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  • 101.
    Aihara, Shin Ichi
    et al.
    Tokyo University of Science, Japan.
    Bagchi, Arunabha
    University of Twente, Enschede, Netherlands.
    Saha, Saikat
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Adaptive Filtering for Stochastic Volatility by Using Exact Sampling2013In: 10th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2013), 2013, p. 326-335Conference paper (Refereed)
    Abstract [en]

    We study the sequential identification problem for Bates stochastic volatility model, which is widely used as the model of a stock in finance. By using the exact simulation method, a particle filter for estimating stochastic volatility is constructed. The systems parameters are sequentially estimated with the aid of parallel filtering algorithm. To improve the estimation performance for unknown parameters, the new resampling procedure is proposed. Simulation studies for checking the feasibility of the developed scheme are demonstrated.

  • 102.
    Aihara, ShinIchi
    et al.
    Tokyo University of Science, Japan.
    Bagch, Arunabha
    Twente University, Netherlands.
    Saha, Saikat
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Identification of Bates Stochastic Volatility Model by Using Non-Central Chi-Square Random Generation Method2012In: Proceedings of the 37th IEEE International Conference on Acoustics, Speech, and Signal Processing, 2012, , p. 4p. 3905-3908Conference paper (Refereed)
    Abstract [en]

    We study the identification problem for Bates stochastic volatility model, which is widely used as the model of a stock in finance. By using the exact simulation method, a particle filter for estimating stochastic volatility and its systems parameters is constructed. Simulation studies for checking the feasibility of the developed scheme are demonstrated.

  • 103.
    Aihara, ShinIchi
    et al.
    Tokyo University of Science Suwa, Japan.
    Bagchi, Arunabha
    University of Twente, Netherlands.
    Saha, Saikat
    Linköping University, Department of Electrical Engineering. Linköping University, Faculty of Science & Engineering.
    Filtering for Stochastic Volatility by Using Exact Sampling and Application to Term Structure Modeling2015In: INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, Springer Science Business Media , 2015, Vol. 325, p. 329-348Conference paper (Refereed)
    Abstract [en]

    The Bates stochastic volatility model is widely used in the finance problem and the sequential parameter estimation problem becomes important. By using the exact simulation technique, a particle filter for estimating stochastic volatility is constructed. The system parameters are sequentially estimated with the aid of parallel filtering algorithm with the new resampling procedure. The proposed filtering procedure is also applied to the modeling of the term structure dynamics. Simulation studies for checking the feasibility of the developed scheme are demonstrated.

  • 104.
    Aili, Adam
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control.
    Ekelund, Erik
    Linköping University, Department of Electrical Engineering, Automatic Control.
    Model-Based Design, Development and Control of an Underwater Vehicle2016Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    With the rising popularity of ROVs and other UV solutions, more robust and high performance controllers have become a necessity. A model of the ROV or UV can be a valuable tool during control synthesis. The main objective of this thesis was to use a model in design and development of controllers for an ROV.

    In this thesis, an ROV from Blue Robotics was used. The ROV was equipped with 6 thrusters placed such that the ROV was capable of moving in 6-DOFs. The ROV was further equipped with an IMU, two pressure sensors and a magnetometer. The ROV platform was further developed with EKF-based sensor fusion, a control system and manual control capabilities.

    To model the ROV, the framework of Fossen (2011) was used. The model was estimated using two different methods, the prediction-error method and an EKF-based method. Using the prediction-error method, it was found that the initial states of the quaternions had a large impact on the estimated parameters and the overall fit to validation data. A Kalman smoother was used to estimate the initial states. To circumvent the problems with the initial quaternions, an \abbrEKF was implemented to estimate the model parameters. The EKF estimator was less sensitive to deviations in the initial states and produced a better result than the prediction-error method. The resulting model was compared to validation data and described the angular velocities well with around 70 % fit.

    The estimated model was used to implement feedback linearisation which was used in conjunction with an attitude controller and an angular velocity controller. Furthermore, a depth controller was developed and tuned without the use of the model. Performance of the controllers was tested both in real tests and simulations. The angular velocity controller using feedback linearisation achieved good reference tracking. However, the attitude controller could not stabilise the system while using feedback linearisation. Both controllers' performance could be improved further by tuning the controllers' parameters during tests.

    The fact that the feedback linearisation made the ROV unstable, indicates that the attitude model is not good enough for use in feedback linearisation. To achieve stability, the magnitude of the parameters in the feedback linearisation were scaled down. The assumption that the ROV's center of rotation coincides with the placement of the ROV's center of gravity was presented as a possible source of error.

    In conclusion, good performance was achieved using the angular velocity controller. The ROV was easier to control with the angular velocity controller engaged compared to controlling it in open loop. More work is needed with the model to get acceptable performance from the attitude controller. Experiments to estimate the center of rotation and the center of gravity of the ROV may be helpful when further improving the model.

  • 105.
    Ainouz, Filip
    et al.
    Linköping University, Department of Electrical Engineering.
    Vedholm, Jonas
    Linköping University, Department of Electrical Engineering.
    Mean Value Model of the Gas Temperature at the Exhaust Valve2009Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Over the years many investigations of the gas temperature at the exhaust valve have been made. Nevertheless the modeling of the gas temperature still remains an unsolved problem. This master thesis approaches the problem by attempting to model the exhaust gas temperature by using the standard sensors equipped in SI engines, together with an in-cylinder pressure sensor which is needed in order to develop certain models. The concept in the master thesis is based upon a parameterization of the ideal Otto cycle with tuning parameters which all have physical meanings. Input variables required for the parameterization model is obtained from a fix point iteration method. This method was developed in order to improve the estimates of residual gas fraction, residual gas temperature and variables dependent of those, such as temperature at intake valve closing. The mean value model of the temperature, at the exhaust valve, is based upon the assumption of the ideal gas law, and that the burned gases undergoe a polytropic expansion into the exhaust manifold. Input variables to the entire model are intake manifold pressure, exhaust manifold pressure, intake manifold temperature, engine speed, air mass flow, cylinder pressure, air-to-fuel equivalence ratio, volume, and ignition timing. A useful aspect with modeling the exhaust gas temperature is the possibility to implement it in turbo modeling. By modeling the exhaust gas temperature the control of the turbo can be enhanced, due to the fact that energy is temperature dependent. Another useful aspect with the project is that the model can be utilized in diagnostics, to avoid hardware redundency in the creation of the desired residuals.

  • 106.
    Aizad, Noor
    Linköping University, Department of Electrical Engineering.
    Design and implementation of comparator for sigma delta modulator2006Independent thesis Basic level (professional degree), 20 points / 30 hpStudent thesis
    Abstract [en]

    Comparator is the main building block in an ADC architecture. Main purpose of the comparator is to compare a signal with a reference signal and produce an output depending on whether the input signal is greater or smaller than reference. Many architectures for comparators exist for various purposes. In this thesis, Latched comparator architecture is used for sigma delta modulator. This particular design has two main characteristics that are very important for sigma delta application. First characteristic is the cancellation of memory effect which increases the speed and reliability of the system and the second is, with this architecture, high sensitivity can be achieved.

    The design and implementation of lathed comparator for sigma delta modulator is presented in this thesis work. Various non-linearities and performance parameters are discussed in detail. Practical implementation and circuit design issues are highlighted to achieve maximum sensitivity along with reasonable speed and accuracy.

  • 107.
    Ajma, Muhammad
    et al.
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    Furdek, Marija
    School of Information and Communication Technology, KTH Royal Institute of Technology, Stockholm, Sweden / Faculty of Electrical Engineering and Computing, Dept. of Telecommunications, University of Zagreb, Croatia.
    Monti, Paolo
    School of Information and Communication Technology, KTH Royal Institute of Technology, Stockholm, Sweden.
    Wosinska, Lena
    School of Information and Communication Technology, KTH Royal Institute of Technology, Stockholm, Sweden.
    Forchheimer, Robert
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    Dynamic provisioning utilizing redundant modules in elastic optical networks based on architecture on demand nodes2014In: European Conference on Optical Communication (ECOC), 2014, IEEE , 2014, p. 1-3Conference paper (Refereed)
    Abstract [en]

    Survivable synthetic ROADMs are equipped with redundant switching modules to support failure recovery. The paper proposes a dynamic connection provisioning strategy which exploits these idle redundant modules to provision regular traffic resulting in a substantial improvement in the blocking performance.

