This article presents a data-driven safe reinforcement learning (RL) algorithm for discrete-time nonlinear systems. A data-driven safety certifier is designed to intervene with the actions of the RL agent to ensure both safety and stability of its actions. This is in sharp contrast to existing model-based safety certifiers that can result in convergence to an undesired equilibrium point or conservative interventions that jeopardize the performance of the RL agent. To this end, the proposed method directly learns a robust safety certifier while completely bypassing the identification of the system model. The nonlinear system is modeled using linear parameter varying (LPV) systems with polytopic disturbances. To prevent the requirement for learning an explicit model of the LPV system, data-based $\lambda$ -contractivity conditions are first provided for the closed-loop system to enforce robust invariance of a prespecified polyhedral safe set and the systems asymptotic stability. These conditions are then leveraged to directly learn a robust data-based gain-scheduling controller by solving a convex program. A significant advantage of the proposed direct safe learning over model-based certifiers is that it completely resolves conflicts between safety and stability requirements while assuring convergence to the desired equilibrium point. Data-based safety certification conditions are then provided using Minkowski functions. They are then used to seemingly integrate the learned backup safe gain-scheduling controller with the RL controller. Finally, we provide a simulation example to verify the effectiveness of the proposed approach.

This paper investigates a local observer-based leader-following consensus control of one-sided Lipschitz (OSL) multi-agent systems (MASs) under input saturation. The proposed consensus control scheme has been formulated by using the OSL property, input saturation, directed graphs, estimated states, and quadratic inner-boundedness condition by attaining the regional stability. It is assumed that the graph always includes a (directed) spanning tree with respect to the leader root to develop matrix inequalities for investigating parameters of the proposed observer and consensus protocols. Further, a new observer-based consensus tracking method for MASs with saturation, concerning independent topologies for communicating outputs and estimates over the network, is explored to deal with a more perplexing and realistic situation. In contrast to the traditional methods, the proposed consensus approach considers output feedback and deals with the input saturation for a generalized class of nonlinear systems. The efficiency of the obtained results is illustrated via application to a group of five moving agents in the Cartesian coordinates.

This paper investigates the impact of addition/removal/reweighting of edges in a complex networked linear control system. For networks of positive edge weights, we show that when adding edges leads to the creation of new cycles, these in turn may lead to instabilities. Dynamically, these cycles correspond to positive feedback loops. Conditions are provided under which the modified network is guaranteed to be stable. These conditions are related to the steady state value of the transfer function matrix of the newly created positive feedbacks. The tools we develop in the paper can be used to investigate the fragility of a network, i.e., its robustness to structured perturbations.(c) 2022 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).

Model predictive control (MPC) for uncertain systems in the presence of hard constraints on state and input is a non-trivial problem, and the challenge is increased manyfold in the absence of state measurements. In this letter, we propose an adaptive output feedback MPC technique, based on a novel combination of an adaptive observer and robust MPC, for single-input single-output discrete-time linear time-invariant systems. At each time instant, the adaptive observer provides estimates of the states and the system parameters that are then leveraged in the MPC optimization routine while robustly accounting for the estimation errors. The solution to the optimization problem results in a homothetic tube where the state estimate trajectory lies. The true state evolves inside a larger outer tube obtained by augmenting a set, invariant to the state estimation error, around the homothetic tube sections. The proof for recursive feasibility for the proposed "homothetic and invariant two-tube approach is provided, along with simulation results on an academic system.

This paper investigates the attitude stabilization problem for a bandwidth-constrained spacecraft subjected to model uncertainty, external disturbances, actuator faults, and saturated input. The proposed attitude controller is developed by combining the disturbance observer with an event-trigger technique to provide disturbance attenuation meanwhile respecting the constraint on the wireless control network. The proposed disturbance observer estimates the lumped disturbance within a finite time, and its output is then fed to the composite control law. The presented control scheme relaxes the use of a priori upper bound knowledge of disturbance and resolves the unwinding problem in the quaternion-based attitude representation. The closed-loop stability analysis under the proposed algorithm shows the uniformly ultimately bounded convergence of state trajectories. Moreover, the designed event trigger approach avoids the Zeno behavior. The numerical simulation with comparative analysis illustrates the efficacy of the proposed controller in terms of convergence time, steady-state bound, rate of control update, and energy consumption.

Primary auditory cortex is a critical stage in the human auditory pathway, a gateway between subcortical and higher-level cortical areas. Receiving the output of all subcortical processing, it sends its output on to higher-level cortex. Non-invasive physiological recordings of primary auditory cortex using electroencephalography (EEG) and magnetoencephalography (MEG), however, may not have sufficient specificity to separate responses generated in primary auditory cortex from those generated in underlying subcortical areas or neighboring cortical areas. This limitation is important for investigations of effects of top-down processing (e.g., selective-attention-based) on primary auditory cortex: higher-level areas are known to be strongly influenced by top-down processes, but subcortical areas are often assumed to perform strictly bottom-up processing. Fortunately, recent advances have made it easier to isolate the neural activity of primary auditory cortex from other areas. In this perspective, we focus on time-locked responses to stimulus features in the high gamma band (70-150 Hz) and with early cortical latency (similar to 40 ms), intermediate between subcortical and higher-level areas. We review recent findings from physiological studies employing either repeated simple sounds or continuous speech, obtaining either a frequency following response (FFR) or temporal response function (TRF). The potential roles of top-down processing are underscored, and comparisons with invasive intracranial EEG (iEEG) and animal model recordings are made. We argue that MEG studies employing continuous speech stimuli may offer particular benefits, in that only a few minutes of speech generates robust high gamma responses from bilateral primary auditory cortex, and without measurable interference from subcortical or higher-level areas.

Profiling of mRNA expression is an important method to identify biomarkers but complicated by limited correlations between mRNA expression and protein abundance. We hypothesised that these correlations could be improved by mathematical models based on measuring splice variants and time delay in protein translation. We characterised time-series of primary human naive CD4(+) T cells during early T helper type 1 differentiation with RNA-sequencing and mass-spectrometry proteomics. We performed computational time-series analysis in this system and in two other key human and murine immune cell types. Linear mathematical mixed time delayed splice variant models were used to predict protein abundances, and the models were validated using out-of-sample predictions. Lastly, we re-analysed RNA-seq datasets to evaluate biomarker discovery in five T-cell associated diseases, further validating the findings for multiple sclerosis (MS) and asthma. The new models significantly out-performing models not including the usage of multiple splice variants and time delays, as shown in cross-validation tests. Our mathematical models provided more differentially expressed proteins between patients and controls in all five diseases. Moreover, analysis of these proteins in asthma and MS supported their relevance. One marker, sCD27, was validated in MS using two independent cohorts for evaluating response to treatment and disease prognosis. In summary, our splice variant and time delay models substantially improved the prediction of protein abundance from mRNA expression in three different immune cell types. The models provided valuable biomarker candidates, which were further validated in MS and asthma.

A biased assimilation model of opinion dynamics is a nonlinear model, in which opinions exchanged in a social network are multiplied by a state-dependent term having the bias as exponent and expressing the bias of the agents toward their own opinions. The aim of this article is to extend the bias assimilation model to signed social networks. We show that while for structurally balanced networks, polarization to an extreme value of the opinion domain (the unit hypercube) always occurs regardless of the value of the bias, for structurally unbalanced networks, a stable state of indecision (corresponding to the centroid of the opinion domain) also appears, at least for small values of the bias. When the bias grows and passes a critical threshold, which depends on the amount of "disorder" encoded in the signed graph, then a bifurcation occurs and opinions become again polarized.

Bounded confidence opinion dynamics are dynamic networks in which agents are connected if their opinions are similar, and each agent updates her opinion as the average of the neighbors’ opinions. In homogeneous asymmetric Heglselmann–Krause (HK) models, all agents have the same confidence thresholds which could be different for the selection of upper and lower neighbors. This paper provides conditions for the convergence of the opinions to consensus and to clustering for this class of HK models. A new tighter bound on the time interval for reaching the steady state is also provided.

ObjectivesComprehension of speech in adverse listening conditions is challenging for hearing-impaired (HI) individuals. Noise reduction (NR) schemes in hearing aids (HAs) have demonstrated the capability to help HI to overcome these challenges. The objective of this study was to investigate the effect of NR processing (inactive, where the NR feature was switched off, vs. active, where the NR feature was switched on) on correlates of listening effort across two different background noise levels [+3 dB signal-to-noise ratio (SNR) and +8 dB SNR] by using a phase synchrony analysis of electroencephalogram (EEG) signals. DesignThe EEG was recorded while 22 HI participants fitted with HAs performed a continuous speech in noise (SiN) task in the presence of background noise and a competing talker. The phase synchrony within eight regions of interest (ROIs) and four conventional EEG bands was computed by using a multivariate phase synchrony measure. ResultsThe results demonstrated that the activation of NR in HAs affects the EEG phase synchrony in the parietal ROI at low SNR differently than that at high SNR. The relationship between conditions of the listening task and phase synchrony in the parietal ROI was nonlinear. ConclusionWe showed that the activation of NR schemes in HAs can non-linearly reduce correlates of listening effort as estimated by EEG-based phase synchrony. We contend that investigation of the phase synchrony within ROIs can reflect the effects of HAs in HI individuals in ecological listening conditions.

This presentation details and evaluates a method for estimating the attended speaker during a two-person conversation by means of in-ear electro-oculography (EOG). Twenty-five hearing-impaired participants were fitted with molds equipped with EOG electrodes (in-ear EOG) and wore eye-tracking glasses while watching a video of two life-size people in a dialog solving a Diapix task. The dialogue was directionally presented and together with background noise in the frontal hemisphere at 60 dB SPL. During three conditions of steering (none, in-ear EOG, conventional eye-tracking), participants comprehension was periodically measured using multiple-choice questions. Based on eye movement detection by in-ear EOG or conventional eye-tracking, the estimated attended speaker was amplified by 6 dB. In the in-ear EOG condition, the estimate was based on one selected channel pair of electrodes out of 36 possible electrodes. A novel calibration procedure introducing three different metrics was used to select the measurement channel. The in-ear EOG attended speaker estimates were compared to those of the eye-tracker. Across participants, the mean accuracy of in-ear EOG estimation of the attended speaker was 68%, ranging from 50 to 89%. Based on offline simulation, it was established that higher scoring metrics obtained for a channel with the calibration procedure were significantly associated with better data quality. Results showed a statistically significant improvement in comprehension of about 10% in both steering conditions relative to the no-steering condition. Comprehension in the two steering conditions was not significantly different. Further, better comprehension obtained under the in-ear EOG condition was significantly correlated with more accurate estimation of the attended speaker. In conclusion, this study shows promising results in the use of in-ear EOG for visual attention estimation with potential for applicability in hearing assistive devices.

This paper presents and experimentally evaluates an algorithm named Multiple Generalized Likelihood Ratio (MGLR) for detecting and estimating multiple consecutive measurement biases appearing frequently, in the case of non-redundant sensors; typically the case for a small drone or remotely piloted aerial vehicle. The algorithm itself is based on the Generalized Likelihood Ratio (GLR) algorithm by Willsky for bias detection and estimation, and introduces additional steps for continuously estimating, compensating, and eliminating measurement biases after detection. An experimental campaign using a car-mounted IMU and GNSS receiver in an urban environment shows the effectiveness of the approach to increase accuracy, consistency, and integrity of the estimate in non-redundant estimation with position measurements subject to time-varying bias.

In model-predictive control (MPC), an optimization problem has to be solved at each time step, which in real-time applications makes it important to solve these efficiently and to have good upper bounds on worst-case solution time. Often for linear MPC problems, the optimization problem in question is a quadratic program (QP) that depends on parameters such as system states and reference signals. A popular class of methods for solving such QPs is active-set methods, where a sequence of linear systems of equations is solved. We propose an algorithm for computing which sequence of subproblems an active-set algorithm will solve, for every parameter of interest. These sequences can be used to set worst-case bounds on how many iterations, floating-point operations, and, ultimately, the maximum solution time the active-set algorithm requires to converge. The usefulness of the proposed method is illustrated on a set of QPs originating from MPC problems, by computing the exact worst-case number of iterations primal and dual active-set algorithms require to reach optimality.

In this article we use high-throughput epigenomics, transcriptomics, and proteomics data to construct fine-graded models of the "protein-coding units"gathering all transcript isoforms and chromatin accessibility peaks associated with more than 4000 genes in humans. Each protein-coding unit has the structure of a directed acyclic graph (DAG) and can be represented as a Bayesian network. The factorization of the joint probability distribution induced by the DAGs imposes a number of conditional independence relationships among the variables forming a protein-coding unit, corresponding to the missing edges in the DAGs. We show that a large fraction of these conditional independencies are indeed verified by the data. Factors driving this verification appear to be the structural and functional annotation of the transcript isoforms, as well as a notion of structural balance (or frustration-free) of the corresponding sample correlation graph, which naturally leads to reduction of correlation (and hence to independence) upon conditioning.

