracking and reconstruction of human poses in 3D, overcoming limitations of single-view approach
To solve the problem of fatigue of the UAV operator during long-term search and reconnaissance missions, a research hardware and software complex was created, in which the positioning of the auxiliary UAV video camera with a narrow field of view is carried out. Dynamixel Library for MATLAB and Simulink was used to organize the interaction of actuators with the virtual environment, which allows com
Extremely thinned layers and possible folding make the dating of the deepest sections of ice cores especially challenging. Cosmogenic radionuclides have the potential to provide independent age estimates. The 36Cl/10Be ratio is largely independent of production rate changes that affect individual radionuclides and has an effective half-life of 384 kyr, making it an ideal tool for dating the new 1.
Purpose: People with acquired neurogenic Communication Disorders (PwCD) experience reduced satisfaction in healthcare environments, possibly relating to communication difficulties. Communication Partner Training might improve communication success. The purpose of the scoping review was to map the literature about educational experiences in teaching communication strategies to healthcare students (
During the Last Glacial Period (LGP), Greenland experienced approximately 30 abrupt warming phases, known as Dansgaard-Oeschger (D-O) events, followed by cooling back to baseline glacial conditions. Studies of mean climate change across warming transitions reveal indistinguishable phase offsets between shifts in temperature, dust, sea salt, accumulation, and moisture source, thus preventing a comp
One of the most challenging problems in paleoclimate research is how orbital cyclicities forced Earth’s climate variations during the late Quaternary. To address this issue, we investigated the differences in silicate weathering, a sensitive climate indicator, at different latitudes on orbital timescales by examining geochemical and clay mineral data from the mid-latitude Sea of Okhotsk and integr
In this paper, we present a framework to identify discrete-time, single-input/single-output, switched linear systems (SISO-SLSs) from input–output data measurements. Continuous state is not assumed to be measured. The key step is a deadbeat observer-based transformation of the SLS model to a switched auto-regressive with exogenous input (SARX) model. Discrete states are estimated by a three-stage
The problem of planning a trajectory for robots starting in an initial state and reaching a final state in a desired interval of time is tackled. We propose an approach based on model predictive control to solve the problem of point-to-point trajectory generation for a given final time. We discuss various choices of models, objective functions, and constraints for generating trajectories to transf
The Large Gain Theorem is an input-output stability result with intriguing applications in the field of control systems. This paper aims to increase understanding and appreciation of the Large Gain Theorem by presenting an interpretation of it for linear time-invariant systems using the well-known Nyquist stability criterion and illustrative examples of its use. The Large Gain Theorem is complemen
Due to their wide adaptability to different application fields spanning from opinion dynamics to biology, the analysis of evolutionary dynamics is a compelling problem in the science of networks and systems. In this paper, we deal with controlled evolutionary dynamics in networks. We discuss a novel approach to model these phenomena, which enables us to estimate the duration of the process dependi
With the ever-growing traffic demands, the transportation networks are getting more and more congested. While expanding these networks with more roads is both costly and in many cities not even feasible, the rapid development of new sensing and communication techniques has made it possible to perform control of transportation networks in real-time. With the right usage of such technologies, existi
This work considers the assignment of vehicle traffic consisting of both individual, opportunistic vehicles and a cooperative fleet of vehicles. The first set of vehicles seek a user-optimal policy and the second set seeks a fleet-optimal policy. We provide explicit sufficient conditions for the existence and uniqueness of a Nash equilibrium at which both policies are satisfied.We also propose two
Driven by the increasing demands on data rate from applications, the wireless communication standard has for decades been evolving approximately at a pace of one generation per ten years. Following this trend, the ambitious plan to replace the current cellular mobile network standard (4G) with the next generation standard (5G) is going through the standardization phase and is getting close to its