  • 108.
    Ajmal, Muhammad
    et al.
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    Cavdar, Cicek
    Royal Institute of Technology, KTH, Stockholm, Sweden.
    Wosinska, Lena
    Royal Institute of Technology, KTH, Stockholm, Sweden.
    Forchheimer, Robert
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    Trading Quality of Transmission for Improved Blocking Performance in All-Optical Networks2013In: Asia Communications and Photonics Conference 2013, 2013, p. AF4E.5-Conference paper (Refereed)
    Abstract [en]

    We propose a connection provisioning strategy in dynamic all-optical networks, which exploit the possibility to allow a tolerable signal quality degradation during a small fraction of holding-time resulting in a significant improvement of blocking performance.

  • 109.
    Ajmal, Muhammad
    et al.
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    Furdek, Marija
    Royal Institute of Technology, KTH, Stockholm, Sweden / Dept. of Telecommunications, University of Zagreb, Croatia.
    Monti, Paolo
    Royal Institute of Technology, KTH, Stockholm, Sweden.
    Wosinska, Lena
    Royal Institute of Technology, KTH, Stockholm, Sweden.
    Forchheimer, Robert
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    An Optimization Model for Dynamic Bulk Provisioning in Elastic Optical Networks2014In: Asia Communications and Photonics Conference 2014, Optics Info Base, Optical Society of America, 2014, p. AF3E.6-Conference paper (Refereed)
    Abstract [en]

    We investigate benefits of setup-delay tolerance in elastic optical networks and propose an optimization model for dynamic and concurrent connection provisioning. Simulation shows that the proposed strategy offers significant improvement of the network blocking performance.

  • 110.
    Ajmal, Muhammad
    et al.
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    Zervas, Georgios
    High-Performance Networks Group, University of Bristol, UK.
    Saridis, George
    High-Performance Networks Group, University of Bristol, UK.
    Salas, Emilio H.
    High-Performance Networks Group, University of Bristol, UK.
    Simeonidou, Dimitra
    High-Performance Networks Group, University of Bristol, UK.
    Forchheimer, Robert
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    Flexible and Synthetic SDM Networks with Multi-core-Fibers Implemented by Programmable ROADMs2014In: Proceedings of European Conference on Optical Communication ECOC2014, Cannes, France, September 21-25 September 2014, IEEE , 2014, p. 1-3Conference paper (Refereed)
    Abstract [en]

    This study looks into network planning issues for synthetic MCF-based SDM networks implemented through programmable ROADMs. The results show that significant savings in switching modules and energy can be attained by exploiting the flexibility inherent in programmable ROADM through a proper network design.

  • 111.
    Ajmal, Muhammad
    et al.
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    Zervas, Georgios
    High-Performance Networks Group, University of Bristol, UK.
    Simeonidou, Dimitra
    High-Performance Networks Group, University of Bristol, UK.
    Forchheimer, Robert
    Linköping University, Department of Electrical Engineering, Information Coding. Linköping University, The Institute of Technology.
    Routing, Spectrum and Core Allocation in Flexgrid SDM Networks with Multi-core Fibers2014In: 2014 INTERNATIONAL CONFERENCE ON OPTICAL NETWORK DESIGN AND MODELING, IEEE , 2014, p. 192-197Conference paper (Refereed)
    Abstract [en]

    Space division multiplexing (SDM) over multi-core fiber (MCF) is advocated as a promising technology to overcome the capacity limit of the current single-core optical networks. However, employing the MCF for flexgrid networks necessitates the development of new concepts, such as routing, spectrum and core allocation (RSCA) for traffic demands. The introduction of MCF in the networks mitigates the spectrum continuity constraint of the routing and spectrum assignment (RSA) problem. In fact cores can be switched freely on different links during routing of the network traffic. Similarly, the route disjointness for demands with same allocated spectrum diminishes to core disjointness at the link level. On the other hand, some new issues such as the inter-core crosstalk should be taken into account while solving the RSCA problem. This paper formulates the RSCA network planning problem using the integer linear programming (ILP) formulation. The aim is to optimally minimize the maximum number of spectrum slices required on any core of MCF of a flexgrid SDM network. Furthermore, a scalable and effective heuristic is proposed for the same problem and its performance is compared with the optimal solution. The results show that the proposed algorithm is able to well approximate the optimal solution based on ILP model.

  • 112.
    Akhlaghpasand, Hossein
    et al.
    Iran Univ Sci and Technol, Iran.
    Razavizadeh, S. Mohammad
    Iran Univ Sci and Technol, Iran.
    Björnson, Emil
    Linköping University, Department of Electrical Engineering, Communication Systems. Linköping University, Faculty of Science & Engineering.
    Do, Tan Tai
    Ericsson AB, Sweden.
    Jamming Detection in Massive MIMO Systems2018In: IEEE Wireless Communications Letters, ISSN 2162-2337, E-ISSN 2162-2345, Vol. 7, no 2, p. 242-245Article in journal (Refereed)
    Abstract [en]

    This letter considers the physical layer security of a pilot-based massive multiple-input multiple-output (MaMIMO) system in presence of a multi-antenna jammer. We propose a new jamming detection method that makes use of a generalized likelihood ratio tes

  • 113.
    Akif, Ahmed
    Linköping University, Department of Electrical Engineering, Computer Engineering.
    FIR Filter Features on FPGA2018Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Finite-length impulse response (FIR) filters are one of the most commonly used digital signal processing algorithms used nowadays where a FPGA is the device used to implement it. The continued development of the FPGA device through the insertion of dedicated blocks raised the need to study the advantages offered by different FPGA families. The work presented in this thesis study the special features offered by FPGAs for FIR filters and introduce a cost model of resource utilization. The used method consist of several stages including reading, classification of features and generating coefficients. The results show that FPGAs have common features but also specific differences in features as well as resource utilization. It has been shown that there is misconception when dealing with FPGAs when it comes to FIR filter as compared to ASICs.

  • 114.
    Akin, Bilal
    et al.
    Texas Instruments Inc, USA.
    Choi, Seungdeog
    Texas A&M University, USA.
    Orguner, Umut
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Toliyat, Hamid A
    Texas A&M University, USA.
    A Simple Real-Time Fault Signature Monitoring Tool for Motor-Drive-Embedded Fault Diagnosis Systems2011In: IEEE transactions on industrial electronics (1982. Print), ISSN 0278-0046, E-ISSN 1557-9948, Vol. 58, no 5, p. 1990-2001Article in journal (Refereed)
    Abstract [en]

    The reference frame theory constitutes an essential aspect of electric machine analysis and control. In this study, apart from the conventional applications, it is reported that the reference frame theory approach can successfully be applied to real-time fault diagnosis of electric machinery systems as a powerful toolbox to find the magnitude and phase quantities of fault signatures with good precision as well. The basic idea is to convert the associated fault signature to a dc quantity, followed by the computation of the signals average in the fault reference frame to filter out the rest of the signal harmonics, i.e., its ac components. As a natural consequence of this, neither a notch filter nor a low-pass filter is required to eliminate fundamental component or noise content. Since the incipient fault mechanisms have been studied for a long time, the motor fault signature frequencies and fault models are very well-known. Therefore, ignoring all other components, the proposed method focuses only on certain fault signatures in the current spectrum depending on the examined motor fault. Broken rotor bar and eccentricity faults are experimentally tested online using a TMS320F2812 digital signal processor (DSP) to prove the effectiveness of the proposed method. In this application, only the readily available drive hardware is used without employing additional components such as analog filters, signal conditioning board, external sensors, etc. As the motor drive processing unit, the DSP is utilized both for motor control and fault detection purposes, providing instantaneous fault information. The proposed algorithm processes the measured data in real time to avoid buffering and large-size memory needed in order to enhance the practicability of this method. Due to the short-time convergence capability of the algorithm, the fault status is updated in each second. The immunity of the algorithm against non-ideal cases such as measurement offset errors and phase unbalance is theoretically and experimentally verified. Being a model-independent fault analyzer, this method can be applied to all multiphase and single-phase motors.

