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Merging of maps, such as 3D point clouds obtained from Structure-from-Motion or visual SLAM, can enhance robustness and expand covered areas in applications like multi-robot systems or augmented reality. When direct data fusion is difficult, an alternative approach is to align pose trajectories. This work investigates the use of rotation averaging as a method for indirect map merging, especially f
This thesis presents the design and implementation of a web-based simulator, developed to support students in the introductory course in automatic control at LTH. The simulator is meant to serve as a preparatory tool for the laboratories that revolve around two interconnected water tanks, and provides an interactive environment for students to explore system dynamics and PID control prior to atten
Climate change is intensifying globally, leading to rising temperatures. The Arctic being a vulnerable and extreme environment faces an enhanced warming effect, referred to as the Arctic amplification. In this rapidly changing environment, high amounts of carbon (1,460 – 1,600 Pg C) are stored in permafrost. This is four times the amount of carbon being emitted by humans in modern times. Increasin
This thesis investigates how high-level planning principles can be deterministically and algorithmically incorporated into a sampling-based motion planner by modifying the structure of the RRT* algorithm. In particular, the requirement to always end a planned route by a reversing maneuver can be directly imposed through the expansion and connection logic of bidirectional search-trees, rather than
It is intuitive and well known, that if agents in a multi-agent system iteratively update their states in the Euclidean space as convex combinations of neighbors’ states, all states eventually converge to the same value (consensus), provided the interaction graph is sufficiently connected. However, this seems to be also true in practice if the convex combinations of states are mapped or radially p
Deterministic lateral displacement (DLD) and related microfluidic sorting devices are typically evaluated based on the size distributions of particles collected at each outlet, even though the more relevant measure of performance is the probability that a particle of a given size ends up in a specific outlet. Here, we use Bayes’ rule to infer these size-dependent routing probabilities from experim
Although the Chinese government claims respect of human rights, it seems that the official Chinese conception of these rights is not only different from but also challenges the dominant international conception - this Chinese challenge of the international human rights regime constitutes the problem area of this thesis. Using a Laclau and Mouffe inspired discourse analysis strategy to deconstruct
Robust fitting of geometric models is a core problem in computer vision. The most common approach is to use a hypothesize-and-test framework, such as RANSAC. In these frameworks the model is estimated from as few measurements as possible, which minimizes the risk of selecting corrupted measurements. These estimation problems are called minimal problems, and they can often be formulated as systems
This thesis, comprising four research papers, contributes to the field of systematic and computer-aided analyses and design of first-order methods. The first two papers focus on developing new methodologies, while the remaining two apply these techniques to refine complexity and convergence results, as well as to design new methods. A central theme of the work is the use of Lyapunov-type analyses,
Channel sounding is a vital step in the design and deployment of wireless communication systems. In this article, we present the design and implementation of a coherent distributed massive multiple-input-multiple-output (MIMO) channel sounder operating at 5 and 6GHz with a bandwidth of 400MHz based on the NI USRP X410. Through the integration of multiple transceiver chains and radio frequency (RF)
Spine Computed Tomography (SCT) is essential for identifying fractures, tumors and degenerative spine diseases, assisting medical practitioners in formulating an accurate diagnosis and treatment. One of the core element of SCT is reporting. The effectiveness of spine reporting is often limited by challenges such as an inadequate infrastructure and lack of experts. Automated SCT analysis has the po
Buildings are responsible for 40% of energy consumption and 36% of CO2 emissions in the EU. Sweden andDenmark are cold climatic countries with strong demand for space heating and hot water in the residential sector. Large section of the detached houses in these countries are built more than 30 years ago and need refurbishment. Despite of huge energy saving potentials with deep renovation of these
Impactful applications such as materials discovery, hardware design, neural architecture search, or portfolio optimization require optimizing high-dimensional black-box functions with mixed and combinatorial input spaces. While Bayesian optimization has recently made significant progress in solving such problems, an in-depth analysis reveals that the current state-of-the-art methods are not reliab
Encapsulation in self-assembled lipid structures has been shown to increase the stability of large biomolecules, including proteins and nucleic acids (NAs), which has many potential applications in the food and pharmaceutical industries. In order to fully optimise the encapsulation system for a certain application, however, it is important to understand the effect of the encapsulated biomolecule o
