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• 1.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering. KTH Royal Institute of Technology.
KTH, School of Electrical Engineering and Computer Science (EECS), Computer Science, Network and Systems Engineering. KTH, Superseded Departments (pre-2005), Electromagnetic Theory. KTH, Superseded Departments (pre-2005), Electrical Systems. KTH, School of Electrical Engineering and Computer Science (EECS), Electrical Engineering, Electromagnetic Engineering.
Multi-tone Signal Optimization for Wireless Power Transfer in the Presence of Wireless Communication Links2020In: IEEE Transactions on Wireless Communications, ISSN 1536-1276, E-ISSN 1558-2248Article in journal (Refereed)

In this paper, we study optimization of multi-tone signals for wireless power transfer (WPT) systems. We investigate different non-linear energy harvesting models. Two of them are adopted to optimize the multi-tone signal according to the channel state information available at the transmitter. We show that a second-order polynomial curve-fitting model can be utilized to optimize the multi-tone signal for any RF energy harvester design. We consider both single-antenna and multi-antenna WPT systems. In-band co-existing communication links are also considered in this work by imposing a constraint on the received power at the nearby information receiver to prevent its RF front end from saturation. We emphasize the importance of imposing such constraint by explaining how inter-modulation products, due to saturation, can cause high interference at the information receiver in the case of multi-tone signals. The multi-tone optimization problem is formulated as a non-convex linearly constrained quadratic program. Two globally optimal solution approaches using mixed-integer linear programming and finite branch-and-bound techniques are proposed to solve the problem. The achieved improvement resulting from applying both solution methods to the multi-tone optimization problem is highlighted through simulations and comparisons with other solutions existing in the literature.

• 2.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering. KTH Royal Institute of Technology.
KTH, School of Electrical Engineering and Computer Science (EECS), Electrical Engineering, Electromagnetic Engineering.
A Dual-Polarized Multi-Antenna Structure for Simultaneous Transmission of Wireless Information and Power2019In: A Dual-Polarized Multi-Antenna Structure for Simultaneous Transmission of Wireless Information and Power, IEEE, 2019Conference paper (Refereed)

In this paper, a dual-polarized multi-antenna structure is designed at 2.45 GHz with the goal of allowing simultaneous transmission of wireless information and power. Differential feeding was used to minimize the mutual coupling due to radiation leakage in addition to a mushroom-type EBG structure for suppressing the surface waves. Simulation results for the proposed structure show a mutual coupling level lower than -40 dB between the information transmitting antenna and the power transmitting antennas for both polarizations. The isolation level between the antennas is improved by at least 22 dB and 14 dB for the E-plane and H-plane coupling, respectively.

• 3.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Consistent Estimators of Stochastic MIMO Wiener Models based on Suboptimal Predictors2018Conference paper (Refereed)
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• 4.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Identification of Stochastic Nonlinear Models Using Optimal Estimating Functions2020In: Article in journal (Other academic)

The first part of the paper examines the asymptotic properties of linear prediction error method estimators, which were recently suggested for the identification of nonlinear stochastic dynamical models. It is shown that their accuracy depends not only on the shape of the unknown distribution of the data, but also on how the model is parameterized. Therefore, it is not obvious in general which linear prediction error method should be preferred. In the second part, the estimating functions approach is introduced and used to construct estimators that are asymptotically optimal with respect to a specific class of estimators. These estimators rely on a partial probabilistic parametric models, and therefore neither require the computations of the likelihood function nor any marginalization integrals. The convergence and consistency of the proposed estimators are established under standard regularity and identifiability assumptions akin to those of prediction error methods. The paper is concluded by several numerical simulation examples.