  • 115.
    Aksoy, Selim
    et al.
    Intelligent Systems Laboratory, University of Washington, Seattle, USA.
    Ming, Ye
    Intelligent Systems Laboratory, University of Washington, Seattle, USA.
    Schauf, Michael L.
    Intelligent Systems Laboratory, University of Washington, Seattle, USA.
    Song, Mingzhou
    Intelligent Systems Laboratory, University of Washington, Seattle, USA.
    Wang, Yalin
    n/a.
    Haralick, Robert M.
    Intelligent Systems Laboratory, University of Washington, Seattle, USA.
    Parker, Jim R.
    University of Calgary, Dept. of Computer Science, Calgary, Canada.
    Pivovarov, Juraj
    University of Calgary, Dept. of Computer Science, Calgary, Canada.
    Royko, Dominik
    University of Calgary, Dept. of Computer Science, Calgary, Canada.
    Sun, Changming
    CSIRO Mathematical and Information Sciences, Australia.
    Farnebäck, Gunnar
    Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Computer Vision.
    Algorithm Performance Contest2000In: Proceedings. 15th International Conference on Pattern Recognition, 2000: Barcelona, Spain, IEEE , 2000, Vol. 4, p. 870-876Conference paper (Refereed)
    Abstract [en]

    This contest involved the running and evaluation of computer vision and pattern recognition techniques on different data sets with known groundwidth. The contest included three areas; binary shape recognition, symbol recognition and image flow estimation. A package was made available for each area. Each package contained either real images with manual groundtruth or programs to generate data sets of ideal as well as noisy images with known groundtruth. They also contained programs to evaluate the results of an algorithm according to the given groundtruth. These evaluation criteria included the generation of confusion matrices, computation of the misdetection and false alarm rates and other performance measures suitable for the problems. The paper summarizes the data generation for each area and experimental results for a total of six participating algorithms

  • 116.
    Akçay, Hüseyin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hjalmarsson, Håkan
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    The Least-Squares Identification of FIR Systems Subject to Worst-Case Noise1993Report (Other academic)
    Abstract [en]

    The least-squares identification of FIR systems is analyzed assuming that the noise is a bounded signal and the input signal is a pseudo-random binary sequence. A lower bound on the worst-case transfer function error shows that the lest-square estimate of the transfer function diverges as the order of the FIR system is increased. This implies that, in the presence of the worst-case noise, the trade-off between the estimation error due to the disturbance and the bias error (due to unmodeled dynamics) is significantly different from the corresponding trade-off in the random error case: with a worst-case formulation, the model complexity should not increase indefinitely as the size of the data set increases.

  • 117.
    Akçay, Hüseyin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hjalmarsson, Håkan
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    The Least-Squares Identification of FIR Systems Subject to Worst-Case Noise1994In: Proceedings of the 10th IFAC Symposium on System Identification, 1994, Vol. 2, p. 85-90Conference paper (Refereed)
    Abstract [en]

    The least-squares identification of FIR systems is analyzed assuming that the noise is a bounded signal and the input signal is a pseudo-random binary sequence. A lower bound on the worst-case transfer function error shows that the lest-square estimate of the transfer function diverges as the order of the FIR system is increased. This implies that, in the presence of the worst-case noise, the trade-off between the estimation error due to the disturbance and the bias error (due to unmodeled dynamics) is significantly different from the corresponding trade-off in the random error case: with a worst-case formulation, the model complexity should not increase indefinitely as the size of the data set increases.

  • 118.
    Akçay, Hüseyin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hjalmarsson, Håkan
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    The Least-Squares Identification of FIR Systems Subject to Worst-Case Noise1994Report (Other academic)
    Abstract [en]

    The least-squares identification of FIR systems is analyzed assuming that the noise is a bounded signal and the input signal is a pseudo-random binary sequence. A lower bound on the worst-case transfer function error shows that the least-square estimate of the transfer function diverges as the order of the FIR system is increased. This implies that, in the presence of the worst-case noise, the trade-off between the estimation error due to the disturbance and the bias error (due to unmodeled dynamics) is significantly different from the corresponding trade-off in the random error case: with a worst-case formulation, the model complexity should not increase indefinitely as the size of the data set increases.

  • 119.
    Akçay, Hüseyin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hjalmarsson, Håkan
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    The Least-Squares Identification of FIR Systems Subject to Worst-Case Noise1994In: Systems & control letters (Print), ISSN 0167-6911, E-ISSN 1872-7956, Vol. 23, no 5, p. 329-338Article in journal (Refereed)
    Abstract [en]

    The least-squares identification of FIR systems is analyzed assuming that the noise is a bounded signal and the input signal is a pseudo-random binary sequence. A lower bound on the worst-case transfer function error shows that the least-square estimate of the transfer function diverges as the order of the FIR system is increased. This implies that, in the presence of the worst-case noise, the trade-off between the estimation error due to the disturbance and the bias error (due to unmodeled dynamics) is significantly different from the corresponding trade-off in the random error case: with a worst-case formulation, the model complexity should not increase indefinitely as the size of the data set increases.

  • 120.
    Akçay, Hüseyin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hjalmarsson, Håkan
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Ljung, Lennart
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Choice of Norms in System Identification1994In: Proceedings of the 10th IFAC Symposium on System Identification, 1994, Vol. 2, p. 103-108Conference paper (Refereed)
    Abstract [en]

    In this paper we discuss smooth and sensitive norms for prediction error system identification when the disturbances are magnitude bounded. Formal conditions for sensitive norms, which give an order of magnitude faster convergence of the parameter estimate variance, are developed. However, it also is shown that the parameter estimate variance convergence rate of sensitive norms is arbitrarily bad for certain distributions. A necessary condition for a norm to be statistically robust with respect to the family F(C) of distributions with support [-C, C] for some arbitrary C>0 is that its second derivative does not vanish on the support. A direct consequence of this observation is that the quadratic norm is statistically robust among all lp-norms, p⩽2<∞ for F(C).

  • 121.
    Akçay, Hüseyin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hjalmarsson, Håkan
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Ljung, Lennart
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Choice of Norms in System Identification1994Report (Other academic)
    Abstract [en]

    In this paper we discuss smooth and sensitive norms for prediction error system identification when the disturbances are magnitude bounded. Formal conditions for sensitive norms, which give an order of magnitude faster convergence of the parameter estimate variance, are developed. However, it also is shown that the parameter estimate variance convergence rate of sensitive norms is arbitrarily bad for certain distributions. A necessary condition for a norm to be statistically robust with respect to the family F(C) of distributions with support [-C, C] for some arbitrary C>0 is that its second derivative does not vanish on the support. A direct consequence of this observation is that the quadratic norm is statistically robust among all lp-norms, p⩽2<∞ for F(C).

  • 122.
    Akçay, Hüseyin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hjalmarsson, Håkan
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Ljung, Lennart
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Choice of Norms in System Identification1996Report (Other academic)
    Abstract [en]

    In this paper we discuss smooth and sensitive norms for prediction error system identification when the disturbances are magnitude bounded. Formal conditions for sensitive norms, which give an order of magnitude faster convergence of the parameter estimate variance, are developed. However, it also is shown that the parameter estimate variance convergence rate of sensitive norms is arbitrarily bad for certain distributions. A necessary condition for a norm to be statistically robust with respect to the family F(C) of distributions with support [-C, C] for some arbitrary C>0 is that its second derivative does not vanish on the support. A direct consequence of this observation is that the quadratic norm is statistically robust among all lp-norms, p⩽2<∞ for F(C).

  • 123.
    Akçay, Hüseyin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Ljung, Lennart
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hjalmarsson, Håkan
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Choice of Norms in System Identification1994Report (Other academic)
    Abstract [en]

    In this paper we discuss smooth and sensitive norms for prediction error system identification when the disturbances are magnitude bounded. Formal conditions for sensitive norms, which give an order of magnitude faster convergence of the parameter estimate variance, are developed. However, it also is shown that the parameter estimate variance convergence rate of sensitive norms is arbitrarily bad for certain distributions. A necessary condition for a norm to be statistically robust with respect to the family F(C) of distributions with support [-C, C] for some arbitrary C>0 is that its second derivative does not vanish on the support. A direct consequence of this observation is that the quadratic norm is statistically robust among all lp-norms, p⩽2<∞ for F(C).

  • 124.
    Alam, Syed Asad
    Linköping University, Department of Electrical Engineering.
    Design Space Exploration of Time-Multiplexed FIRFilters on FPGAs2010Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    FIR (Finite-length Impulse Response) filters are the corner stone of many signalprocessing devices. A lot of research has gone into their development as wellas their effective implementation. With recent research focusing a lot on powerconsumption reduction specially with regards to FPGAs, it was found necessaryto explore FIR filters mapping on FPGAs.