GNSS receivers are vulnerable to spoofing attacks in which false satellite signals deceive receivers to compute false position and/or time estimates. This work derives and evaluates algorithms that perform spoofing mitigation by utilizing double differences of pseudorange or carrier phase measurements from multiple receivers. The algorithms identify pseudorange and carrier-phase measurements originating from spoofing signals, and omit these from the position and time computation. The algorithms are evaluated with simulated and live-sky meaconing attacks. The simulated spoofing attacks show that mitigation using pseudoranges is possible in these tests when the receivers are separated by five meters or more. At 20 meters, the pseudorange algorithm correctly authenticates six out of seven pseudoranges within 30 seconds in the same simulator tests. Using carrier phase allows mitigation with shorter distances between receivers, but requires better time synchronization between the receivers. Evaluations with live-sky meaconing attacks show the validity of the proposed mitigation algorithms.

We propose a linear programming method that is based on active-set changes and proximal-point iterations. The method solves a sequence of least-distance problems using a warm-started quadratic programming solver that can reuse internal matrix factorizations from the previously solved least-distance problem. We show that the proposed method terminates in a finite number of iterations and that it outperforms state-of-the-art LP solvers in scenarios where an extensive number of small/medium scale LPs need to be solved rapidly, occurring in, for example, multi-parametric programming algorithms. In particular, we show how the proposed method can accelerate operations such as redundancy removal, computation of Chebyshev centers and solving linear feasibility problems.

Motivation: The simultaneous availability of ATAC-seq and RNA-seq experiments allows to obtain a more in-depth knowledge on the regulatory mechanisms occurring in gene regulatory networks. In this article, we highlight and analyze two novel aspects that leverage on the possibility of pairing RNA-seq and ATAC-seq data. Namely we investigate the causality of the relationships between transcription factors, chromatin and target genes and the internal consistency between the two omics, here measured in terms of structural balance in the sample correlations along elementary length-3 cycles. Results: We propose a framework that uses the a priori knowledge on the data to infer elementary causal regulatory motifs (namely chains and forks) in the network. It is based on the notions of conditional independence and partial correlation, and can be applied to both longitudinal and non-longitudinal data. Our analysis highlights a strong connection between the causal regulatory motifs that are selected by the data and the structural balance of the underlying sample correlation graphs: strikingly, >97% of the selected regulatory motifs belong to a balanced subgraph. This result shows that internal consistency, as measured by structural balance, is close to a necessary condition for 3-node regulatory motifs to satisfy causality rules.

A research arena (WARA-PS) for sensing, data fusion, user interaction, planning and control of collaborative autonomous aerial and surface vehicles in public safety applications is presented. The objective is to demonstrate scientific discoveries and to generate new directions for future research on autonomous systems for societal challenges. The enabler is a computational infrastructure with a core system architecture for industrial and academic collaboration. This includes a control and command system together with a framework for planning and executing tasks for unmanned surface vehicles and aerial vehicles. The motivating application for the demonstration is marine search and rescue operations. A state-of-art delegation framework for the mission planning together with three specific applications is also presented. The first one concerns model predictive control for cooperative rendezvous of autonomous unmanned aerial and surface vehicles. The second project is about learning to make safe real-time decisions under uncertainty for autonomous vehicles, and the third one is on robust terrain-aided navigation through sensor fusion and virtual reality tele-operation to support a GPS-free positioning system in marine environments. The research results have been experimentally evaluated and demonstrated to industry and public sector audiences at a marine test facility. It would be most difficult to do experiments on this large scale without the WARA-PS research arena. Furthermore, these demonstrator activities have resulted in effective research dissemination with high public visibility, business impact and new research collaborations between academia and industry.

Introduction: By means of adding more sensor technology, modern hearing aids (HAs) strive to become better, more personalized, and self-adaptive devices that can handle environmental changes and cope with the day-to-day fitness of the users. The latest HA technology available in the market already combines sound analysis with motion activity classification based on accelerometers to adjust settings. While there is a lot of research in activity tracking using accelerometers in sports applications and consumer electronics, there is not yet much in hearing research. Objective: This study investigates the feasibility of activity tracking with ear-level accelerometers and how it compares to waist-mounted accelerometers, which is a more common measurement location. Method: The activity classification methods in this study are based on supervised learning. The experimental set up consisted of 21 subjects, equipped with two XSens MTw Awinda at ear-level and one at waist-level, performing nine different activities. Results: The highest accuracy on our experimental data as obtained with the combination of Bagging and Classification tree techniques. The total accuracy over all activities and users was 84% (ear-level), 90% (waist-level), and 91% (ear-level + waist-level). Most prominently, the classes, namely, standing, jogging, laying (on one side), laying (face-down), and walking all have an accuracy of above 90%. Furthermore, estimated ear-level step-detection accuracy was 95% in walking and 90% in jogging. Conclusion: It is demonstrated that several activities can be classified, using ear-level accelerometers, with an accuracy that is on par with waist-level. It is indicated that step-detection accuracy is comparable to a high-performance wrist device. These findings are encouraging for the development of activity applications in hearing healthcare.

We demonstrate that finite impulse response (FIR) models can be applied to analyze the time evolution of an epidemic with its impact on deaths and healthcare strain. Using time series data for COVID-19-related cases, ICU admissions and deaths from Sweden, the FIR model gives a consistent epidemiological trajectory for a simple delta filter function. This results in a consistent scaling between the time series if appropriate time delays are applied and allows the reconstruction of cases for times before July 2020, when RT-PCR testing was not widely available. Combined with randomized RT-PCR study results, we utilize this approach to estimate the total number of infections in Sweden, and the corresponding infection-to-fatality ratio (IFR), infection-to-case ratio (ICR), and infection-to-ICU admission ratio (IIAR). Our values for IFR, ICR and IIAR are essentially constant over large parts of 2020 in contrast with claims of healthcare adaptation or mutated virus variants importantly affecting these ratios. We observe a diminished IFR in late summer 2020 as well as a strong decline during 2021, following the launch of a nation-wide vaccination program. The total number of infections during 2020 is estimated to 1.3 million, indicating that Sweden was far from herd immunity.

Objectives: The investigation of auditory cognitive processes recently moved from strictly controlled, trial-based paradigms toward the presentation of continuous speech. This also allows the investigation of listening effort on larger time scales (i.e., sustained listening effort). Here, we investigated the modulation of sustained listening effort by a noise reduction algorithm as applied in hearing aids in a listening scenario with noisy continuous speech. The investigated directional noise reduction algorithm mainly suppresses noise from the background. Design: We recorded the pupil size and the EEG in 22 participants with hearing loss who listened to audio news clips in the presence of background multi-talker babble noise. We estimated how noise reduction (off, on) and signal-to-noise ratio (SNR; +3 dB, +8 dB) affect pupil size and the power in the parietal EEG alpha band (i.e., parietal alpha power) as well as the behavioral performance. Results: Our results show that noise reduction reduces pupil size, while there was no significant effect of the SNR. It is important to note that we found interactions of SNR and noise reduction, which suggested that noise reduction reduces pupil size predominantly under the lower SNR. Parietal alpha power showed a similar yet nonsignificant pattern, with increased power under easier conditions. In line with the participants reports that one of the two presented talkers was more intelligible, we found a reduced pupil size, increased parietal alpha power, and better performance when people listened to the more intelligible talker. Conclusions: We show that the modulation of sustained listening effort (e.g., by hearing aid noise reduction) as indicated by pupil size and parietal alpha power can be studied under more ecologically valid conditions. Mainly concluded from pupil size, we demonstrate that hearing aid noise reduction lowers sustained listening effort. Our study approximates to real-world listening scenarios and evaluates the benefit of the signal processing as can be found in a modern hearing aid.

We present an algorithm to estimate and quantify the uncertainty of the accelerometers relative geometry in an inertial sensor array. We formulate the calibration problem as a Bayesian estimation problem and propose an algorithm that samples the accelerometer positions posterior distribution using Markov chain Monte Carlo. By identifying linear substructures of the measurement model, the unknown linear motion parameters are analytically marginalized, and the remaining non-linear motion parameters are numerically marginalized. The numerical marginalization occurs in a low dimensional space where the gyroscopes give information about the motion. This combination of information from gyroscopes and analytical marginalization allows the user to make no assumptions of the motion before the calibration. It thus enables the user to estimate the accelerometer positions relative geometry by simply exposing the array to arbitrary twisting motion. We show that the calibration algorithm gives good results on both simulated and experimental data, despite sampling a high dimensional space.

In this paper, we propose a distributed algorithm for sensor network localization based on a maximum likelihood formulation. It relies on the Levenberg-Marquardt algorithm where the computations are distributed among different computational agents using message passing, or equivalently dynamic programming. The resulting algorithm provides a good localization accuracy, and it converges to the same solution as its centralized counterpart. Moreover, it requires fewer iterations and communications between computational agents as compared to first-order methods. The performance of the algorithm is demonstrated with extensive simulations in Julia in which it is shown that our method outperforms distributed methods that are based on approximate maximum likelihood formulations.

A computationally efficient method for online joint state inference and dynamical model learning is presented. The dynamical model combines an a priori known, physically derived, state-space model with a radial basis function expansion representing unknown system dynamics and inherits properties from both physical and data-driven modeling. The method uses an extended Kalman filter approach to jointly estimate the state of the system and learn the unknown system dynamics, via the parameters of the basis function expansion. The key contribution is a computational complexity reduction compared to a similar approach with globally supported basis functions. By using compactly supported radial basis functions and an approximate Kalman gain, the computational complexity is considerably reduced and is essentially determined by the support of the basis functions. The approximation works well when the system dynamics exhibit limited correlation between points well separated in the state-space domain. The method is exemplified via two intelligent vehicle applications where it is shown to: (i) have competitive system dynamics estimation performance compared to the globally supported basis function method, and (ii) be real-time applicable to problems with a large-scale state-space.

Objectives Previous research using non-invasive (magnetoencephalography, MEG) and invasive (electrocorticography, ECoG) neural recordings has demonstrated the progressive and hierarchical representation and processing of complex multi-talker auditory scenes in the auditory cortex. Early responses (<85 ms) in primary-like areas appear to represent the individual talkers with almost equal fidelity and are independent of attention in normal-hearing (NH) listeners. However, late responses (>85 ms) in higher-order non-primary areas selectively represent the attended talker with significantly higher fidelity than unattended talkers in NH and hearing-impaired (HI) listeners. Motivated by these findings, the objective of this study was to investigate the effect of a noise reduction scheme (NR) in a commercial hearing aid (HA) on the representation of complex multi-talker auditory scenes in distinct hierarchical stages of the auditory cortex by using high-density electroencephalography (EEG). Design We addressed this issue by investigating early (<85 ms) and late (>85 ms) EEG responses recorded in 34 HI subjects fitted with HAs. The HA noise reduction (NR) was either on or off while the participants listened to a complex auditory scene. Participants were instructed to attend to one of two simultaneous talkers in the foreground while multi-talker babble noise played in the background (+3 dB SNR). After each trial, a two-choice question about the content of the attended speech was presented. Results Using a stimulus reconstruction approach, our results suggest that the attention-related enhancement of neural representations of target and masker talkers located in the foreground, as well as suppression of the background noise in distinct hierarchical stages is significantly affected by the NR scheme. We found that the NR scheme contributed to the enhancement of the foreground and of the entire acoustic scene in the early responses, and that this enhancement was driven by better representation of the target speech. We found that the target talker in HI listeners was selectively represented in late responses. We found that use of the NR scheme resulted in enhanced representations of the target and masker speech in the foreground and a suppressed representation of the noise in the background in late responses. We found a significant effect of EEG time window on the strengths of the cortical representation of the target and masker. Conclusion Together, our analyses of the early and late responses obtained from HI listeners support the existing view of hierarchical processing in the auditory cortex. Our findings demonstrate the benefits of a NR scheme on the representation of complex multi-talker auditory scenes in different areas of the auditory cortex in HI listeners.

In parliamentary democracies, government negotiations talks following a general election can sometimes be a long and laborious process. In order to explain this phenomenon, in this paper we use structural balance theory to represent a multiparty parliament as a signed network, with edge signs representing alliances and rivalries among parties. We show that the notion of frustration, which quantifies the amount of "disorder" encoded in the signed graph, correlates very well with the duration of the government negotiation talks. For the 29 European countries considered in this study, the average correlation between frustration and government negotiation talks ranges between 0.42 and 0.69, depending on what information is included in the edges of the signed network. Dynamical models of collective decision-making over signed networks with varying frustration are proposed to explain this correlation.

