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In this paper we study the problem of automatically generatingpolynomial solvers for minimal problems. The maincontribution is a new method for finding small eliminationtemplates by making use of the syzygies (i.e. the polynomialrelations) that exist between the original equations. Usingthese syzygies we can essentially parameterize the setof possible elimination templates.We evaluate our method o
The problem of low-rank approximation with convex constraints, which appears in data analysis, system identification, model order reduction, low-order controller design and low-complexity modelling is considered. Given a matrix, the objective is to find a low-rank approximation that meets rank and convex constraints, while minimizing the distance to the matrix in the squared Frobenius norm. In man
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
In real-time control systems, varying task response times may lead to delays and jitter in the delays in the feedback control loops, which adversely affects both performance and robustness. Standard LQG control design does not give any guarantees on robustness, while robust control design methods often do not handle controller timing uncertainty. We propose a sampled-data controller synthesis meth
Self-adaptation provides a principled way to deal with software systems' uncertainty during operation. Examples of such uncertainties are disturbances in the environment, variations in sensor readings, and changes in user requirements. As more systems with strict goals require self-adaptation, the need for formal guarantees in self-adaptive systems is becoming a high-priority concern. Designing se
Cities are deploying tens of thousands of sensors and actuators and developing a large array of smart services. The smart services use sophisticatedmodels and decision-making policies supported by Cyber Physical Systems and Internet of Things technologies. The increasing number of sensors collects a large amount of city data across multiple domains. The collected data have great potential value, b
A method to decompose a motion-planning problem into several segments is presented. It is based on a modification of the original problem, such that certain variables at the splitting points are considered to be precomputed and thus fixed and the remaining variables are obtained by performing Lagrange relaxation. The resulting dual problem is split into several subproblems, allowing parallel compu
A simplified combined-slip model that only considers the extreme case at the friction limit is suggested and used in a closed-loop controller for autonomous vehicle handling in at-the-limit maneuvers. In the development of the controller it is assumed that the front wheels are individually steered, but it is demonstrated in a left-hand turn scenario that with a simple adaptation, the method is sti
The ac frequency in electrical power systems is conventionally regulated by synchronous machines. The gradual replacement of these machines by asynchronous renewable-based generation, which provides little or no frequency control, increases system uncertainty and the risk of instability. This imposes hard limits on the proportion of renewables that can be integrated into the system. In this paper,
Biogenic volatile organic compounds (BVOCs) play essential roles in tropospheric chemistry, on both regional and global scales. The emissions of large quantities of species-specific BVOC depend not only on environmental (temperature, T; photosynthetically active radiation, PAR), but also physiological parameters (i.e. net photosynthetic rate, Pn; transpiration rate, Tr; stomatal conductance, gs an
This paper presents a real-time hand gesture recognition system by accelerating a convolutional neural network (CNN) using FPGA platform. More specifically, ZynqNet is adopted and modified to fulfill the classification task of recognizing the Swedish manual alphabet, which is used by sign language users for spelling purposes, also known as fingerspelling. Data augmentation and transfer learning te
This paper presents a continuous-time ΔΣ ADC in a 28nm-FDSOI CMOS technology. The ADC is clocked at 5GHz with a signal bandwidth of 250 MHz, for an oversampling ratio (OSR) of only 10. The conversion from high-level model to circuit-level implementation requires multiple high-speed design methodologies and a careful layout. A 4th order loop filter is adopted to enhance quantization noise shaping i
In this paper, we study event-based PID control from an optimal stochastic control perspective. The purpose is to better understand what implementation features are critical for achieving good event-based PID performance. For this end, we formulate an LQG control design problem for a double integrator process with an integral disturbance, where the solution is an ideal PID controller. We then cons
Signals are physical variables or quantities measured at various parts of a system, which when processed yield the desired information. A wide variety of signals are often encountered in describing many practical systems. Electrical signal, in form of current and voltage, is the most easily measured quantity, hence the need to use sensors and transducers to transform other non-electrical quantity