    Time multiplexed FIR filters are also a good candidate for examination withrespect to power consumption and resource utilization, for example when implementedin Field Programmable Gate Arrays (FPGAs). This is motivated by thefact that the usable clock frequency often is higher compared to the required datarate. Current implementations by, e.g., Xilinx FIR Compiler suffer from highpower consumption when the time multiplexing factor is low. Further, it needs tobe investigated how exploiting coefficient symmetry, scaling the coefficients andincreasing the time-multiplexing factor influences the performance.

  • 125.
    Alam, Syed Asad
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    Techniques for Efficient Implementation of FIR and Particle Filtering2016Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    FIR filters occupy a central place many signal processing applications which either alter the shape, frequency or the sampling frequency of the signal. FIR filters are used because of their stability and possibility to have linear-phase but require a high filter order to achieve the same magnitude specifications as compared to IIR filters. Depending on the size of the required transition bandwidth the filter order can range from tens to hundreds to even thousands. Since the implementation of the filters in digital domain requires multipliers and adders, high filter orders translate to a large number of these arithmetic units for its implementation. Research towards reducing the complexity of FIR filters has been going on for decades and the techniques used can be roughly divided into two categories; reduction in the number of multipliers and simplification of the multiplier implementation. 

    One technique to reduce the number of multipliers is to use cascaded sub-filters with lower complexity to achieve the desired specification, known as FRM. One of the sub-filters is a upsampled model filter whose band edges are an integer multiple, termed as the period L, of the target filter's band edges. Other sub-filters may include complement and masking filters which filter different parts of the spectrum to achieve the desired response. From an implementation point-of-view, time-multiplexing is beneficial because generally the allowable maximum clock frequency supported by the current state-of-the-art semiconductor technology does not correspond to the application bound sample rate. A combination of these two techniques plays a significant role towards efficient implementation of FIR filters. Part of the work presented in this dissertation is architectures for time-multiplexed FRM filters that benefit from the inherent sparsity of the periodic model filters.

    These time-multiplexed FRM filters not only reduce the number of multipliers but lowers the memory usage. Although the FRM technique requires a higher number delay elements, it results in fewer memories and more energy efficient memory schemes when time-multiplexed. Different memory arrangements and memory access schemes have also been discussed and compared in terms of their efficiency when using both single and dual-port memories. An efficient pipelining scheme has been proposed which reduces the number of pipelining registers while achieving similar clock frequencies. The single optimal point where the number of multiplications is minimum for non-time-multiplexed FRM filters is shown to become a function of both the period, L and time-multiplexing factor, M. This means that the minimum number of multipliers does not always correspond to the minimum number of multiplications which also increases the flexibility of implementation. These filters are shown to achieve power reduction between 23% and 68% for the considered examples.

    To simplify the multiplier, alternate number systems like the LNS have been used to implement FIR filters, which reduces the multiplications to additions. FIR filters are realized by directly designing them using ILP in the LNS domain in the minimax sense using finite word length constraints. The branch and bound algorithm, a typical algorithm to implement ILP problems, is implemented based on LNS integers and several branching strategies are proposed and evaluated. The filter coefficients thus obtained are compared with the traditional finite word length coefficients obtained in the linear domain. It is shown that LNS FIR filters provide a better approximation  error compared to a standard FIR filter for a given coefficient word length.

    FIR filters also offer an opportunity in complexity reduction by implementing the multipliers using Booth or standard high-radix multiplication. Both of these multiplication schemes generate pre-computed multiples of the multiplicand which are then selected based on the encoded bits of the multiplier. In TDF FIR filters, one input data is multiplied with a number of coefficients and complexity can be reduced by sharing the pre-computation of the multiplies of the input data for all multiplications. Part of this work includes a systematic and unified approach to the design of such computation sharing multipliers and a comparison of the two forms of multiplication. It also gives closed form expressions for the cost of different parts of multiplication and gives an overview of various ways to implement the select unit with respect to the design of multiplexers.

    Particle filters are used to solve problems that require estimation of a system. Improved resampling schemes for reducing the latency of the resampling stage is proposed which uses a pre-fetch technique to reduce the latency between 50% to 95%  dependent on the number of pre-fetches. Generalized division-free architectures and compact memory structures are also proposed that map to different resampling algorithms and also help in reducing the complexity of the multinomial resampling algorithm and reduce the number of memories required by up to 50%.

    List of papers
    1. A unified approach to the design and implementation of computation sharing multipliers: Computation sharing multipliers
    Open this publication in new window or tab >>A unified approach to the design and implementation of computation sharing multipliers: Computation sharing multipliers
    (English)Manuscript (preprint) (Other academic)
    Abstract [en]

    A unified approach to the design and implementation of computation sharing multiplier based on Booth and standard high-radix multiplication schemes is presented here. Both of these multiplication schemes have various building blocks and one of which is the pre-computer which can be shared across a number of multiplications if the multiplicand to the multipliers is same, like in a transposed direct form (TDF) finitelength impulse response (FIR) filter. Closed form expressions to estimate the cost of different building blocks based on different schemes have been developed and analyzed in different dimensions. Standalone multipliers and as part of computation sharing in FIR filters and complex multipliers have been realized in hardware and synthesized using standard cell library.

    It is shown that apart from word length and filter length, the ratio  between the cost of implementing adders and multiplexers has an effect on the choice of optimal radix. The higher the ratio, the lower is the cost of implementing multiplexers which will benefit high radix. Higher radix will also benefit from computation sharing if the cost of one multiplication for it is less than the lower radix and it is shown that radix-16 Booth multiplier achieves lower area complexity and power consumption by an average of 7% and 17%, respectively.

    Keywords
    Computation sharing multipliers, standard high-radix multiplier, Booth multiplier, FIR filter
    National Category
    Electrical Engineering, Electronic Engineering, Information Engineering
    Identifiers
    urn:nbn:se:liu:diva-124194 (URN)
    Available from: 2016-01-21 Created: 2016-01-21 Last updated: 2016-02-02Bibliographically approved
    2. On the implementation of time-multiplexed frequency-response masking filters
    Open this publication in new window or tab >>On the implementation of time-multiplexed frequency-response masking filters
    2016 (English)In: IEEE Transactions on Signal Processing, ISSN 1053-587X, E-ISSN 1941-0476, Vol. 64, no 15, p. 3933-3944Article in journal (Refereed) Published
    Abstract [en]

    The complexity of narrow transition band finite-length impulse response (FIR) filters is high and can be reduced by using frequency-response masking (FRM) techniques. These techniques use a combination of periodic model and, possibly periodic, masking filters. Time-multiplexing is in general beneficial since only rarely does the technology bound maximum obtainable clock frequency and the application determined required sample rate correspond. Therefore, architectures for time-multiplexed FRM filters that benefit from the inherent sparsity of theperiodic filters are introduced in this work.

    We show that FRM filters not only reduces the number of multipliers needed, but also have benefits in terms of memory usage. Despite the total amount of samples to be stored is larger for FRM, it results in fewer memory resources needed in FPGAs and more energy efficient memory schemes in ASICs. In total, the power consumption is significantly reduced compared to a single stage implementation. Furthermore, we show that the choice of the interpolation factor which gives the least complexity for the periodic model filter and subsequent masking filter(s) is a function of the time-multiplexing factor, meaning that the minimum number of multipliers not always correspond to the minimum number of multiplications. Both single-port and dual-port memories are considered and the involved trade-off in number of multipliers and memory complexity is illustrated. The results show that for FPGA implementation, the power reduction ranges from 23% to 68% for the considered examples.