A sensor management method for joint multi-target search and track problems is proposed, where a single user-defined parameter allows for a trade-off between the two objectives. The multi-target density is propagated using the Poisson multi-Bernoulli mixture filter, which eliminates the need for a separate handling of undiscovered targets and provides the theoretical foundation for a unified search and track method. Monte Carlo simulations of two scenarios are used to evaluate the performance of the proposed method.

Fifteen years have passed since the publication of Foxlins seminal paper "Pedestrian tracking with shoe-mounted inertial sensors". In addition to popularizing the zero-velocity update, Foxlin also hinted that the optimal parameter tuning of the zero-velocity detector is dependent on, for example, the users gait speed. As demonstrated by the recent influx of related studies, the question of how to properly design a robust zero-velocity detector is still an open research question. In this review, we first recount the history of foot-mounted inertial navigation and characterize the main sources of error, thereby motivating the need for a robust solution. Following this, we systematically analyze current approaches to robust zero-velocity detection, while categorizing public code and data. The article concludes with a discussion on commercialization along with guidance for future research.

The problem of joint classification of gait and device mode from inertial measurement units (IMU) measurements is considered. For this, an approach for computing unique gait signature using measurements collected from body-worn inertial measurement units (IMUs) is proposed.The gait signature represents one full cycle of the human gait, and is suitable for off-line or on-line classification of the gait mode. The signature can also be used to jointly classify the gait mode and the device mode. The device mode identifies how the IMU-equipped device is being carried by the user. The method is based on precise segmentation and resampling of the measured IMU signal, as an initial step, further tuned by minimizing the variability of the obtained signature within each gait cycle. Finally, a Fourier series expansion of the gait signature is introduced which provides a low-dimensional feature vector well suited for classification purposes. The proposed method is evaluated on a large dataset involving several subjects, each one containing two different gait modes and four different device modes.

The angular wheel speed of a vehicle is estimated by tracking the frequency of chassis vibrations measured with an accelerometer. A Bayesian filtering framework is proposed, allowing for straightforward incorporation of supporting information. The framework is evaluated on a large number of experimental test drives, showing comparable performance to the standard periodogram method. We then demonstrate the flexibility of the framework using accelerometer information in two ways, combining the high-frequency vibrations with low-frequency information about the vehicle acceleration. This is shown to improve robustness and resolve many cases where stand-alone frequency tracking fails.

A new method for nonintrusive elevator fault detection is presented. A computationally efficient algorithm for implementing the method is also proposed. The method is employed to detect when the elevator has been stationary for an unusually long period of time compared to historical traffic load patterns. This information can be used for fault detection but also indirectly to monitor the condition of the doors. The traffic load on the elevator is modeled as a nonhomogeneous Poisson process, and a generalized linear model is used to describe how the intensity of the process varies over time. A statistical hypothesis test is then used to determine if the elevator has been stationary for an unusually long time. The application of the proposed method is illustrated by an example where the detected faults are compared with the elevator service log. All faults were detected long before the service company was notified by the facility owner. Furthermore, based on the evaluation of 30 weeks of data, the method achieves a precision of 0.82 at a recall probability of 0.80.

In this letter we propose a method to exactly certify the complexity of an active-set method which is based on reformulating strictly convex quadratic programs to nonnegative least-squares problems. The exact complexity of the method is determined by proving the correspondence between the method and a standard primal active-set method for quadratic programming applied to the dual of the quadratic program to be solved. Once this correspondence has been established, a complexity certification method which has already been established for the primal active-set method is used to also certify the complexity of the nonnegative least-squares method. The usefulness of the proposed method is illustrated on a multi-parametric quadratic program originating from model predictive control of an inverted pendulum.

In multiagent dynamical systems, privacy protection corresponds to avoid disclosing the initial states of the agents while accomplishing a distributed task. The system-theoretic framework described in this paper for this scope, denoted dynamical privacy, relies on introducing output maps which act as masks, rendering the internal states of an agent indiscernible by the other agents. Our output masks are local (i.e., decided independently by each agent), time-varying functions asymptotically converging to the true states. The resulting masked system is also time-varying, and has the original unmasked system as its limit system. It is shown that dynamical privacy is not compatible with the existence of equilibria. Nevertheless the masked system retains the same convergence properties of the original system: the equilibria of the original systems become attractors for the masked system but lose the stability property. Application of dynamical privacy to popular examples of multiagent dynamics, such as models of social opinions, average consensus and synchronization, is investigated in detail. (c) 2020 Elsevier Ltd. All rights reserved.

Objectives Selectively attending to a target talker while ignoring multiple interferers (competing talkers and background noise) is more difficult for hearing-impaired (HI) individuals compared to normal-hearing (NH) listeners. Such tasks also become more difficult as background noise levels increase. To overcome these difficulties, hearing aids (HAs) offer noise reduction (NR) schemes. The objective of this study was to investigate the effect of NR processing (inactive, where the NR feature was switched off,vs.active, where the NR feature was switched on) on the neural representation of speech envelopes across two different background noise levels [+3 dB signal-to-noise ratio (SNR) and +8 dB SNR] by using a stimulus reconstruction (SR) method. Design To explore how NR processing supports the listeners selective auditory attention, we recruited 22 HI participants fitted with HAs. To investigate the interplay between NR schemes, background noise, and neural representation of the speech envelopes, we used electroencephalography (EEG). The participants were instructed to listen to a target talker in front while ignoring a competing talker in front in the presence of multi-talker background babble noise. Results The results show that the neural representation of the attended speech envelope was enhanced by the active NR scheme for both background noise levels. The neural representation of the attended speech envelope at lower (+3 dB) SNR was shifted, approximately by 5 dB, toward the higher (+8 dB) SNR when the NR scheme was turned on. The neural representation of the ignored speech envelope was modulated by the NR scheme and was mostly enhanced in the conditions with more background noise. The neural representation of the background noise was modulated (i.e., reduced) by the NR scheme and was significantly reduced in the conditions with more background noise. The neural representation of the net sum of the ignored acoustic scene (ignored talker and background babble) was not modulated by the NR scheme but was significantly reduced in the conditions with a reduced level of background noise. Taken together, we showed that the active NR scheme enhanced the neural representation of both the attended and the ignored speakers and reduced the neural representation of background noise, while the net sum of the ignored acoustic scene was not enhanced. Conclusion Altogether our results support the hypothesis that the NR schemes in HAs serve to enhance the neural representation of speech and reduce the neural representation of background noise during a selective attention task. We contend that these results provide a neural index that could be useful for assessing the effects of HAs on auditory and cognitive processing in HI populations.

Regularized system identification of linear time invariant systems in the presence of outliers is investigated. The finite impulse response (FIR) model and the Gaussian scale mixture are chosen to be the system model and the noise model, respectively. Two special cases of the noise model are considered: the well-known Students t distribution and a proposed G-confluent distribution. Both the FIR model parameter and the latent variables in the noise model are treated as parameters of our statistical model and moreover, the scale of the noise variance is treated as a hyper-parameter besides the hyper-parameters used to parameterize the priors of the impulse response and the latent variables. Then a variational expectation-maximization algorithm is proposed for inference of the parameters and hyper-parameters of the statistical model, and the algorithm is guaranteed to converge to a stationary point. Monte Carlo numerical simulations show that when the relative size of outliers is small, the proposed approach performs comparably to a state-of-the-art method and when the relative size of outliers and/or the occurrence probability of outliers is large, the proposed approach outperforms the state-of-the-art method. (C) 2020 Elsevier Ltd. All rights reserved.

Tracked targets often exhibit common behaviors due to influences from the surrounding environment, such as wind or obstacles, which are usually modeled as noise. Here, these influences are modeled using sparse Gaussian processes that are learned online together with the state inference using an extended Kalman filter. The method can also be applied to time-varying influences and identify simple dynamic systems. The method is evaluated with promising results in a simulation and a real-world application.

In the local approach to linear parameter varying (LPV) system identification, it is widely acknowledged that locally estimated linear state-space models should be made coherent before being interpolated, but the accurate meaning of the term "coherent" or "coherence" is rarely defined. The purpose of this article is to analyze the relevance of two existing definitions and to point out the consequence of this analysis on the practice of LPV system identification.

Estimation of the mean of a stochastic variable observed in noise with positive support is considered. It is well known from the literature that order statistics gives one order of magnitude lower estimation variance compared to the best linear unbiased estimator (BLUE). We provide a systematic survey of some common distributions with positive support, and provide derivations of minimum variance unbiased estimators (MVUE) based on order statistics, including BLUE for comparison. The estimators are derived with or without knowledge of the hyperparameters of the underlying noise distribution. Though the uniform, exponential and Rayleigh distributions, respectively, we consider are standard in literature, the problem of estimating the location parameter with additive noise from these distribution seems less studied, and we have not found any explicit expressions for BLUE and MVUE for these cases. In addition to additive noise with positive support, we also consider the mixture of uniform and normal noise distribution for which an order statistics-based unbiased estimator is derived. Finally, an iterative global navigation satellite system (GNSS) localization algorithm with uncertain pseudorange measurements is proposed which relies on the derived estimators for receiver clock bias estimation. Simulation data for GNSS time estimation and experimental GNSS data for joint clock bias and position estimation are used to evaluate the performance of the proposed methods.

In abstractions of linear dynamic networks, selected node signals are removed from the network, while keeping the remaining node signals invariant. The topology and link dynamics, or modules, of an abstracted network will generally be changed compared to the original network. Abstractions of dynamic networks can be used to select an appropriate set of node signals that are to be measured, on the basis of which a particular local module can be estimated. A method is introduced for network abstraction that generalizes previously introduced algorithms, as e.g. immersion and the method of indirect inputs. For this abstraction method it is shown under which conditions on the selected signals a particular module will remain invariant. This leads to sets of conditions on selected measured node variables that allow identification of the target module. (C) 2020 Elsevier Ltd. All rights reserved.

Poor road conditions in underground mine tunnels can lead to decreased production efficiency and increased wear on production vehicles. A prototype system for road condition monitoring is presented in this paper to counteract this. The system consists of three components i.e. localization, road monitoring, and scheduling. The localization of vehicles is performed using a Rao-Blackwellized extended particle filter, combining vehicle mounted sensors with signal strengths of WiFi access points. Two methods for road monitoring are described: a Kalman filter used together with a model of the vehicle suspension system, and a relative condition measure based on the power spectral density. Lastly, a method for taking automatic action on an ill-conditioned road segment is proposed in the form of a rescheduling algorithm. The scheduling algorithm is based on the large neighborhood search and is used to integrate road service activities in the short-term production schedule while minimizing introduced production disturbances. The system is demonstrated on experimental data collected in a Swedish underground mine.

We study the fundamental problem of fusing one round trip time (RTT) observation associated with a serving base station with one time-difference of arrival (TDOA) observation associated to the serving base station and a neighbor base station to localize a 2-D mobile station (MS). This situation can arise in 3GPP Long Term Evolution (LTE) when the number of reported cells of the mobile station is reduced to a minimum in order to minimize the signaling costs and to support a large number of devices. The studied problem corresponds geometrically to computing the intersection of a circle with a hyperbola, both with measurement uncertainty, which generally has two equally likely solutions. We derive an analytical representation of these two solutions that fits a filter bank framework that can keep track of different hypothesis until potential ambiguities have been resolved. Further, a performance bound for the filter bank is derived. The proposed filter bank is first evaluated in a simulated scenario, where the set of serving and neighbor base stations is changing in a challenging way. The filter bank is then evaluated on real data from a field test, where the result shows a precision better than 40 m 95% of the time.

Smartphone-based driver monitoring is quickly gaining ground as a feasible alternative to competing in-vehicle and aftermarket solutions. Currently the main challenges for data analysts studying smartphone-based driving data stem from the mobility of the smartphone. In this paper, we use kernel-based k-means clustering to infer the placement of smartphones within vehicles. The trip segments are mapped into fifteen different placement clusters. As a part of the presented framework, we discuss practical considerations concerning e.g., trip segmentation, cluster initialization, and parameter selection. The proposed method is evaluated on more than 10 000 kilometers of driving data collected from approximately 200 drivers. To validate the interpretation of the clusters, we compare the data associated with different clusters and relate the results to real-world knowledge of driving behavior. The clusters associated with the label "Held by hand" are shown to display high gyroscope variances, low maximum speeds, low correlations between the measurements from smartphone-embedded and vehicle-fixed accelerometers, and short segment durations.

Gearbox failures cost thousands of lost production hours in plants that use industrial robots. In this context, an automated monitoring system that can warn the user of an impending failure can save precious resources. This problem has been addressed in many other domains through the use of machine learning approaches. However, standard machine learning algorithms are limited in their ability to detect gearbox failures, mainly due to task variability arises from robot-specific data. To improve detection performance of machine learning approaches, in this paper we propose techniques to curate the data prior to building a classification model. In a systematic hypothesis-driven study exploring the effect of different preprocessing techniques, we evaluate training data augmentation with estimated measurements, data differencing to suppress task dependence, inclusion of local variation, and selection of principal components on data collected from 26 industrial robots from the field. Our results show that preprocessing techniques improve the failure detection performance.

