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Inverse system identification with applications in predistortion
Models are commonly used to simulate events and processes, and can be constructed from measured data using system identification. The common way is to model the system from input to output, but in this thesis we want to obtain the inverse of the system. Power amplifiers (PAs) used in communication devices can be nonlinear, and this causes interference in adjacent transmitting channels. A prefilter, called predistorter, can be used to invert the effects of the PA, such that the combination of predistorter and PA reconstructs an amplified version of the input signal. In this thesis, the predistortion problem has been investigated for outphasing power amplifiers, where the input signal is decom...
On Motion Planning Using Numerical Optimal Control
During the last decades, motion planning for autonomous systems has become an important area of research. The high interest is not the least due to the development of systems such as self-driving cars, unmanned aerial vehicles and robotic manipulators. In this thesis, the objective is not only to find feasible solutions to a motion planning problem, but solutions that also optimize some kind of performance measure. From a control perspective, the resulting problem is an instance of an optimal control problem. In this thesis, the focus is to further develop optimal control algorithms such that they be can used to obtain improved solutions to motion planning problems. This is achieved by combi...
On Informative Path Planning for Tracking and Surveillance
This thesis studies a class of sensor management problems called informative path planning (IPP). Sensor management refers to the problem of optimizing control inputs for sensor systems in dynamic environments in order to achieve operational objectives. The problems are commonly formulated as stochastic optimal control problems, where to objective is to maximize the information gained from future measurements. In IPP, the control inputs affect the movement of the sensor platforms, and the goal is to compute trajectories from where the sensors can obtain measurements that maximize the estimation performance. The core challenge lies in making decisions based on the predicted utility of future ...
Probabilistic modeling for sensor fusion with inertial measurements
In recent years, inertial sensors have undergone major developments. The quality of their measurements has improved while their cost has decreased, leading to an increase in availability. They can be found in stand-alone sensor units, so-called inertial measurement units, but are nowadays also present in for instance any modern smartphone, in Wii controllers and in virtual reality headsets. The term inertial sensor refers to the combination of accelerometers and gyroscopes. These measure the external specific force and the angular velocity, respectively. Integration of their measurements provides information about the sensor's position and orientation. However, the position and orientation e...
Accelerating Monte Carlo methods for Bayesian inference in dynamical models
Making decisions and predictions from noisy observations are two important and challenging problems in many areas of society. Some examples of applications are recommendation systems for online shopping and streaming services, connecting genes with certain diseases and modelling climate change. In this thesis, we make use of Bayesian statistics to construct probabilistic models given prior information and historical data, which can be used for decision support and predictions. The main obstacle with this approach is that it often results in mathematical problems lacking analytical solutions. To cope with this, we make use of statistical simulation algorithms known as Monte Carlo methods to a...
Some results on closed-loop identification of quadcopters
In recent years, the quadcopter has become a popular platform both in research activities and in industrial development. Its success is due to its increased performance and capabilities, where modeling and control synthesis play essential roles. These techniques have been used for stabilizing the quadcopter in different flight conditions such as hovering and climbing. The performance of the control system depends on parameters of the quadcopter which are often unknown and need to be estimated. The common approach to determine such parameters is to rely on accurate measurements from external sources, i.e., a motion capture system. In this work, only measurements from low-cost onboard sensors ...
Ylva Pauer
Wer braucht schon einen eisernen Superhelden, um die Schurken in der Moselmetropole Treverorum in die Mangel zu nehmen? Die freche Ylva Pauer jedenfalls nicht. Sie begibt sich lieber alleine mit ihrem cleveren Helfer Kay auf Verbrecherjagd. Eine witzige, abgedrehte Story über eine Heldin, die so gar nicht ins übliche Super-Oberweiten-Heldinnen-Korsett passen will. Gesamtausgabe der ersten Staffel „YLVA PAUER- Superheldin wider Willen“ mit den Episoden 1-3
20 Märchenpoesien für Alt und Jung
Meine Kindheit fiel in eine Zeit, in der es für ein Kind nicht selbstverständlich war, die Eltern jederzeit spontan anzusprechen, denn nur allzu rasch handelte man sich die Rüge ein, "jetzt sprechen die Erwachsenen". Beim Essen herrschte für Kinder ohnedies ein striktes Redeverbot. In dieser wenig kommunikationsfördernden Atmosphäre war ich als Kind bestrebt, möglichst nur "wichtige" Aussagen zu machen und nur "vernünftige" Fragen zu stellen. So blieben manche wirklich interessanten Fragen ungeklärt: Ob die Königin dem hilfreichen Rumpelstilzchen das versprochene Kind nicht hätte überlassen müssen? Wieso der liebe Gott nicht wusste, wo sein verlorener Schemel war? Warum der dumme Hans als "Hans im Glück" bezeichnet wird? In diesem Märchenbuch habe ich es meinen unterdrückten Kindheitsfragen ermöglicht, sich neu zu stellen - und sie mir und allen interessierten Großen und Kleinen zu beantworten. Aber vielleicht findet ihr da und dort eine andere, eine bessere Antwort?