    Place, publisher, year, edition, pages
    Institute of Electrical and Electronics Engineers (IEEE), 2016
    Keywords
    Frequency-response masking, FIR filter, FPGA, ASIC, time-multiplexing, memories
    National Category
    Electrical Engineering, Electronic Engineering, Information Engineering
    Identifiers
    urn:nbn:se:liu:diva-124190 (URN)10.1109/TSP.2016.2557298 (DOI)000379699800009 ()
    Note

    Vid tiden för disputation förelåg publikationen som manuskript

    Available from: 2016-01-21 Created: 2016-01-21 Last updated: 2017-11-30Bibliographically approved
    3. Design of Finite Word Length Linear-Phase FIR Filters inthe Logarithmic Number System Domain
    Open this publication in new window or tab >>Design of Finite Word Length Linear-Phase FIR Filters inthe Logarithmic Number System Domain
    2014 (English)In: VLSI design (Print), ISSN 1065-514X, E-ISSN 1563-5171, Vol. 2014, no 217495Article in journal (Refereed) Published
    Abstract [en]

    Logarithmic number system (LNS) is an attractive alternative to realize finite-length impulse response filters because ofmultiplication in the linear domain being only addition in the logarithmic domain. In the literature, linear coefficients are directlyreplaced by the logarithmic equivalent. In this paper, an approach to directly optimize the finite word length coefficients in theLNS domain is proposed. This branch and bound algorithm is implemented based on LNS integers and several different branchingstrategies are proposed and evaluated. Optimal coefficients in the minimax sense are obtained and compared with the traditionalfinite word length representation in the linear domain as well as using rounding. Results show that the proposed method naturallyprovides smaller approximation error compared to rounding. Furthermore, they provide insights into finite word length propertiesof FIR filters coefficients in the LNS domain and show that LNS FIR filters typically provide a better approximation error comparedto a standard FIR filter.

    Place, publisher, year, edition, pages
    Egypt: Hindawi Publishing Corporation, 2014
    Keywords
    Logarithmic Number System, FIR Filter, Integer Linear Programming, Branch and Bound
    National Category
    Signal Processing
    Identifiers
    urn:nbn:se:liu:diva-105861 (URN)10.1155/2014/217495 (DOI)
    Available from: 2014-04-10 Created: 2014-04-10 Last updated: 2017-12-05Bibliographically approved
    4. Improved particle filter resampling architectures
    Open this publication in new window or tab >>Improved particle filter resampling architectures
    (English)Manuscript (preprint) (Other academic)
    Abstract [en]

    The most challenging aspect of particle filtering hardware implementation is the resampling step which replicates particles with large weights and discards those with small weights because it has a high latency and can only be partially executed in parallel with the other steps of particle filtering. To reduce the latency, an improved resampling scheme is proposed in this work which involves pre-fetching from the weight memory in parallel to the fetching of a value from a random function generator. Architectures for realizing the pre-fetch technique are also proposed. The trade-off between the latency reduction achieved by increasing the size of the pre-fetch memory and the architectural implementation complexity has been analyzed. Results show that a pre-fetch of five achieves the best area-latency trade-off while on average achieving an 85% reduction in the latency.

    We also propose a generic double multiplier architecture for resampling which avoids normalization divisions and makes the architecture equally efficient for non-powers-of-two number of particles as well as removes the need of explicitly ordering the random values for efficient multinomial resampling implementation. It is further improved by computing the cumulative sum of weights on-the-fly which helps in reducing the size of the weight memories by up to 50%.

    Keywords
    Particle filters, resampling algorithm, resampling architecture
    National Category
    Electrical Engineering, Electronic Engineering, Information Engineering
    Identifiers
    urn:nbn:se:liu:diva-124193 (URN)
    Available from: 2016-01-21 Created: 2016-01-21 Last updated: 2016-02-02Bibliographically approved
  • 126.
    Alam, Syed Asad
    et al.
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    Gustafsson, Oscar
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    A unified approach to the design and implementation of computation sharing multipliers: Computation sharing multipliersManuscript (preprint) (Other academic)
    Abstract [en]

    A unified approach to the design and implementation of computation sharing multiplier based on Booth and standard high-radix multiplication schemes is presented here. Both of these multiplication schemes have various building blocks and one of which is the pre-computer which can be shared across a number of multiplications if the multiplicand to the multipliers is same, like in a transposed direct form (TDF) finitelength impulse response (FIR) filter. Closed form expressions to estimate the cost of different building blocks based on different schemes have been developed and analyzed in different dimensions. Standalone multipliers and as part of computation sharing in FIR filters and complex multipliers have been realized in hardware and synthesized using standard cell library.

    It is shown that apart from word length and filter length, the ratio  between the cost of implementing adders and multiplexers has an effect on the choice of optimal radix. The higher the ratio, the lower is the cost of implementing multiplexers which will benefit high radix. Higher radix will also benefit from computation sharing if the cost of one multiplication for it is less than the lower radix and it is shown that radix-16 Booth multiplier achieves lower area complexity and power consumption by an average of 7% and 17%, respectively.

  • 127.
    Alam, Syed Asad
    et al.
    Linköping University, Department of Electrical Engineering, Electronics System. Linköping University, The Institute of Technology.
    Gustafsson, Oscar
    Linköping University, Department of Electrical Engineering, Electronics System. Linköping University, The Institute of Technology.
    Design of Finite Word Length Linear-Phase FIR Filters inthe Logarithmic Number System Domain2014In: VLSI design (Print), ISSN 1065-514X, E-ISSN 1563-5171, Vol. 2014, no 217495Article in journal (Refereed)
    Abstract [en]

    Logarithmic number system (LNS) is an attractive alternative to realize finite-length impulse response filters because ofmultiplication in the linear domain being only addition in the logarithmic domain. In the literature, linear coefficients are directlyreplaced by the logarithmic equivalent. In this paper, an approach to directly optimize the finite word length coefficients in theLNS domain is proposed. This branch and bound algorithm is implemented based on LNS integers and several different branchingstrategies are proposed and evaluated. Optimal coefficients in the minimax sense are obtained and compared with the traditionalfinite word length representation in the linear domain as well as using rounding. Results show that the proposed method naturallyprovides smaller approximation error compared to rounding. Furthermore, they provide insights into finite word length propertiesof FIR filters coefficients in the LNS domain and show that LNS FIR filters typically provide a better approximation error comparedto a standard FIR filter.

  • 128.
    Alam, Syed Asad
    et al.
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    Gustafsson, Oscar
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    Generalized Division-Free Architecture and Compact Memory Structure for Resampling in Particle Filters2015In: 2015 European Conference on Circuit Theory and Design (ECCTD), IEEE Press, 2015, p. 416-419Conference paper (Refereed)
    Abstract [en]

    The most challenging step of implementing particle filtering is the resampling step which replicates particles with large weights and discards those with small weights. In this paper, we propose a generic architecture for resampling which uses double multipliers to avoid normalization divisions and make the architecture  equally efficient for non-powers-of-two number of particles. Furthermore, the complexity of resampling is greatly affected by the size of memories used to store weights. We illustrate that by storing the original weights instead of their cumulative sum and calculating them online reduces the total complexity, in terms of area, ranging from 21% to 45%, while giving up to 50% reduction in memory usage.

  • 129.
    Alam, Syed Asad
    et al.
    Linköping University, Department of Electrical Engineering, Electronics System. Linköping University, The Institute of Technology.
    Gustafsson, Oscar
    Linköping University, Department of Electrical Engineering, Electronics System. Linköping University, The Institute of Technology.
    Implementation of Narrow-Band Frequency-Response Masking for Efficient Narrow Transition Band FIR Filters on FPGAs2011In: NORCHIP, 2011, IEEE conference proceedings, 2011, p. 1-4Conference paper (Refereed)
    Abstract [en]

    The complexity of narrow transition band FIR filters is highand can be reduced by using frequency response masking (FRM) techniques. Thesetechniques use a combination of periodic model filters and masking filters. Inthis paper, we show that time-multiplexed FRM filters achieve lowercomplexity, not only in terms of multipliers, but also logic elements compared to time-multiplexed singlestage filters. The reduced complexity also leads to a lower power consumption. Furthermore, we show that theoptimal period of the model filter is dependent on the time-multiplexing factor.

  • 130.
    Alam, Syed Asad
    et al.
    Linköping University, Department of Electrical Engineering, Electronics System. Linköping University, The Institute of Technology.
    Gustafsson, Oscar
    Linköping University, Department of Electrical Engineering, Electronics System. Linköping University, The Institute of Technology.
    Implementation of Time-Multiplexed Sparse Periodic FIR Filters for FRM on FPGAs2011Conference paper (Refereed)
    Abstract [en]

    Frequency-response masking (FRM) is a set of techniques for lowering the computational complexity of narrow transition band FIR filters. These FRM use a combination of sparse periodic filters and non-sparse filters. In this work we consider the implementation of these filters in a time-multiplexed manner on FPGAs. It is shown that the proposed architectures produce lower complexity realizations compared to the vendor provided IP blocks, which do not take the sparseness into consideration. The designs are implemented on a Virtex-6 device utilizing the built-in DSP blocks.