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People with hearing impairment typically have difficulties following conversations in multi-talker situations. Previous studies have shown that utilizing eye gaze to steer audio through beamformers could be a solution for those situations. Recent studies have shown that in-ear electrodes that capture electrooculography in the ear (EarEOG) can estimate the eye-gaze relative to the head, when the head was fixed. The head movement can be estimated using motion sensors around the ear to create an estimate of the absolute eye-gaze in the room. In this study, an experiment was designed to mimic a multi-talker situation in order to study and model the EarEOG signal when participants attempted to follow a conversation. Eleven hearing impaired participants were presented speech from the DAT speech corpus (Bo Nielsen et al., 2014), with three targets positioned at -30 degrees, 0 degrees and +30 degrees azimuth. The experiment was run in two setups: one where the participants had their head fixed in a chinrest, and the other where they were free to move their head. The participants task was to focus their visual attention on an LED-indicated target that changed regularly. A model was developed for the relative eye-gaze estimation, taking saccades, fixations, head movement and drift from the electrode-skin half-cell into account. This model explained 90.5% of the variance of the EarEOG when the head was fixed, and 82.6% when the head was free. The absolute eye-gaze was also estimated utilizing that model. When the head was fixed, the estimation of the absolute eye-gaze was reliable. However, due to hardware issues, the estimation of the absolute eye-gaze when the head was free had a variance that was too large to reliably estimate the attended target. Overall, this study demonstrated the potential of estimating absolute eye-gaze using EarEOG and motion sensors around the ear.

In this paper, we introduce an optimal average cost learning framework to solve output regulation problem for linear systems with unknown dynamics. Our optimal framework aims to design the controller to achieve output tracking and disturbance rejection while minimizing the average cost. We derive the Hamilton-Jacobi-Bellman (HJB) equation for the optimal average cost problem and develop a reinforcement algorithm to solve it. Our proposed algorithm is an off-policy routine which learns the optimal average cost solution completely model-free. We rigorously analyze the convergence of the proposed algorithm. Compared to previous approaches for optimal tracking controller design, we elevate the need for judicious selection of the discounting factor and the proposed algorithm can be implemented completely model-free. We support our theoretical results with a simulation example. (C) 2019 Elsevier Ltd. All rights reserved.

This letter deals with the issue of obtaining consistent parameter estimators in nonlinear regression models where the regressors are second-order modulus functions, which is a structure that is often used in models of marine vessels. It is shown that the accuracy of an instrumental variable estimator can be improved by conducting experiments where the input signal has a static offset of sufficient amplitude and the instruments are forced to have zero mean. The proposed method is then evaluated in a simulation example.

System Identification is about estimating models of dynamical systems from measured input-output data. Its traditional foundation is basic statistical techniques, such as maximum likelihood estimation and asymptotic analysis of bias and variance and the like. Maximum likelihood estimation relies on minimization of criterion functions that typically are non-convex, and may cause numerical search problems and estimates trapped in local minima. Recent interest in identification algorithms has focused on techniques that are centered around convex formulations. This is partly the result of developments in semidefinite programming, machine learning and statistical learning theory. The development concerns issues of regular-ization for sparsity and for better tuned bias/variance trade-offs. It also involves the use of subspace methods as well as nuclear norms as proxies to rank constraints. A special approach is to look for difference-of-convex programming (DCP) formulations, in case a pure convex criterion is not found. Other techniques are based on Lagrangian relaxation and contraction theory. A quite different route to convexity is to use algebraic techniques to manipulate the model parameterizations. This article will illustrate all this recent development.

The problem of estimating continuous-time model parameters of linear dynamical systems using sampled time-domain input and output data has received considerable attention over the past decades and has been approached by various methods. The research topic also bears practical importance due to both its close relation to first principles modelling and equally to linear model-based control design techniques, most of them carried in continuous time. Nonetheless, as the performance of the existing algorithms for continuous-time model identification has seldom been assessed and, as thus far, it has not been considered in a comprehensive study, this practical potential of existing methods remains highly questionable. The goal of this brief paper is to bring forward a first study on this issue and to factually highlight the main aspects of interest. As such, an analysis is performed on a benchmark designed to be consistent both from a system identification viewpoint and from a control-theoretic one. It is concluded that robust initialization aspects require further research focus towards reliable algorithm development. (C) 2019 Elsevier Ltd. All rights reserved.

Model predictive control (MPC) is one of the most widely spread advanced control schemes in industry today. In MPC, a constrained finite-time optimal control (CFTOC) problem is solved at each iteration in the control loop. The CFTOC problem can be solved using, for example, second-order methods, such as interior-point or active-set methods, where the computationally most demanding part often consists of computing the sequence of second-order search directions. Each search direction can be computed by solving a set of linear equations that corresponds to solving an unconstrained finite-time optimal control (UFTOC) problem. In this paper, different direct (noniterative) parallel algorithms for solving UFTOC problems are presented. The parallel algorithms are all based on a recursive variable elimination and solution propagation technique. Numerical evaluations of one of the parallel algorithms indicate that a significant boost in performance can be obtained, which can facilitate high-performance second-order MPC solvers.

Some controllability aspects for iterative learning control (ILC) are discussed. Via a batch (lifted) description of the problem a state space model of the system to be controlled is formulated in the iteration domain. This model provides insight and enables analysis of the conditions for and relationships between controllability, output controllability and target path controllability. In addition, the property miminum lead target path controllability is introduced. This property, which is connected to the number of time delays, plays an important role in the design of ILC algorithms. The properties are illustrated by a numerical example.

To optimally compensate for time-varying phase aberrations with adaptive optics, a model of the dynamics of the aberrations is required to predict the phase aberration at the next time step. We model the time-varying behavior of a phase aberration, expressed in Zernike modes, by assuming that the temporal dynamics of the Zernike coefficients can be described by a vector-valued autoregressive (VAR) model. We propose an iterative method based on a convex heuristic for a rank-constrained optimization problem, to jointly estimate the parameters of the VAR model and the Zernike coefficients from a time series of measurements of the point-spread function (PSF) of the optical system. By assuming the phase aberration is small, the relation between aberration and PSF measurements can be approximated by a quadratic function. As such, our method is a blind identification method for linear dynamics in a stochastic Wiener system with a quadratic nonlinearity at the output and a phase retrieval method that uses a time-evolution-model constraint and a single image at every time step. (c) 2019 Optical Society of America.

In this paper, a robotic arm moving along a user-defined trajectory is used to calibrate a short-range magnetic positioning system (MPS). Such system estimates the position and attitude of an active transmitting coil by measuring the induced voltage on a set of fixed receiving coils, with known position and orientation. This estimate is obtained by solving an optimization problem that can be decomposed into a linear and a reduced nonlinear problem. Then, a Kalman Filter is used to process the estimated positions and obtain smooth trajectories. Data acquisition and processing are performed in real time by the MPS. In this context, the robotic arm is used to provide ground truth, i.e., to move the active coil along a known trajectory, while simultaneously the MPS estimates the position of the active coil. Such ground-truth information is then used to calibrate the MPS and improve its accuracy. To align the robotic arm with the MPS, a preliminary calibration procedure of the robot is performed. Then, a wide ground-truth trajectory is used to estimate the calibration parameters of the MPS itself, namely, the positions and orientation of the fixed coils. To validate the efficiency of the calibration procedure, the accuracy of the MPS is evaluated across several trajectories. The results show that the mean positioning error is less than 3 mm. Finally, an on-the-fly calibration method simultaneously estimating positions and attitudes of both the active coil and all the receivers is investigated.

Auditory attention identification methods attempt to identify the sound source of a listeners interest by analyzing measurements of electrophysiological data. We present a tutorial on the numerous techniques that have been developed in recent decades, and we present an overview of current trends in multivariate correlation-based and model-based learning frameworks. The focus is on the use of linear relations between electrophysiological and audio data. The way in which these relations are computed differs. For example, canonical correlation analysis (CCA) finds a linear subset of electrophysiological data that best correlates to audio data and a similar subset of audio data that best correlates to electrophysiological data. Model-based (encoding and decoding) approaches focus on either of these two sets. We investigate the similarities and differences between these linear model philosophies. We focus on (1) correlation-based approaches (CCA), (2) encoding/decoding models based on dense estimation, and (3) (adaptive) encoding/decoding models based on sparse estimation. The specific focus is on sparsity-driven adaptive encoding models and comparing the methodology in state-of-the-art models found in the auditory literature. Furthermore, we outline the main signal processing pipeline for how to identify the attended sound source in a cocktail party environment from the raw electrophysiological data with all the necessary steps, complemented with the necessary MATLAB code and the relevant references for each step. Our main aim is to compare the methodology of the available methods, and provide numerical illustrations to some of them to get a feeling for their potential. A thorough performance comparison is outside the scope of this tutorial.

Complex eukaryotic promoters normally contain multiple cis-regulatory sequences for different transcription factors (TFs). The binding patterns of the TFs to these sites, as well as the way the TFs interact with each other and with the RNA polymerase (RNAp), lead to combinatorial problems rarely understood in detail, especially under varying epigenetic conditions. The aim of this paper is to build a model describing how the main regulatory cluster of the olfactory receptor Or59b drives transcription of this gene in Drosophila. The cluster-driven expression of this gene is represented as the equilibrium probability of RNAp being bound to the promoter region, using a statistical thermodynamic approach. The RNAp equilibrium probability is computed in terms of the occupancy probabilities of the single TFs of the cluster to the corresponding binding sites, and of the interaction rules among TFs and RNAp, using experimental data of Or59b expression to tune the model parameters. The model reproduces correctly the changes in RNAp binding probability induced by various mutation of specific sites and epigenetic modifications. Some of its predictions have also been validated in novel experiments.

Recently, the measurement of the pupil dilation response has been applied in many studies to assess listening effort. Meanwhile, the mechanisms underlying this response are still largely unknown. We present the results of a method that separates the influence of the parasympathetic and sympathetic branches of the autonomic nervous system on the pupil response during speech perception. This is achieved by changing the background illumination level. In darkness, the influence of the parasympathetic nervous system on the pupil response is minimal, whereas in light, there is an additional component from the parasympathetic nervous system. Nineteen hearing-impaired and 27 age-matched normal-hearing listeners performed speech reception threshold tests targeting a 50% correct performance level while pupil responses were recorded. The target speech was masked with a competing talker. The test was conducted twice, once in dark and once in a light condition. Need for Recovery and Checklist Individual Strength questionnaires were acquired as indices of daily-life fatigue. In dark, the peak pupil dilation (PPD) did not differ between the two groups, but in light, the normal-hearing group showed a larger PPD than the hearing-impaired group. Listeners with better hearing acuity showed larger differences in dilation between dark and light. These results indicate a larger effect of parasympathetic inhibition on the pupil dilation response of listeners with better hearing acuity, and a relatively high parasympathetic activity in those with worse hearing. Previously observed differences in PPD between normal and impaired listeners are probably not solely because of differences in listening effort.

Electrophysiological feedback on activity in the auditory pathway may potentially advance the next generation of hearing aids. Conventional electroencephalographic (EEG) systems are, however, impractical during daily life and incompatible with hearing aids. Ear-EEG is a method in which the EEG is recorded from electrodes embedded in a hearing aid like earpiece. The method therefore provides an unobtrusive way of measuring neural activity suitable for use in everyday life. This study aimed to determine whether ear-EEG could be used to estimate hearing thresholds in subjects with sensorineural hearing loss. Specifically, ear-EEG was used to determine physiological thresholds at 0.5, 1, 2, and 4 kHz using auditory steady-state response measurements. To evaluate ear-EEG in relation to current methods, thresholds were estimated from a concurrently recorded conventional scalp EEG. The threshold detection rate for ear-EEG was 20% lower than the detection rate for scalp EEG. Thresholds estimated using in-ear referenced ear-EEG were found to be elevated at an average of 5.9, 2.3, 5.6, and 1.5 dB relative to scalp thresholds at 0.5, 1, 2, and 4 kHz, respectively. No differences were found in the variance of means between in-ear ear-EEG and scalp EEG. In-ear ear-EEG, auditory steady-state response thresholds were found at 12.1 to 14.4 dB sensation level with an intersubject variation comparable to that of behavioral thresholds. Collectively, it is concluded that although further refinement of the method is needed to optimize the threshold detection rate, ear-EEG is a feasible method for hearing threshold level estimation in subjects with sensorineural hearing impairment.

Input design is an important issue for classical system identification methods but has not been investigated for the kernel-based regularization method (KRM) until very recently. In this paper, we consider the input design problem of KRMs for LTI system identification. Different from the recent result, we adopt a Bayesian perspective and in particular make use of scalar measures (e.g., the A-optimality, D-optimality, and E-optimality) of the Bayesian mean square error matrix as the design criteria subject to power-constraint on the input. Instead of solving the optimization problem directly, we propose a two-step procedure. In the first step, by making suitable assumptions on the unknown input, we construct a quadratic map (transformation) of the input such that the transformed input design problems are convex, and the global minima of the transformed input design problem can thus be found efficiently by applying well-developed convex optimization software packages. In the second step, we derive the characterization of the optimal input based on the global minima found in the first step by solving the inverse image of the quadratic map. In addition, we derive analytic results for some special types of kernels, which provide insights on the input design and also its dependence on the kernel structure. (C) 2018 Elsevier Ltd. All rights reserved.

In this paper. we develop new methods to automatically detect the onset and duration of freezing of gait (FOG) in people with Parkinson disease (PD) in real time, using inertial sensors. We first build a physical model that describes the trembling motion during the FOG events. Then, we design a generalized likelihood ratio test framework to develop a two-stage detector for determining the zero-velocity and trembling events during gait. Thereafter, to filter out falsely detected FOG events, we develop a point-process filter that combines the output of the detectors with information about the speed of the foot, provided by a foot-mounted inertial navigation system. We computed the probability of FOG by using the point-process filter to determine the onset and duration of the FOG event. Finally, we validate the performance of the proposed system design using real data obtained from people with PD who performed a set of gait tasks. We compare our FOG detection results with an existing method that only uses accelerometer data. The results indicate that our method yields 81.03% accuracy in detecting FOG events and a threefold decrease in the false-alarm rate relative to the existing method.

This work investigates the energy consumption of industrial robots in the context of automotive industry. The purpose is to identify the most influencing parameters and variables and to propose best practices with focus on energy efficiency. The analysis approach is composed of three experiments performed in a simulation environment that test different values of programming parameters and variables, such as joint speed, acceleration, robot payload. The first experiment focuses on energy consumption of robots at standstill. The second one considers the robot moving along different paths. Finally, the third one analyses how the joint friction is affected by load, speed and temperature and how it influences the energy consumption. Results show that at standstill, it is important to reduce dwell time, select an energy efficient position and reduce the programmed value of the timer responsible for turning off the servomotors. While moving, it is important to select maximum continuous termination for intermediate points and avoid low speeds. Regarding friction variation, results show that at high motor speed, low temperatures increase energy consumption. In order to evaluate the contribution of the best practices in a real environment, they are applied to a welding robotic cell of an automotive industry.

Model predictive control (MPC) represents nowadays one of the main methods employed for process control in industry. Its strong suits comprise a simple algorithm based on a straightforward formulation and the flexibility to deal with constraints. On the other hand, it can be questioned its robustness regarding model uncertainties and external noises. Thus, a lot of efforts have been spent in the past years into the search of methods to address these shortcomings. In this study, the authors propose a robust MPC controller which stems from the idea of adding robustness in the prediction phase of the algorithm while leaving the core of MPC untouched. More precisely, they consider a robust Kalman filter that has been recently introduced and they further extend its usability to feedback control systems. Overall the proposed control algorithm allows to maintain all of the advantages of MPC with an additional improvement in performance and without any drawbacks in terms of computational complexity. To test the actual reliability of the algorithm, they apply it to control a servomechanism system characterised by non-linear dynamics.

The aim of this paper is to modify continuous-time bounded confidence opinion dynamics models so that "changes of opinion" (intended as changes of the sign of the initial states) are never induced during the evolution. Such sign invariance can be achieved by letting opinions of different sign localized near the origin interact negatively, or neglect each other, or even repel each other. In all cases, it is possible to obtain sign-preserving bounded confidence models with state-dependent connectivity and with a clustering behavior similar to that of a standard bounded confidence model. (C) 2018 Elsevier Ltd. All rights reserved.

Sleep scoring is used as a diagnostic technique in the diagnosis and treatment of sleep disorders. Automated sleep scoring is crucial, since the large volume of data should be analyzed visually by the sleep specialists which is burdensome, time-consuming tedious, subjective, and error prone. Therefore, automated sleep stage classification is a crucial step in sleep research and sleep disorder diagnosis. In this paper, a robust system, consisting of three modules, is proposed for automated classification of sleep stages from the single-channel electroencephalogram (EEG). In the first module, signals taken from Pz-Oz electrode were denoised using multiscale principal component analysis. In the second module, the most informative features are extracted using discrete wavelet transform (DWT), and then, statistical values of DWT subbands are calculated. In the third module, extracted features were fed into an ensemble classifier, which can be called as rotational support vector machine (RotSVM). The proposed classifier combines advantages of the principal component analysis and SVM to improve classification performances of the traditional SVM. The sensitivity and accuracy values across all subjects were 84.46% and 91.1%, respectively, for the five-stage sleep classification with Cohens kappa coefficient of 0.88. Obtained classification performance results indicate that, it is possible to have an efficient sleep monitoring system with a single-channel EEG, and can be used effectively in medical and home-care applications.

Distributed algorithms for solving coupled semidefinite programs commonly require many iterations to converge. They also put high computational demand on the computational agents. In this paper, we show that in case the coupled problem has an inherent tree structure, it is possible to devise an efficient distributed algorithm for solving such problems. The proposed algorithm relies on predictor- corrector primal-dual interior-point methods, where we use a message-passing algorithm to compute the search directions distributedly. Message passing here is closely related to dynamic programming over trees. This allows us to compute the exact search directions in a finite number of steps. This is because computing the search directions requires a recursion over the tree structure and, hence, terminates after an upward and downward pass through the tree. Furthermore, this number can be computed a priori and only depends on the coupling structure of the problem. We use the proposed algorithm for analyzing robustness of large-scale uncertain systems distributedly. We test the performance of this algorithm using numerical examples.

The commercial interest in proximity services is increasing. Application examples include location-based information and advertisements, logistics, social networking, file sharing, etc. In this paper, we consider positioning of devices based on a time series of proximity reports from a mobile device to a network node. This corresponds to nonlinear measurements with respect to the device position in relation to the network nodes. Motion model will be needed together with the measurements to determine the position of the device. Therefore, sequential Monte Carlo methods, namely particle filtering and smoothing, are applicable for positioning. Positioning performance is evaluated in a typical office area with Bluetooth-low-energy beacons deployed for proximity detection and report, and is further compared to parametric Cramér-Rao lower bounds. Finally, the position accuracy is also evaluated with real experimental data.

Identification of structured state-space (gray-box) model is popular for modeling physical and network systems. Due to the non-convex nature of the gray-box identification problem, good initial parameter estimates are crucial for successful applications. In this paper, the non-convex gray-box identification problem is reformulated as a structured low-rank matrix factorization problem by exploiting the rank and structured properties of a block Hankel matrix constructed by the system impulse response. To address the low-rank optimization problem, it is first transformed into a difference-of-convex (DC) formulation and then solved using the sequentially convex relaxation method. Compared with the classical gray-box identification methods like the prediction-error method (PEM), the new approach turns out to be more robust against converging to non-global minima, as supported by a simulation study. The developed identification can either be directly used for gray-box identification or provide an initial parameter estimate for the PEM. (C) 2018 Elsevier Ltd. All rights reserved.

The aim of this paper is to shed light on the problem of controlling a complex network with minimal control energy. We show first that the control energy depends on the time constant of the modes of the network, and that the closer the eigenvalues are to the imaginary axis of the complex plane, the less energy is required for complete controllability. In the limit case of networks having all purely imaginary eigenvalues (e.g. networks of coupled harmonic oscillators), several constructive algorithms for minimum control energy driver node selection are developed. A general heuristic principle valid for any directed network is also proposed: the overall cost of controlling a network is reduced when the controls are concentrated on the nodes with highest ratio of weighted outdegree vs indegree.

In Model Predictive Control (MPC), the control input is computed by solving a constrained finite-time optimal control (CFTOC) problem at each sample in the control loop. The main computational effort when solving the CFTOC problem using an active-set (AS) method is often spent on computing the search directions, which in MPC corresponds to solving unconstrained finite-time optimal control (UFTOC) problems. This is commonly performed using Riccati recursions or generic sparsity exploiting algorithms. In this work the focus is efficient search direction computations for AS type methods. The system of equations to be solved at each AS iteration is changed only by a low-rank modification of the previous one, and exploiting this structured change is important for the performance of AS type solvers. In this paper, theory for how to exploit these low-rank changes by modifying the Riccati factorization between AS iterations in a structured way is presented. A numerical evaluation of the proposed algorithm shows that the computation time can be significantly reduced by modifying, instead of re-computing, the Riccati factorization. This speed-up can be important for AS type solvers used for linear, nonlinear and hybrid MPC.

Merge scenarios confront drivers with some of the most complicated driving maneuvers in every day driving, requiring anticipatory reasoning of positions of other vehicles, and the own vehicles future trajectory. In congested traffic it might be impossible to merge without cooperation of up-stream vehicles, therefore, it is essential to gauge the effect of our own trajectory when planning a merge maneuver. For an autonomous vehicle to perform a merge maneuver in congested traffic similar capabilities are required. This includes a model describing the future evolution of the scene that allows for optimizing the autonomous vehicle's planned trajectory with respect to risk, comfort, and dynamical limitations. We present a probabilistic model that explicitly models interaction between vehicles and allows for evaluating the utility of a large number of candidate trajectories of an autonomous vehicle using a receding horizon approach in order to select an appropriate merge maneuver. The model is an extension of the intelligent driver model and the modeled behavior of other vehicles are adjusted using on-line model parameter estimation in order to give better predictions. The prediction model is evaluated using naturalistic traffic data and the merge maneuver planner is evaluated in simulation.

State-space smoothing has found many applications in science and engineering. Under linear and Gaussian assumptions, smoothed estimates can be obtained using efficient recursions, for example Rauch Tung Striebel and Mayne Fraser algorithms. Such schemes are equivalent to linear algebraic techniques that minimize a convex quadratic objective function with structure induced by the dynamic model. These classical formulations fall short in many important circumstances. For instance, smoothers obtained using quadratic penalties can fail when outliers are present in the data, and cannot track impulsive inputs and abrupt state changes. Motivated by these shortcomings, generalized Kalman smoothing formulations have been proposed in the last few years, replacing quadratic models with more suitable, often nonsmooth, convex functions. In contrast to classical models, these general estimators require use of iterated algorithms, and these have received increased attention from control, signal processing, machine learning, and optimization communities. In this survey we show that the optimization viewpoint provides the control and signal processing community great freedom in the development of novel modeling and inference frameworks for dynamical systems. We discuss general statistical models for dynamic systems, making full use of nonsmooth convex penalties and constraints, and providing links to important models in signal processing and machine learning. We also survey optimization techniques for these formulations, paying close attention to dynamic problem structure. Modeling concepts and algorithms are illustrated with numerical examples. (C) 2017 Elsevier Ltd. All rights reserved.

The ensemble Kalman filter (EnKF) is a Monte Carlo-based implementation of the Kalman filter (KF) for extremely high-dimensional, possibly nonlinear, and non-Gaussian state estimation problems. Its ability to handle state dimensions in the order of millions has made the EnKF a popular algorithm in different geoscientific disciplines. Despite a similarly vital need for scalable algorithms in signal processing, e.g., to make sense of the ever increasing amount of sensor data, the EnKF is hardly discussed in our field. This self-contained review is aimed at signal processing researchers and provides all the knowledge to get started with the EnKF. The algorithm is derived in a KF framework, without the often encountered geoscientific terminology. Algorithmic challenges and required extensions of the EnKF are provided, as well as relations to sigma point KF and particle filters. The relevant EnKF literature is summarized in an extensive survey and unique simulation examples, including popular benchmark problems, complement the theory with practical insights. The signal processing perspective highlights new directions of research and facilitates the exchange of potentially beneficial ideas, both for the EnKF and high-dimensional nonlinear and non-Gaussian filtering in general.

Passive magnetic sensors measure the magnetic field density in three axes and are often integrated on a single chip. These low-cost sensors are widely used in car navigation as well as in battery powered navigation equipment such as smartphones as part of an electronic compass. We focus on a train localization application with multiple, exclusively onboard sensors and a track map. This approach is considered as a base technology for future railway applications such as collision avoidance systems or autonomous train driving. In this paper, we address the following question: how beneficial are passive magnetic measurements for train localization? We present and analyze measurements of two different magnetometers recorded on a regional train at regular passenger service. We show promising correlations of the measurements with the track positions and the traveled switch way. The processed data reveals that the railway environment has repeatable, location-dependent magnetic signatures. This is considered as a novel approach to train localization, as the use of these magnetic signals at first view is not obvious. The proposed methods based on passive magnetic measurements show a high potential to be integrated in new and existing train localization approaches.