  • 131.
    Alam, Syed Asad
    et al.
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    Gustafsson, Oscar
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    Improved particle filter resampling architecturesManuscript (preprint) (Other academic)
    Abstract [en]

    The most challenging aspect of particle filtering hardware implementation is the resampling step which replicates particles with large weights and discards those with small weights because it has a high latency and can only be partially executed in parallel with the other steps of particle filtering. To reduce the latency, an improved resampling scheme is proposed in this work which involves pre-fetching from the weight memory in parallel to the fetching of a value from a random function generator. Architectures for realizing the pre-fetch technique are also proposed. The trade-off between the latency reduction achieved by increasing the size of the pre-fetch memory and the architectural implementation complexity has been analyzed. Results show that a pre-fetch of five achieves the best area-latency trade-off while on average achieving an 85% reduction in the latency.

    We also propose a generic double multiplier architecture for resampling which avoids normalization divisions and makes the architecture equally efficient for non-powers-of-two number of particles as well as removes the need of explicitly ordering the random values for efficient multinomial resampling implementation. It is further improved by computing the cumulative sum of weights on-the-fly which helps in reducing the size of the weight memories by up to 50%.

  • 132.
    Alam, Syed Asad
    et al.
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    Gustafsson, Oscar
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    On the implementation of time-multiplexed frequency-response masking filters2016In: IEEE Transactions on Signal Processing, ISSN 1053-587X, E-ISSN 1941-0476, Vol. 64, no 15, p. 3933-3944Article in journal (Refereed)
    Abstract [en]

    The complexity of narrow transition band finite-length impulse response (FIR) filters is high and can be reduced by using frequency-response masking (FRM) techniques. These techniques use a combination of periodic model and, possibly periodic, masking filters. Time-multiplexing is in general beneficial since only rarely does the technology bound maximum obtainable clock frequency and the application determined required sample rate correspond. Therefore, architectures for time-multiplexed FRM filters that benefit from the inherent sparsity of theperiodic filters are introduced in this work.

    We show that FRM filters not only reduces the number of multipliers needed, but also have benefits in terms of memory usage. Despite the total amount of samples to be stored is larger for FRM, it results in fewer memory resources needed in FPGAs and more energy efficient memory schemes in ASICs. In total, the power consumption is significantly reduced compared to a single stage implementation. Furthermore, we show that the choice of the interpolation factor which gives the least complexity for the periodic model filter and subsequent masking filter(s) is a function of the time-multiplexing factor, meaning that the minimum number of multipliers not always correspond to the minimum number of multiplications. Both single-port and dual-port memories are considered and the involved trade-off in number of multipliers and memory complexity is illustrated. The results show that for FPGA implementation, the power reduction ranges from 23% to 68% for the considered examples.

  • 133.
    Alami, Mohsen
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Interval Based Parameter Identification for System Biology2012Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This master thesis studies the problem of parameter identification for system biology. Two methods have been studied. The method of interval analysis uses subpaving as a class of objects to manipulate and store inner and outer approximations of compact sets. This method works well with the model given as a system of differential equations, but has its limitations, since the analytical expression for the solution to the ODE is not always obtainable, which is needed for constructing the inclusion function. The other method, studied, is SDP-relaxation of a nonlinear and non-convex feasibility problem. This method, implemented in the toolbox bio.SDP, works with system of difference equations, obtained using the Euler discretization method. The discretization method is not exact, raising the need of bounding this discretization error. Several methods for bounding this error has been studied. The method of ∞-norm optimization, also called worst-case-∞-norm is applied on the one-step error estimation method.

    The methods have been illustrated solving two system biological problems and the resulting SCP have been compared.

  • 134.
    Albertos, Pedro
    et al.
    Polytechnical University of Valencia, Spain.
    Goodwin, Graham C.
    University of Newcastle, Australia.
    Isaksson, Alf
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Pseudo Linear Regression Algorithm for On-Line Parameter Estimation with Missing Data1992Report (Other academic)
  • 135.
    Albregtsen, Fritz
    Linköping University, Department of Electrical Engineering, Computer Vision. Linköping University, The Institute of Technology.
    Enhancing Satellite Images of the Antarctic Snow and Ice Cover by Context Dependent Anisotropic Nonstationary Filtering.1987Report (Other academic)
  • 136.
    Albrektsson, Jörgen
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Optimisation of Off-Road Transport Missions2018Licentiate thesis, comprehensive summary (Other academic)
    Abstract [en]

    Mines, construction sites, road construction and quarries are examples of applications where construction equipment are used. In a production chain consisting of several construction machines working together, the work needs to be optimised and coordinated to achieve an environmental friendly, energy efficient and productive production. Recent rapid development within positioning services, telematics and human machine interfaces (HMI) opens up for control of individual machines and optimisation of transport missions where several construction machines co-operate.

    The production chain on a work site can be split up in different sub-tasks of which some can be transport missions. Taking off in a transport mission where one wheel loader ("loader" hereinafter) and two articulated haulers ("haulers" hereinafter) co-operate to transport material at a set production rate [ton/h], a method for fuel optimal control is developed. On the mission level, optimal cycle times for individual sub-tasks such as wheel loader loading, hauler transport and hauler return, are established through the usage of Pareto fronts.

    The haulers Pareto fronts are built through the development of a Dynamic Programming (DP) algorithm that trades fuel consumption versus cycle time for a road stretch by means of a time penalty constant. Through varying the time penalty constant n number of times, discrete fuel consumption - cycle time values can be achieved, forming the Pareto front. At a later stage, the same DP algorithm is used to generate fuel optimal vehicle speed and gear trajectories that are used as control signals for the haulers. Input to the DP algorithm is the distance to be travelled, road inclination, rolling resistance coefficient and a max speed limit to avoid unrealistic optimisation results.

    Thus, a method to describe the road and detect the road related data is needed to enable the optimisation. A map module is built utilising an extended Kalman Filter, Rauch-Tung-Striebel smoother and sensor fusion to merge data and estimate parameters not observable by sensors. The map module uses a model of the vehicle, sensor signals from a GPS or GNSS sensor and machine sensors to establish a map of the road.

    The wheel loader Pareto front is based on data developed in previous research combined with Volvo in-house data. The developed optimisation algorithms are implemented on a PC and in an interactive computer tablet based system. A human machine interface is created for the tablet, guiding the operators to follow the optimal control signals, which is speed for the haulers and cycle time for the loader. To evaluate the performance of the system it is tested in real working conditions.

    The contributions develop algorithms, set up a demo mission control system and carry out experiments. Altogether rendering in a platform that can be used as a base for a future design of an off-road transport mission control system.

    List of papers
    1. Road estimation and fuel optimal control of an off-road vehicle
    Open this publication in new window or tab >>Road estimation and fuel optimal control of an off-road vehicle
    2017 (English)In: Proceedings of the 3rd International Conference on Vehicle Technology and Intelligent Transport Systems, SciTePress, 2017, p. 58-67Conference paper, Published paper (Refereed)
    Place, publisher, year, edition, pages
    SciTePress, 2017
    National Category
    Control Engineering
    Identifiers
    urn:nbn:se:liu:diva-142731 (URN)10.5220/0006247200580067 (DOI)978-989-758-242-4 (ISBN)
    Conference
    3rd International Conference on Vehicle Technology and Intelligent Transport Systems, VEHITS 2017, April 22-24, 2017, in Porto, Portugal
    Available from: 2018-04-03 Created: 2018-04-03 Last updated: 2018-11-22
    2. Fuel Optimal Control of an Articulated Hauler Utilising a Human Machine Interface
    Open this publication in new window or tab >>Fuel Optimal Control of an Articulated Hauler Utilising a Human Machine Interface
    2019 (English)In: Smart Cities, Green Technologies, and Intelligent Transport Systems / [ed] Donnellan, Brian; Klein, Cornel; Helfert, Markus; Gusikhin, Oleg; Pascoal, António, Springer International Publishing , 2019, p. 190-208Conference paper, Published paper (Refereed)
    Abstract [en]

    Utilising optimal control presents an opportunity to increase the fuel efficiency in an off-road transport mission conducted by an articulated hauler. A human machine interface (HMI) instructing the hauler operator to follow the fuel optimal vehicle speed trajectory has been developed and tested in real working conditions. The HMI implementation includes a Dynamic Programming based method to calculate the optimal vehicle speed and gear shift trajectories. Input to the optimisation algorithm is road related data such as distance, road inclination and rolling resistance. The road related data is estimated in a map module utilising an Extended Kalman Filter (EKF), a Rauch-Tung-Striebel smoother and a data fusion algorithm. Two test modes were compared: (1) The hauler operator tried to follow the optimal vehicle speed trajectory as presented in the HMI and (2) the operator was given a constant target speed to follow. The objective of the second test mode is to achieve an approximately equal cycle time as for the optimally controlled transport mission, hence, with similar productivity. A small fuel efficiency improvement was found when the human machine interface was used.