We propose a novel class of Sequential Monte Carlo (SMC) algorithms, appropriate for inference in probabilistic graphical models. This class of algorithms adopts a divide-and-conquer approach based upon an auxiliary tree-structured decomposition of the model of interest, turning the overall inferential task into a collection of recursively solved subproblems. The proposed method is applicable to a broad class of probabilistic graphical models, including models with loops. Unlike a standard SMC sampler, the proposed divide-and-conquer SMC employs multiple independent populations of weighted particles, which are resampled, merged, and propagated as the method progresses. We illustrate empirically that this approach can outperform standard methods in terms of the accuracy of the posterior expectation and marginal likelihood approximations. Divide-and-conquer SMC also opens up novel parallel implementation options and the possibility of concentrating the computational effort on the most challenging subproblems. We demonstrate its performance on a Markov random field and on a hierarchical logistic regression problem. Supplementary materials including proofs and additional numerical results are available online.

A platform for sensor fusion consisting of a standard smartphone equipped with the specially developed Sensor Fusion appis presented. The platform enables real-time streaming of data over WiFi to a computer where signal processingalgorithms, e.g., the Kalman filter, can be developed and executed in a Matlab framework. The platform is an excellenttool for educational purposes and enables learning activities where methods based on advanced theory can be implementedand evaluated at low cost. The article describes the app and a laboratory exercise developed around these new technologicalpossibilities. The laboratory session is part of a course in sensor fusion, a signal processing continuation course focused onmultiple sensor signal applications, where the goal is to give the students hands on experience of the subject. This is done byestimating the orientation of the smartphone, which can be easily visualized and also compared to the built-in filters in thesmartphone. The filter can accept any combination of sensor data from accelerometers, gyroscopes, and magnetometers toexemplify their importance. This way different tunings and tricks of important methods are easily demonstrated andevaluated on-line. The presented framework facilitates this in a way previously impossible.

Bayesian nonparametric approaches have been recently introduced in system identification scenario where the impulse response is modeled as the realization of a zero-mean Gaussian process whose covariance (kernel) has to be estimated from data. In this scheme, quality of the estimates crucially depends on the parametrization of the covariance of the Gaussian process. A family of kernels that have been shown to be particularly effective in the system identification framework is the family of Diagonal/Correlated (DC) kernels. Maximum entropy properties of a related family of kernels, the Tuned/Correlated (TC) kernels, have been recently pointed out in the literature. In this technical note, we show that maximum entropy properties indeed extend to the whole family of DC kernels. The maximum entropy interpretation can be exploited in conjunction with results on matrix completion problems in the graphical models literature to shed light on the structure of the DC kernel. In particular, we prove that the DC kernel admits a closed-form factorization, inverse, and determinant. These results can be exploited both to improve the numerical stability and to reduce the computational complexity associated with the computation of the DC estimator.

In this paper the main goal is to compare the instrumental variables and the least squares methods applied to parameter estimation in continuous-time systems, avoiding any preliminary discretization of the process, and to analyse which method is more suitable for estimation in continuous-time under stochastic perturbations. A numerical example illustrates the effectiveness of the algorithms.

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The general Simultaneous Localisation and Mapping (SLAM) problem aims at estimating the state of a moving platform simultaneously with building a map of the local environment. There are essentially three classes of algorithms. EKF- SLAM and FastSLAM solve the problem on-line, while Nonlinear Least Squares (NLS) is a batch method. All of them scales badly with either the state dimension, the map dimension or the batch length. We investigate the EM algorithm for solving a generalized version of the NLS problem. This EM-SLAM algorithm solves two simpler problems iteratively, hence it scales much better with dimensions. The iterations switch between state estimation, where we propose an Extended Rauch-Tung-Striebel smoother, and map estimation, where a quasi-Newton method is suggested. The proposed method is evaluated in real experiments and also in simulations on a platform with a monocular camera attached to an inertial measurement unit. It is demonstrated to produce lower RMSE than with a standard Levenberg-Marquardt solver of NLS problem, at a computational cost that increases considerably slower. 

Mathematical models of real life systems and processes are essential in today’s industrial work. To be able to construct such models is therefore a fundamental skill in modern engineering...

In this chapter we show that chordal structure can be used to devise efficient optimization methods for many common model predictive control problems. The chordal structure is used both for computing search directions efficiently as well as for distributing all the other computations in an interior-point method for solving the problem. The chordal structure can stem both from the sequential nature of the problem as well as from distributed formulations of the problem related to scenario trees or other formulations. The framework enables efficient parallel computations.

This paper considers fusion of dimension-reduced estimates in a decentralized sensor network. The benefits of a decentralized sensor network include modularity, robustness and flexibility. Moreover, since preprocessed data is exchanged between the agents it allows for reduced communication. Nevertheless, in certain applications the communication load is required to be reduced even further. One way to decrease the communication load is to exchange dimension-reduced estimates instead of full estimates. Previous work on this topic assumes global availability of covariance matrices, an assumption which is not realistic in decentralized applications. Hence, in this paper we consider the problem of deriving dimension-reduced estimates using only local information. The proposed solution is based on an estimate of the information common to the network. This common information estimate is computed locally at each agent by fusion of all information that is either received or transmitted by that agent. It is shown how the common information estimate is utilized for fusion of dimension-reduced estimates using two well-known fusion methods: the Kalman fuser which is optimal under the assumption of uncorrelated estimates, and covariance intersection. One main theoretical result is that the common information estimate allows for a decorrelation procedure such that uncorrelated estimates can be maintained. This property is crucial to be able to use the Kalman fuser without double counting of information. A numerical comparison suggests that the performance degradation of using the common information estimate, compared to having local access to the actual covariance matrices computed by other agents, is relatively small.

Asymptotic theory for the regularized system identification has received increasing interests in recent years. In this paper, for the finite impulse response (FIR) model and filtered white noise inputs, we show the convergence in distribution of the Steins unbiased risk estimator (SURE) based hyper-parameter estimator and find factors that influence its convergence properties. In particular, we consider the ridge regression case to obtain closed-form expressions of the limit of the regression matrix and the variance of the limiting distribution of the SURE based hyper-parameter estimator, and then demonstrate their relation numerically.

When Model Predictive Control (MPC) is used in real-time to control linear systems, quadratic programs (QPs) need to be solved within a limited time frame. Recently, several parametric methods have been proposed that certify the number of computations active-set QP solvers require to solve these QPs. These certification methods, hence, ascertain that the optimization problem can be solved within the limited time frame. A shortcoming in these methods is, however, that they do not account for numerical errors that might occur internally in the solvers, which ultimately might lead to optimistic complexity bounds if, for example, the solvers are implemented in single precision. In this paper we propose a general framework that can be incorporated in any of these certification methods to account for such numerical errors.

Model predictive control (MPC) with linear cost function for hybrid systems requires the solution of a mixed-integer linear program (MILP) at each sampling time. The branch and bound (B&B) method is a commonly used tool for solving mixed-integer problems. In this work, we present an algorithm to exactly certify the computational complexity of a standard B&B-based MILP solver. By the proposed method, guarantees on worst-case complexity bounds, e.g., the worst-case iterations or size of the B&B tree, are provided. This knowledge is a fundamental requirement for the implementation of MPC in a real-time system. Different node selection strategies, including best-first, are considered when certifying the complexity of the B&B method. Furthermore, the proposed certification algorithm is extended to consider warm-starting of the inner solver in the B&B. We illustrate the usefulness of the proposed algorithm by comparing against the corresponding online MILP solver in numerical experiments using both cold-started and warm-started LP solvers.

Challenge-based learning (CBL) is a learning approach that has received increased attention during  the last years. In some of the publications about CBL the connections to the CDIO (conceive-design-implement-operate) framework is discussed, and the purpose of this paper is to discuss these connections further. CBL has connections to both Problem-based learning (PBL) and Project-based learning (PjBL), but while these are learning approaches, the CDIO framework has a program perspective, including aspects of learning approaches, and hence a wider scope. The connections and differences between CBL and CDIO are discussed based on the components of the CDIO Standards.  

A theoretically sound likelihood function for passive sonar surveillance using a hydrophone array is presented. The likelihood is derived from first order principles along with the assumption that the source signal can be approximated as white Gaussian noise within the considered frequency band. The resulting likelihood is a nonlinear function of the delay-and-sum beamformer response and signal-to-noise ratio (SNR). Evaluation of the proposed likelihood function is done by using it in a Bernoulli filter based track-before-detect (TkBD) framework. As a reference, the same TkBD framework, but with another beamforming response based likelihood, is used. Results from Monte-Carlo simulations of two bearings-only tracking scenarios are presented. The results show that the TkBD framework with the proposed likelihood yields an approx. 10 seconds faster target detection for a target at an SNR of -27 dB, and a lower bearing tracking error. Compared to a classical detect-and-track target tracker, the TkBD framework with the proposed likelihood yields 4 dB to 5 dB detection gain.

This paper presents a variant of the Traveling Salesman Problem (TSP) with nonholonomic constraints and dynamic obstacles, with optimal control applications in the mining industry. The problem is discretized and an approach for solving the discretized problem to optimality is proposed. The proposed approach solves the three subproblems (waypoint ordering, heading at each waypoint and motion planning between waypoints) simultaneously using two nested graph-search planners. The higher-level planner solves the waypoint ordering and heading subproblems while making calls to the lower-level planner that solves the motion planning subproblem using a lattice-based motion planner. For the higher-level motion planner A* search is used and two different heuristics, a minimal spanning tree heuristic and a nearest insertion heuristic, are proposed and optimality bounds are proven. The proposed planner is evaluated on numerical examples and compared to Dijkstras algorithm. Furthermore, the performance and observed suboptimality are investigated when the minimal spanning tree heuristic cost is inflated.

The CDIO Initiative is going through a process of reconsidering and updating the CDIO approach for engineering education development. Previous work resulted in substantial updates of the twelve CDIO standards and the introduction of "optionel" standards. This paper reports on a similar review and update of the CDIO Syllabus to version 3.0. It has been developed by a working group consisting of four sub-groups and iterated and refined guidedby feedback from the whole CDIO community. There are mainly three external drivers that motivate the changes: sustainability, digitalization, and acceleration. There is also an internal driver in the form of lessons learned within the CDIO community, from using the Syllabus in curriculum and course development. Approximately 70 updates are proposed, amongst them three additions on the X.X level, namely 1.4 Knowledge of Social Sciences and Humanities,3.1 Teamwork and Collaboration, and 5.3 Research.

This paper presents a method to certify the computational complexity of a standard Branch and Bound method for solving Mixed-Integer Quadratic Programming (MIQP) problems defined as instances of a multi-parametric MIQP. Beyond previous work, not only the size of the binary search tree is considered, but also the exact complexity of solving the relaxations in the nodes by using recent results from exact complexity certification of active-set QP methods. With the algorithm proposed in this paper, a total worst-case number of QP iterations to be performed in order to solve the MIQP problem can be determined as a function of the parameter in the problem. An important application of the proposed method is Model Predictive Control for hybrid systems, that can be formulated as an MIQP that has to be solved in real-time. The usefulness of the proposed method is successfully illustrated in numerical examples.

Interaction with the surrounding society and external stakeholders is an important component when developing and managing high quality and relevant education programs. This paper presents some of the outcomes of the project MERUT which was carried out during 2018 – 2020 with support from the Swedish innovation agency Vinnova. The key outcome is a toolbox offering a structured way to describe and handle methods and tools for stakeholder interaction. The methods of interaction are organized in three categories, denoted A, B, and C, where category A includes methods for external stakeholders to influence the management and development of the education program. Category B consists of means for external stakeholders to have an active role in course modules, and category C contains methods and tools to evaluate the quality and relevance of the education from, for example, alumni or employer perspective. Examples from the different categories are presented, including the CDIO Syllabus Survey, alumni surveys, and reflection documents. 

Neural Networks (NNS) can solve very hard classification and estimation tasks but are less well suited to solve complex sensor fusion challenges, such as end-to-end control of autonomous vehicles. Nevertheless, NN can still be a powerful tool for particular sub-problems in sensor fusion. This would require a reliable and quantifiable measure of the stochastic uncertainty in the predictions that can be compared to classical sensor measurements. However, current NN'S output some figure of merit, that is only a relative model fit and not a stochastic uncertainty. We propose to embed the NN'S in a proper stochastic system identification framework. In the training phase, the stochastic uncertainty of the parameters in the (last layers of the) NN is quantified. We show that this can be done recursively with very few extra computations. In the classification phase, Monte-Carlo (MC) samples are used to generate a set of classifier outputs. From this set, a distribution of the classifier output is obtained, which represents a proper description of the stochastic uncertainty of the predictions. We also show how to use the calculated uncertainty for outlier detection by including an artificial outlier class. In this way, the NN fits a sensor fusion framework much better. We evaluate the approach on images of handwritten digits. The proposed method is shown to be on par with MC dropout, while having lower computational complexity, and the outlier detection almost completely eliminates false classifications.

In this work, estimators for platform pose and landmark maps for visual-inertial data are analysed. It is shown that the full, non-linear, visual-inertial problem has a conditionally linear substructure in the 2D case which can be exploited for efficient solutions, e.g., Block Coordinate Descent (BCD). It is also shown that the measurement noise from the non-linear model becomes parameter dependent resulting in biased estimates if that fact is ignored. However, the bias can be accounted for using the Iteratively Reweighted Least Squares (IRLS) method. In the 3D case the conditionally linear substructure is not separable. However, it can be shown that the Jacobian of the non-linear substructure can be calculated recursively resulting in an efficient solution. A simulated 2D visual-inertial example is used to illustrate the theoretical results.

Marginalization enables the particle filter to be applied to high-dimensional problems by invoking the Kalman filter to estimate a larger part of the state vector. The marginalized (a.k.a. Rao-Blackwellized) particle filter (MPF) has found many use cases in tracking and navigation applications. These are characterized by having position and its derivatives as states. Here, we take a closer look at the MPF for the constant velocity motion model, which well represents the basic properties of most motion models used in this context. In particular, how the Kalman filter (KF)-part depends on how the continuous time state noise is sampled in the discrete time model.

We find that for many of the most common sampling approaches, the KF-part of the MPF degenerates, meaning that the covariance approaches 0. Further, we show that for those same sampling approaches there is no performance increase by switching from a particle filter to an MPF in this situation.

A tightly integrated magnetic-field aided inertial navigation system is presented. The system uses a magnetometer sensor array to measure spatial variations in the local magnetic-field. The variations in the field are - via a recursively updated polynomial magnetic-field model - mapped into displacement and orientation changes of the array, which in turn are used to aid the inertial navigation system. Simulation results show that the resulting navigation system has three orders of magnitude lower position error at the end of a 40 seconds trajectory as compared to a standalone inertial navigation system. Thus, the proposed navigation solution has the potential to solve one of the key challenges faced with current magnetic-field simultaneous localization and mapping (SLAM) systems - the very limited allowable length of the exploration phase during which unvisited areas are mapped.

We propose decentralized processing and combining in the uplink for a distributed MIMO (D-MIMO) network by a subset method. A subset that consists of a partial number of access points (APs) that are connected to a CPU is defined for each UE. A subset that consists of only one AP turns a D-MIMO network into “small cell” network; a subset that consists of all APs connected to the CPU give the same performance as a fully centralized method. The paper also shows that the subset method provides a very scalable trade-off between complexity and performance. It is simpler to realize as the processing can be distributed and parallelized. In the studied simulation scenarios, we show that it is possible to reach 85% of the performance upper bound by including only 20% of total APs in the subset, and to reach 95% of the performance upper bound by including 40% of APs in the subset.

We study different aspects of active learning with deep neural networks in a consistent and unified way. i) We investigate incremental and cumulative training modes which specify how the newly labeled data are used for training. ii) We study active learning w.r.t. the model configurations such as the number of epochs and neurons as well as the choice of batch size. iii) We consider in detail the behavior of query strategies and their corresponding informativeness measures and accordingly propose more efficient querying procedures. iv) We perform statistical analyses, e.g., on actively learned classes and test error estimation, that reveal several insights about active learning. v) We investigate how active learning with neural networks can benefit from pseudo-labels as proxies for actual labels.

Asymptotic theory is one of the core subjects in system identification theory and often used to assess properties of model estimators. In this paper, we focus on the asymptotic theory for the kernel-based regularized system identification and study the convergence in distribution of the generalized cross validation (GCV) based hyper-parameter estimator. It is shown that the difference between the GCV based hyper-parameter estimator and the optimal hyper-parameter estimator that minimizes the mean square error scaled by 1/root N converges in distribution to a zero mean Gaussian distribution, where N is the sample size and an expression of covariance matrix is obtained. In particular, for the ridge regression case, a closed-form expression of the variance is obtained and shows the influence of the limit of the regression matrix on the asymptotic distribution. For illustration, Monte Carlo numerical simulations are run to test our theoretical results.

We propose a semi-explicit approach for linear MPC in which a dual active-set quadratic programming algorithm is initialized through a pre-computed warm start. By using a recently developed complexity certification method for active-set algorithms for quadratic programming, we show how the computational complexity of the dual active-set algorithm can be determined offline for a given warm start. We also show how these complexity certificates can be used as quality measures when constructing warm starts, enabling the online complexity to be reduced further by iteratively refining the warm start. In addition to showing how the computational complexity of any pre-computed warm start can be determined, we also propose a novel technique for generating warm starts with low overhead, both in terms of computations and memory.

Despite the great success of neural networks (NN) in many application areas, it is still not obvious how to integrate an NN in a sensor fusion framework. The reason is that the computation of the for fusion required variance of NN is still a rather immature area. Here, we apply a methodology from system identification where uncertainty of the parameters in the NN are first estimated in the training phase, and then this uncertainty is propagated to the output in the prediction phase. This local approach is based on linearization, and it implicitly assumes a good signal-to-noise ratio and persistency of excitation. We illustrate the proposed method on a fundamental problem in advanced driver assistance systems (ADAS), namely to estimate the tire-road friction. This is a single input single output static nonlinear relation that is simple enough to provide insight and it enables comparisons with other parametric approaches. We compare both to existing methods for how to assess uncertainty in NN and standard methods for this problem, and evaluate on real data. The goal is not to improve on simpler methods for this particular application, but rather to validate that our method is on par with simpler model structures, where output variance is immediately provided.

A new approach to anomaly detection in maritime traffic based on Automatic Identification System (AIS) data is proposed. The method recursively learns a model of the nominal vessel routes from AIS data and simultaneously estimates the current state of the vessels. A distinction between anomalies and measurement outliers is made and a method to detect and distinguish between the two is proposed. The anomaly and outlier detection is based on statistical testing relative to the current motion model. The proposed method is evaluated on historical AIS data from a coastal area in Sweden and is shown to detect previously unseen motions.

We consider the problem to learn a step-size policy for the Limited-Memory Broyden-Fletcher-Goldfarb-Shanno (L-BFGS) algorithm. This is a limited computational memory quasi-Newton method widely used for deterministic unconstrained optimization. However, L-BFGS is currently avoided in large-scale problems for requiring step sizes to be provided at each iteration. Current methodologies for the step size selection for L-BFGS use heuristic tuning of design parameters and massive re-evaluations of the objective function and gradient to find appropriate step-lengths. We propose a neural network architecture with local information of the current iterate as the input. The step-length policy is learned from data of similar optimization problems, avoids additional evaluations of the objective function, and guarantees that the output step remains inside a pre-defined interval. The corresponding training procedure is formulated as a stochastic optimization problem using the backpropagation through time algorithm. The performance of the proposed method is evaluated on the training of image classifiers for the MNIST database for handwritten digits and for CIFAR-10. The results show that the proposed algorithm outperforms heuristically tuned optimizers such as ADAM, RMSprop, L-BFGS with a backtracking line search, and L-BFGS with a constant step size. The numerical results also show that a learned policy can be used as a warm-start to train new policies for different problems after a few additional training steps, highlighting its potential use in multiple large-scale optimization problems.

One of the main aspects of switched affine systems that makes their stabilizability study intricate is the existence of (generally) infinitely many attainable equilibrium points in the state space. Thus, prior to designing the switched control, the user must specify one of these equilibrium points to be the goal or reference. This can be a cumbersome task, especially if this goal is partially given or only defined as a set of constraints. To tackle this issue, in this paper we describe algorithms that can determine whether a given goal is an equilibrium point of the system and also jointly search for equilibrium points and design stabilizing switching functions. Copyright (C) 2021 The Authors.

When solving a quadratic program (QP), one can improve the numerical stability of any QP solver by performing proximal-point outer iterations, resulting in solving a sequence of better conditioned QPs. In this paper we present a method which, for a given multi-parametric quadratic program (mpQP) and any polyhedral set of parameters, determines which sequences of QPs will have to be solved when using outer proximal-point iterations. By knowing this sequence, bounds on the worst-case complexity of the method can be obtained, which is of importance in, for example, real-time model predictive control (MPC) applications. Moreover, we combine the proposed method with previous work on complexity certification for active-set methods to obtain a more detailed certification of the proximal-point methods complexity, namely the total number of inner iterations.

The R2021b release of the System Identification ToolboxTM for MATLAB contains new features that enable the use of machine learning techniques for nonlinear system identification. With this release it is possible to build nonlinear ARX models with regression tree ensemble and Gaussian process regression mapping functions. The release contains several other enhancements including, but not limited to, (a) online state estimation using the extended Kalman filter and the unscented Kalman filter with code generation capability; (b) improved handling of initial conditions for transfer functions and polynomial models; (c) a new architecture of nonlinear black-box models that streamlines regressor handling, reduces memory footprint and improves numerical accuracy; and (d) easy incorporation of identification apps in teaching tools and interactive examples by leveraging the Live Editor tasks of MATLAB. Copyright (C) 2021 The Authors.

In the overview paper on nonlinear system identification Schoukens and Ljung (2019), it was indicated that reliable expressions to calculate the variance of an estimated nonlinear model are lacking, especially if the disturbing noise is entering the nonlinear regressors. In this study, we provide a better view on the driving mechanisms of the variability of estimated nonlinear models that is due to noise on the output. To do so, we follow a double approach. Firstly, a basic insight on the impact of disturbing noise on the monomial yTh is studied. Next, these insights are used in a case study on the forced Duffing oscilator data, also called the Silver box (Schoukens and Noel, 2016). The following models are studied: Nonlinear autoregressive exogenous models (NARX) using a 2-layer Neural Net (NARX-NN) and a polynomial (NARX-poly) expansion; and polynomial nonlinear state space models (PNLSS). This limited study indicates that an output error criterion (PNLSS, and NARX used in a simulation mode) does better than minimizing the equation error (NARX-NN and NARX-poly in prediction mode). When the signal-to-noise ratio (SNR) drops below 20 dB, the reduction in the error is more than a factor 10. This is a strong indication that, just as for linear identification, it is very important to properly deal with the noise properties in the cost function whenever the SNR of the output measurements drops such that noise becomes more important than structural model errors. Copyright (C) 2021 The Authors.

The pseudoinverse of a graph Laplacian is used in many applications and fields, such as for instance in the computation of the effective resistance in electrical networks, in the calculation of the hitting/commuting times for a Markov chain and in continuous-time distributed averaging problems. In this paper we show that the Laplacian pseudoinverse is in general not a Laplacian matrix but rather a signed Laplacian with the property of being an eventually exponentially positive matrix, i.e., of obeying a strong Perron-Frobenius property. We show further that the set of signed Laplacians with this structure (i.e., eventual exponential positivity) is closed with respect to matrix pseudoinversion. This is true even for signed digraphs, and provided that we restrict to Laplacians that are weight balanced also stability is guaranteed.

An example of how sustainability aspects can be treated in a basic course in automatic control is presented. This is done by connecting the subject to some of the Sustainable Development Goals (SDGs) and giving examples of how automatic control can contribute to the fulfillment of these goals. The examples are inspired and illustrated using videos and images taken from the internet, showing various examples of applications where feedback control plays a crucial role. On several occasions during the course a part of the lecture time is used to show a video, describe how the control subject comes in, and how the use of feedback control via the application can contribute to the fulfillment of the SDG. 

Betyder kvalitet och relevans samma sak inom högre utbildning? Medan begreppet kvalitet har studerats utförligt och används i utvärderings- och kvalitetssäkringssystem, är betydelsen och vikten av ordet relevans inte studerat i samma omfattning. Inom ramen för en nyligen genomförd studie gjordes ett försök att rama in begreppen kvalitet och relevans inom högre utbildning och klargöra eventuella likheter och skillnader i begreppens innebörd. Vidare belystes kopplingen till nyttiggörande och arbetsmarknad. Samtliga tillfrågade i studien såg kopplingar mellan kvalitet och relevans, och flera menade att en utbildning med hög kvalitet rimligtvis bör vara relevant, och av det följer att relevans bör vara en viktig komponent i kvalitetsbegreppet. Dessutom uppfattas kvalitet och relevans i många fall som delmängder av varandra, d.v.s. som kompletterande snarare än som motsatser. De tillfrågande såg ett tydligt samband mellan relevans och arbetsmarknad, men sambandet var inte lika starkt för begreppet kvalitet. 

The design of reliable path-following controllers is a key ingredient for successful deployment of self-driving vehicles. This controller-design problem is especially challenging for a general 2-trailer with a car-like tractor due to the vehicles structurally unstable joint-angle kinematics in backward motion and the car-like tractors curvature limitations which can cause the vehicle segments to fold and enter a jackknife state. Furthermore, advanced sensors with a limited field of view have been proposed to solve the joint-angle estimation problem online, which introduce additional restrictions on which vehicle states that can be reliably estimated. To incorporate these restrictions at the level of control, a model predictive path-following controller is proposed. By taking the vehicles physical and sensing limitations into account, it is shown in real-world experiments that the performance of the proposed path-following controller in terms of suppressing disturbances and recovering from non-trivial initial states is significantly improved compared to a previously proposed solution where the constraints have been neglected.