    Place, publisher, year, edition, pages
    Springer International Publishing, 2019
    Series
    Communications in Computer and Information Science book series (CCIS), ISSN 1865-0929, E-ISSN 1865-0937 ; 921
    Keywords
    Off-road, Construction equipment, Human machine interface, Optimal control, Dynamic programming, Kalman filters
    National Category
    Vehicle Engineering
    Identifiers
    urn:nbn:se:liu:diva-153311 (URN)10.1007/978-3-030-02907-4_10 (DOI)978-3-030-02906-7 (ISBN)978-3-030-02907-4 (ISBN)
    Conference
    6th International Conference, SMARTGREENS 2017 and Third International Conference, VEHITS 2017, Porto, Portugal, April 22–24, 2017
    Available from: 2018-12-12 Created: 2018-12-12 Last updated: 2018-12-12
    3. Fuel optimal control of an off-road transport mission
    Open this publication in new window or tab >>Fuel optimal control of an off-road transport mission
    2018 (English)In: 2018 IEEE International Conference on Industrial Technology (ICIT), 2018, p. 175-180Conference paper, Published paper (Refereed)
    National Category
    Electrical Engineering, Electronic Engineering, Information Engineering
    Identifiers
    urn:nbn:se:liu:diva-151856 (URN)10.1109/ICIT.2018.8352172 (DOI)978-1-5090-5949-2 (ISBN)
    Conference
    2018 IEEE International Conference on Industrial Technology (ICIT), 19-22 Feb.,Lyon, France
    Available from: 2018-10-06 Created: 2018-10-06 Last updated: 2018-11-22
  • 137.
    Albrektsson, Jörgen
    et al.
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering. Volvo Construction Equipment, Eskilstuna, Sweden.
    Åslund, Jan
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Fuel Optimal Control of an Articulated Hauler Utilising a Human Machine Interface2019In: Smart Cities, Green Technologies, and Intelligent Transport Systems / [ed] Donnellan, Brian; Klein, Cornel; Helfert, Markus; Gusikhin, Oleg; Pascoal, António, Springer International Publishing , 2019, p. 190-208Conference paper (Refereed)
    Abstract [en]

    Utilising optimal control presents an opportunity to increase the fuel efficiency in an off-road transport mission conducted by an articulated hauler. A human machine interface (HMI) instructing the hauler operator to follow the fuel optimal vehicle speed trajectory has been developed and tested in real working conditions. The HMI implementation includes a Dynamic Programming based method to calculate the optimal vehicle speed and gear shift trajectories. Input to the optimisation algorithm is road related data such as distance, road inclination and rolling resistance. The road related data is estimated in a map module utilising an Extended Kalman Filter (EKF), a Rauch-Tung-Striebel smoother and a data fusion algorithm. Two test modes were compared: (1) The hauler operator tried to follow the optimal vehicle speed trajectory as presented in the HMI and (2) the operator was given a constant target speed to follow. The objective of the second test mode is to achieve an approximately equal cycle time as for the optimally controlled transport mission, hence, with similar productivity. A small fuel efficiency improvement was found when the human machine interface was used.

  • 138.
    Albrektsson, Jörgen
    et al.
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Åslund, Jan
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Fuel optimal control of an off-road transport mission2018In: 2018 IEEE International Conference on Industrial Technology (ICIT), 2018, p. 175-180Conference paper (Refereed)
  • 139.
    Albrektsson, Jörgen
    et al.
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Åslund, Jan
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Road estimation and fuel optimal control of an off-road vehicle2017In: Proceedings of the 3rd International Conference on Vehicle Technology and Intelligent Transport Systems, SciTePress, 2017, p. 58-67Conference paper (Refereed)
  • 140.
    Al-Egli, Fares
    et al.
    Linköping University, Department of Electrical Engineering, Integrated Circuits and Systems.
    Mohamed Moumin, Hassan
    Linköping University, Department of Electrical Engineering, Integrated Circuits and Systems.
    Control, Design, and Implementation of Quasi Z-source Cascaded H-Bridge Inverter2018Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report is about control, design and implementation of a low voltage-fed quasi Z-source three-level inverter. The topology has been interesting for photovoltaic-systems due to its ability to boost the incoming voltage without needing an extra switching control. The topology was first simulated in Simulink and later implemented on a full-bridge module to measure the harmonic distortion and estimating the power losses of the inverter. An appropriate control scheme was used to set up a shootthrough and design a three-level inverter. The conclusion for the report is that the quasi Z-source inverter could boost the DC-link voltage in the simulation. But there should be more consideration to the internal resistance of the components for the implementation stage as it gave out a lower output voltage than expected. 

  • 141.
    Alegret, Guillem
    et al.
    MAN Diesel & Turbo, Copenhagen, Denmark.
    Llamas, Xavier
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Vejlgaard-Laursen, Morten
    MAN Diesel & Turbo, Copenhagen, Denmark.
    Eriksson, Lars
    Linköping University, Department of Electrical Engineering, Vehicular Systems. Linköping University, Faculty of Science & Engineering.
    Modeling of a Large Marine Two-Stroke Diesel Engine with Cylinder Bypass Valve and EGR System2015In: 10th IFAC Conference on Manoeuvring and Control of Marine Craft MCMC 2015: Copenhagen, 24–26 August 2015 / [ed] Roberto Galeazzi and Mogens Blanke, IFAC Papers Online, 2015, Vol. 48, p. 273-278Conference paper (Refereed)
    Abstract [en]

    A nonlinear mean value engine model (MVEM) of a two-stroke turbocharged marine diesel engine is developed, parameterized and validated against measurement data. The goal is to have a computationally fast and accurate engine model that captures the main dynamics and can be used in the development of control systems for the newly introduced EGR system. The tuning procedure used is explained, and the result is a six-state MVEM with seven control inputs that capture the main system dynamics.

  • 142.
    Alesand, Elias
    Linköping University, Department of Electrical Engineering, Communication Systems.
    Identification of Flying Drones in Mobile Networks using Machine Learning2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Drone usage is increasing, both in recreational use and in the industry. With it comes a number of problems to tackle. Primarily, there are certain areas in which flying drones pose a security threat, e.g., around airports or other no-fly zones. Other problems can appear when there are drones in mobile networks which can cause interference. Such interference comes from the fact that radio transmissions emitted from drones can travel more freely than those from regular UEs (User Equipment) on the ground since there are few obstructions in the air. Additionally, the data traffic sent from drones is often high volume in the form of video streams. The goal of this thesis is to identify so-called "rogue drones" connected to an LTE network. Rogue drones are flying drones that appear to be regular UEs in the network. Drone identification is a binary classification problem where UEs in a network are classified as either a drone or a regular UE and this thesis proposes machine learning methods that can be used to solve it. Classifications are based on radio measurements and statistics reported by UEs in the network. The data for the work in this thesis is gathered through simulations of a heterogenous LTE network in an urban scenario. The primary idea of this thesis is to use a type of cascading classifier, meaning that classifications are made in a series of stages with increasingly complex models where only a subset of examples are passed forward to subsequent stages. The motivation for such a structure is to minimize the computational requirements at the entity making the classifications while still being complex enough to achieve high accuracy. The models explored in this thesis are two-stage cascading classifiers using decision trees and ensemble learning techniques. It is found that close to 60% of the UEs in the dataset can be classified without errors in the first of the two stages. The rest is forwarded to a more complex model which requires more data from the UEs and can achieve up to 98% accuracy. 