We propose a sequence of pedagogical steps for introducing the Youla-Kucera parametrization, starting from the internal model principle, and introducing the control structures of disturbance observer and internal model control along the way. We provide some background on the concepts and a brief survey of their treatment in textbooks on control. Copyright (C) 2020 The Authors.

The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based trajectory planner targeting low-speed maneuvers in unstructured environments for multi-steered N-trailer vehicles, which are comprised of a car-like tractor and an arbitrary number of interconnected trailers with fixed or steerable wheels. The proposed trajectory planning framework is divided into two steps, where a lattice-based trajectory planner is used in a first step to compute a resolution optimal solution to a discretized version of the trajectory planning problem. The output from the lattice planner is then used in a second step to initialize an optimal control problem solver, which enables the framework to compute locally optimal trajectories that start at the vehicles initial state and reaches the goal state exactly. The performance of the proposed optimization-based trajectory planner is evaluated in a set of practically relevant scenarios for a multi-steered 3-trailer vehicle with a car-like tractor where the last trailer is steerable. Copyright (C) 2020 The Authors.

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning algorithm in a first step to efficiently find a feasible, but possibly suboptimal, nominal solution to the trajectory planning problem where in particular the combinatorial aspects of the problem are solved. The resulting nominal trajectory is then improved in a second optimization-based receding horizon planning step which performs local trajectory refinement over a sliding time window. In the second step, the nominal trajectory is used in a novel way to both represent a terminal manifold and obtain an upper bound on the cost-to-go online. This enables the possibility to provide theoretical guarantees in terms of recursive feasibility, objective function value, and convergence to the desired terminal state. The established theoretical guarantees and the performance of the proposed algorithm are verified in a set of challenging trajectory planning scenarios for a truck and trailer system. Copyright (C) 2020 The Authors.

Driving heavy-duty vehicles, such as buses and tractor-trailer vehicles, is a difficult task in comparison to passenger cars. Most research on motion planning for autonomous vehicles has focused on passenger vehicles, and many unique challenges associated with heavy-duty vehicles remain open. However, recent works have started to tackle the particular difficulties related to on-road motion planning for buses and tractor-trailer vehicles using numerical optimization approaches. In this work, we propose a framework to design an optimization objective to be used in motion planners. Based on geometric derivations, the method finds the optimal trade-off between the conflicting objectives of centering different axles of the vehicle in the lane. For the buses, we consider the front and rear axles trade-off, whereas for articulated vehicles, we consider the tractor and trailer rear axles trade-off. Our results show that the proposed design strategy produces planned paths that considerably improve the behavior of heavy-duty vehicles by keeping the whole vehicle body in the center of the lane.

Deep learning is a topic of considerable interest today. Since it deals with estimating - or learning - models, there are connections to the area of System Identification developed in the Automatic Control community. Such connections are explored and exploited in this contribution. It is stressed that common deep nets such as feedforward and cascadeforward nets are nonlinear ARX (NARX) models, and can thus be easily incorporated in System Identification code and practice. The case of LSTM nets is an example of NonLinear State-Space (NLSS) models. Copyright (C) 2020 The Authors.

For robust Gaussian process regression problems where the measurements are contaminated by outliers, a likelihood/measurement noise model with heavy-tailed distributions should be used to improve the prediction performance. In this paper, we propose to use a G-confluent distribution as the measurement noise model and a coordinate ascent variational inference method to infer the overall statistical model. In contrast with the commonly used Students t distribution, the G-confluent distribution can also be written as a Gaussian scale mixture, but its inverse scale follows a Beta distribution rather than a Gamma distribution, and its main advantage is that it is more flexible for modeling outliers while being equally suitable for variational inference. Numerical simulations based on benchmark data show that the G-confluent distribution performs better than or as well as the Students t distribution. Copyright (C) 2020 The Authors.

The Covid-19 pandemic has spawned numerous dynamic modeling attempts aimed at estimation, prediction, and ultimately control. The predictive power of these attempts has varied, and there remains a lack of consensus regarding the mechanisms of virus spread and the effectiveness of various non-pharmaceutical interventions that have been enforced regionally as well as nationally. Setting out in data available in the spring of 2020, and with a nowfamous model by Imperial College researchers as example, we employ an information-theoretical approach to shed light on why the predictive power of early modeling approaches have remained disappointingly poor. Copyright (C) 2020 The Authors.

This paper presents an optimization-based receding horizon trajectory planning algorithm for dynamical systems operating in unstructured and cluttered environments. The proposed approach is a two-step procedure that uses a motion planning algorithm in a first step to efficiently find a feasible, but possibly suboptimal, nominal solution to the trajectory planning problem where in particular the combinatorial aspects of the problem are solved. The resulting nominal trajectory is then improved in a second optimization-based receding horizon planning step which performs local trajectory refinement over a sliding time window. In the second step, the nominal trajectory is used in a novel way to both represent a terminal manifold and obtain an upper bound on the cost-to-go online. This enables the possibility to provide theoretical guarantees in terms of recursive feasibility, objective function value, and convergence to the desired terminal state. The established theoretical guarantees and the performance of the proposed algorithm are verified in a set of challenging trajectory planning scenarios for a truck and trailer system.   

This paper addresses the problem of change detection for a quadcopter in the presence ofwind disturbances. Different aspects of the quadcopter dynamics and various flight conditions have beeninvestigated. First, the wind is modeled using the Dryden wind model as a sum of a low-frequent and aturbulent part. Since the closed-loop control can compensate for system changes and disturbances andthe effect of the wind disturbance is significant, the residuals obtained from a standard simulation modelcan be misleading. Instead, a sensor-to-sensor submodel of the quadcopter is selected to detect a changein the payload using the Instrumental Variables (IV) cost function. It is shown that the mass variationcan be detected using the IV cost function in different flight scenarios.

An approach for belief space planning is presented, where knowledge about the landmark density is used as prior, instead of explicit landmark positions.

Having detailed maps of landmark positions  in a previously unvisited environment is considered unlikely in practice. Instead, it is argued that landmark densities should be used, as they could be estimated from other sources, such as ordinary maps or aerial imagery.

It is shown that it is possible to use virtual landmarks to approximate the landmark density to solve the presented problem. This approximation is also shown to give small errors during evaluation.

The approach is tested in a simulated environment, in conjunction with an extended information filter (EIF), where the computed path is shown to be superior compared to other alternative paths used as benchmarks.

An inference method for Gaussian process augmented state-space models are presented. This class of grey-box models enables domain knowledge to be incorporated in the inference process to guarantee a minimum of performance, still they are flexible enough to permit learning of partially unknown model dynamics and inputs. To facilitate online (recursive) inference of the model a sparse approximation of the Gaussian process based upon inducing points is presented. To illustrate the application of the model and the inference method, an example where it is used to track the position and learn the behavior of a set of cars passing through an intersection, is presented. Compared to the case when only the state-space model is used, the use of the augmented state-space model gives both a reduced estimation error and bias.

A wearable microphone array platform is used tolocalize stationary sound sources and amplify the sound inthe desired directions using several beamforming methods. Theplatform is equipped with inertial sensors and a magnetometerallowing predictions of source locations during orientationchanges and compensation for the displacement in the arrayconfiguration. The platform is modular, open and 3D printedto allow for easy reconfiguration of the array and for reuse inother applications, e.g., mobile robotics. The software componentsare based on open source. A new method for source localizationand signal reconstruction using Taylor expansion of the signals isproposed. This and various standard and non-standard Directionof Arrival (DOA) methods are evaluated in simulation andexperiments with the platform to track and reconstruct multipleand single sources. Results show that sound sources can belocalized and tracked robustly and accurately while rotating theplatform and that the proposed method outperforms standardmethods at reconstructing the signals.

Search-And-Rescue (SAR) is one of manyfields with applications benefiting from the increasingavailability of Unmanned Aerial Systems (UASs).  Most UAS applications rely on the UAS’s capabilityto carry a camera and stream video data for manualor automated processing. However, this relies onunobstructed views of the target, which limits the applicability of these systems.  In this paper, we instead describe the development and initial application testing of a system with a UAS-carried harmonic radar. This sensor is designed to detect the presence of Recco radar reflectors, commonly found integrated into alpine clothes and gear. The reflectors can be detected through vegetation and snow and is independent of many external factors such as lighting conditions. The paper describesthe system design and provides initial real-world results. The initial tests show fruitful results and opens up several avenues of continued research and development.

GNSS receivers are vulnerable to spoofing attacks, where false satellite signals are transmitted to trick the receiver to provide false position and/or time estimates. Novel algorithms are proposed for spoofing mitigation by exchanging double differences of pseudorange, or carrier phase, measurements between multiple GNSS receivers. In scenarios where the spoofing system utilizes a single transmit antenna, the pseudorange, and carrier phase, measurements that are associated with the spoofing signal can be detected and removed. Simulated meaconing attacks generated with a Spirent hardware simulator and measurements obtained with a modified version of GNSS-SDR are used to evaluate the proposed algorithms. Spoofing mitigation using pseudorange measurements is possible, for receivers that are separated at least five meters apart. With a receiver separation of 20 meters, the pseudorange double difference algorithm is able to correctly authenticate at least six of seven pseudoranges within 30 seconds. The carrier phase approach enables mitigation of spoofing signals at shorter receiver distances. However, this approach requires a more accurate time synchronization between the receivers.

In almost all parts of the world, breast cancer is one of the major causes of death among women. But at the same time, it is one of the most curable cancers if it is diagnosed at early stage. This paper tries to find a model that diagnose and classify breast cancer with high accuracy and help to both patients and doctors in the future. Here we develop a model using Normalized Multi Layer Perceptron Neural Network to classify breast cancer with high accuracy. The results achieved is very good (accuracy is 99.27%). It is very promising result compared to previous researches where Artificial Neural Networks were used. As benchmark test, Breast Cancer Wisconsin (Original) was used.

In this paper, we analyze a Linear Quadratic (LQ) control problem in terms of the average cost and the structure of the value function. We develop a completely model-free reinforcement learning algorithm to solve the LQ problem. Our algorithm is an off-policy routine where each policy is greedy with respect to all previous value functions. We prove that the algorithm produces stable policies given that the estimation errors remain small. Empirically, our algorithm outperforms the classical Q and off-policy learning routines.

Signed Laplacian matrices generally fail to be diagonally dominant and may fail to be stable. For both undirected and directed graphs, in this paper we present conditions guaranteeing the stability of signed Laplacians based on the property of eventual positivity, a Perron-Frobenius type of property for signed matrices. Our conditions are necessary and sufficient for undirected graphs, but only sufficient for digraphs, the gap between necessity and sufficiency being filled by matrices who have this Perron-Frobenius property on the right but not on the left side (i.e., on the transpose). An exception is given by weight balanced signed digraphs, where eventual positivity corresponds to positive semidefinitness of the symmetric part of the Laplacian. Analogous conditions are obtained for signed stochastic matrices.

We propose a generalization of the popular nonlinear ARX model structure by treating its parameters as varying over time. The parameters are considered generated by linear filters operating on the models regressors. The filters are expressed as a sum of atoms that are either sum of damped exponentials and sinusoids, or sinusoids with time varying frequencies. This form allows us to enforce stability of the parameter evolution as well as leverage the atomic norm minimization framework for inducing sparsity. It also facilitates easy incorporation of smoothness related priors that that making it possible to treat these models as nonlinear extensions of the familiar LPV models. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

In urban environments, cellular network-based positioning of user equipment (UE) is a challenging task, especially in frequently occurring non-line-of-sight (NLOS) conditions. This paper investigates the use of two machine learning methods – neural networks and random forests – to estimate the position of UE in NLOS using best received reference signal beam power measurements. We evaluated the suggested positioning methods using data collected from a fifth-generation cellular network (5G) testbed provided by Ericsson. A statistical test to detect NLOS conditions with a probability of detection that is close to 90% is suggested. We show that knowledge of the antenna are crucial for accurate position estimation. In addition, our results show that even with a limited set of training data and one 5G transmission point, it is possible to position UE within 10 meters with 80% accuracy.

The CDIO Syllabus survey has successfully been applied to the Bachelor’s and Master’s programs in Experimental and Medical Biosciences, within the Faculty of Medicine and Health Sciences at Linköping University, Sweden. The programs are and have been, subject to considerable redesign with strong influence from the CDIO framework. One of the main drivers for the redesign is a shift concerning the main job market after graduation, from an academic career to industry and healthcare. One of the steps in the development process has been to carry out a Syllabus survey based on an adapted version of the CDIO Syllabus. The survey was sent out to students and to various categories of professionals, and in total 87 responses were received. The adapted version of the Syllabus and the design, execution, and outcome of the survey is presented.