  • 143.
    Alexandersson, Johan
    et al.
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    Nordin, Olle
    Linköping University, Department of Electrical Engineering, Computer Engineering. Linköping University, Faculty of Science & Engineering.
    Implementation of CAN Communication Stack in AUTOSAR2015Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In the automotive industry today, embedded systems have reached a level of complexity which is not maintainable with the traditional approach of design- ing automotive embedded systems. For this purpose, many of the worlds leading automotive manufacturers have formed an alliance to apprehend this problem. This has resulted in AUTOSAR, an open standardized architecture for automotive embedded systems, which strives for increased flexibility and safety regulations. This thesis will explore the possibilities of implementing a CAN Communication stack using the AUTOSAR architecture and its corresponding methodology. As a result of this thesis, a complete AUTOSAR CAN communication stack has been implemented, as well has a simulator application with the purpose of testing its functionality. 

  • 144.
    Alexandersson, Johan
    et al.
    Linköping University, Department of Electrical Engineering, Computer Engineering.
    Nordin, Olle
    Linköping University, Department of Electrical Engineering, Computer Engineering.
    Implementation of SLAM Algorithms in a Small-Scale Vehicle Using Model-Based Development2017Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    As autonomous driving is rapidly becoming the next major challenge in the auto- motive industry, the problem of Simultaneous Localization And Mapping (SLAM) has never been more relevant than it is today. This thesis presents the idea of examining SLAM algorithms by implementing such an algorithm on a radio con- trolled car which has been fitted with sensors and microcontrollers. The software architecture of this small-scale vehicle is based on the Robot Operating System (ROS), an open-source framework designed to be used in robotic applications.

    This thesis covers Extended Kalman Filter (EKF)-based SLAM, FastSLAM, and GraphSLAM, examining these algorithms in both theoretical investigations, simulations, and real-world experiments. The method used in this thesis is model- based development, meaning that a model of the vehicle is first implemented in order to be able to perform simulations using each algorithm. A decision of which algorithm to be implemented on the physical vehicle is then made backed up by these simulation results, as well as a theoretical investigation of each algorithm.

    This thesis has resulted in a dynamic model of a small-scale vehicle which can be used for simulation of any ROS-compliant SLAM-algorithm, and this model has been simulated extensively in order to provide empirical evidence to define which SLAM algorithm is most suitable for this application. Out of the algo- rithms examined, FastSLAM was proven to the best candidate, and was in the final stage, through usage of the ROS package gMapping, successfully imple- mented on the small-scale vehicle.

  • 145.
    Alfredsson, Erik
    Linköping University, Department of Electrical Engineering.
    Design and implementation of a hardware unit for complex division2005Independent thesis Basic level (professional degree), 20 points / 30 hpStudent thesis
    Abstract [en]

    The purpose of the thesis was to investigate and evaluate existing algorithms for division of complex numbers. The investigation should include implementation of a few suitable algorithms in VHDL. The main application for the divider is compensation for fading in a baseband processor.

    Since not much public research is done within the area of complex division in hardware, a divider based on real valued division was designed. The design only implements inversion of complex numbers instead of complete division because it is simpler and the application does not need full division, thus the required chip size is reduced.

    An examination of the different kinds of algorithms that exists for real valued division was done and two of the methods were found suitable for implementation, digit recurrence and functional iteration. From each of the two classes of algorithms one algorithm was chosen and implemented in VHDL. Two different versions of the inverter were designed for each method, one with full throughput and one with half throughput. The implementations show very similar results in terms of speed, size and performance. For most cases however, the digit recurrence implementation has a slight advantage.

  • 146.
    Alfredsson, Jon
    Linköping University, Department of Electrical Engineering.
    Design of a parallel A/D converter system on PCB: For high-speed sampling and timing error correction2002Independent thesis Basic level (professional degree)Student thesis
    Abstract [en]

    The goals for most of today’s receiver system are sampling at high-speed, with high resolution and with as few errors as possible. This master thesis describes the design of a high-speed sampling system with"state-of-the-art"components available on the market. The system is designed with a parallel Analog-to-digital converter (ADC) architecture, also called time interleaving. It aims to increase the sampling speed of the system. The system described in this report uses four 12-bits ADCs in parallel. Each ADC can sample at 125 MHz and the total sampling speed will then theoretically become 500 Ms/s. The system has been implemented and manufactured on a printed circuit board (PCB). Up to four boards can be connected in parallel to get 2 Gs/s theoretically.

    In an approach to increase the systems performance even further, a timing error estimation algorithm will be used on the sampled data. This algorithm estimates the timing errors that occur when sampling with non-uniform time interval between samples. After the estimations, the sampling clocks can be adjusted to correct the errors.

    This thesis is concerning some ADC theory, system design and PCB implementation. It also describes how to test and measure the system’s performance. No measurement results are presented in this thesis because measurements will be done after this project. The last part of the thesis discusses future improvementsto achieve even higher performance.

  • 147.
    Alfredsson, Jonas
    Linköping University, Department of Electrical Engineering.
    Portning av ett plugin till 3d-modelleringsprogram2008Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This report describes the work and the results found when comparing three different 3d modeler applications. The programs are 3ds Max, Maya and Cinema 4D. The comparisons focus on the possibilities/the amount of freedom these programs interface offer to its plugins. The comparisons are made from the point of view of a tool for creating animations developed as a plugin for these modelers. This plugins demands on the system it is loaded into have been analyzed and from the results of this analysis a template have been created. This template is to be used when porting the plugin to other modeler programs in order to be able to tell at an early stage if it’s possible, or not. This template is appended as an appendix. The plugin described above is in it self a system with a plugin architecture and is described on a higher level in the report.

  • 148.
    Alfredsson, Sandra
    Linköping University, Department of Electrical Engineering, Vehicular Systems.
    Model Based Diagnosis of an Air Source Heat Pump2011Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    The purpose of a heat pump is to control the temperature of an enclosed space. This is done by using heat exchange with a heat source, for example water, air, or ground. In the air source heat pump that has been studied during this master thesis, a refrigerant exchanges heat with the outdoor air and with a water distribution system.

    The heat pump is controlled through the circuit containing the refrigerant and it is therefore crucial that this circuit is functional. To ensure this, a diagnosis system has been created, to be able to detect and isolate sensor errors. The diagnosis system is based on mathematical models of the refrigerant circuit with its main components: a compressor, an expansion valve, a plate heat exchanger, an air heat exchanger, and a four-way valve. Data has been collected from temperature- and pressure sensors on an air source heat pump. The data has then been divided into data for model estimation and data for model validation. The models are used to create test quantities, which in turn are used by a diagnosis algorithm to determine whether an error has occurred or not.

    There are nine temperature sensors and two pressure sensors on the studied air source heat pump. Four fault modes have been investigated for each sensor: Stuck, Offset, Short circuit and Open circuit. The designed diagnosis system is able to detect all of the investigated error modes and isolate 40 out of 44 single errors. However, there is room for improvement by constructing more test quantities to detect errors and decouple more fault modes. To further develop the diagnosis system, the existing models can be improved and new models can be created.

  • 149.
    Ali Abdul-Amir, Ahmed
    Linköping University, Department of Electrical Engineering, Automatic Control.
    Att lösa reglertekniska problem med Modelica2008Independent thesis Advanced level (degree of Master (One Year)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Modelica is a multi-domain and equation-based modeling language. Modelica is based on object-oriented principles and non-causal modeling. The language is constructed to facilitate reuse and decompose models. The models and the modellibrary can modified to design a new nonlinear components.

    Object-oriented modeling is an excellent way to analyze and study large complex heterogeneous physical systems. The object-oriented modeling approach build on reusing and decomposition of models and non-causal modeling.

    Modeling physical systems often leads to a DAE system with index 2 or 3. It is required to use automated symbolic manipulation of the DAE system to do the simulation.

    Modelica need a compiler tool to run the simulation. Dymola is the dominating tool on the market. Through a graphic editor the user can easily model and simulate the physical system.

  • 150.
    Ali, Ahmed
    Linköping University, Department of Electrical Engineering.
    A study of security in wireless and mobile payments2010Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Mobile payments are increasing in popularity in recent years. New mobile solutions are being developed in the form of new Internet capable mobile devices such as the IPhone and new wireless networks such as the LTE and WiMAX networks.

    This report will present, explain and compare some of the most popular wireless networks that enable mobile payments, from a security point of view. The chosen networks are 3G with connection to GSM, and WLAN networks. The main security mechanisms involved in each network, and how they work will be studied. Security requirements and some of the most important threats each network faces will be presented and discussed. The main purpose of the report is to examine if mobile payments offer an acceptable level of security to the average user.

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