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• 5.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Linear Prediction Error Methods for Stochastic Nonlinear Models2019In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 105, p. 49-63Article in journal (Refereed)

The estimation problem for stochastic parametric nonlinear dynamical models is recognized to be challenging. The main difficulty is the intractability of the likelihood function and the optimal one-step ahead predictor. In this paper, we present relatively simple prediction error methods based on non-stationary predictors that are linear in the outputs. They can be seen as extensions of the linear identification methods for the case where the hypothesized model is stochastic and nonlinear. The resulting estimators are defined by analytically tractable objective functions in several common cases. It is shown that, under certain identifiability and standard regularity conditions, the estimators are consistent and asymptotically normal. We discuss the relationship between the suggested estimators and those based on second-order equivalent models as well as the maximum likelihood method. The paper is concluded with a numerical simulation example as well as a real-data benchmark problem.

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The full text will be freely available from 2021-04-01 16:05
• 6.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
The Gaussian MLE versus the Optimally weighted LSEIn: IEEE signal processing magazine (Print), ISSN 1053-5888, E-ISSN 1558-0792Article in journal (Refereed)

In this note, we derive and compare the asymptotic covariance matrices of two parametric estimators: the Gaussian Maximum Likelihood Estimator (MLE), and the optimally weighted Least-Squares Estimator (LSE). We assume a general model parameterization where the model's mean and variance are jointly parameterized, and consider Gaussian and non-Gaussian data distributions.

• 7.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH, Speech Communication and Technology.
TU Delft Delft, Netherlands. TNO Den Haag, Netherlands. Furhat Robotics Stockholm, Sweden. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH.
Effects of Different Interaction Contexts when Evaluating Gaze Models in HRI2020Conference paper (Refereed)

uses multimodal information from users engaged in a spatial reasoningtask with a robot and communicates joint attention viathe robot’s gaze behavior [25]. An initial evaluation of our systemwith adults showed it to improve users’ perceptions of therobot’s social presence. To investigate the repeatability of our priorfindings across settings and populations, here we conducted twofurther studies employing the same gaze system with the samerobot and task but in different contexts: evaluation of the systemwith external observers and evaluation with children. The externalobserver study suggests that third-person perspectives over videosof gaze manipulations can be used either as a manipulation checkbefore committing to costly real-time experiments or to furtherestablish previous findings. However, the replication of our originaladults study with children in school did not confirm the effectivenessof our gaze manipulation, suggesting that different interactioncontexts can affect the generalizability of results in human-robotinteraction gaze studies.

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• 8.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH, Speech Communication and Technology.
Computer-Human Interaction Lab for Learning & Instruction Ecole Polytechnique Federale de Lausanne, Switzerland.. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH.
Responsive Joint Attention in Human-Robot Interaction2019Conference paper (Refereed)

Joint attention has been shown to be not only crucial for human-human interaction but also human-robot interaction. Joint attention can help to make cooperation more efficient, support disambiguation in instances of uncertainty and make interactions appear more natural and familiar. In this paper, we present an autonomous gaze system that uses multimodal perception capabilities to model responsive joint attention mechanisms. We investigate the effects of our system on people’s perception of a robot within a problem-solving task. Results from a user study suggest that responsive joint attention mechanisms evoke higher perceived feelings of social presence on scales that regard the direction of the robot’s perception.

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• 9.
MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA..
MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.;MIT, Inst Med Engn & Sci, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.;MIT, Inst Med Engn & Sci, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.;MIT, Div Comparat Med, Cambridge, MA 02139 USA.. MIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USA.;MIT, Elect Res Lab, Cambridge, MA 02139 USA.. MIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USA.;MIT, Elect Res Lab, Cambridge, MA 02139 USA.. MIT, Dept Elect Engn & Comp Sci, Cambridge, MA 02139 USA.;MIT, Elect Res Lab, Cambridge, MA 02139 USA.. Global Drug Discovery, Global Res Technol, Malov, Denmark.;Novo Nordisk, Device R&D, Malov, Denmark.. Global Drug Discovery, Global Res Technol, Malov, Denmark.;Novo Nordisk, Device R&D, Malov, Denmark.. Global Drug Discovery, Global Res Technol, Malov, Denmark.;Novo Nordisk, Device R&D, Malov, Denmark.. KTH, School of Electrical Engineering and Computer Science (EECS), Micro and Nanosystems. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.;MIT, Inst Med Engn & Sci, 77 Massachusetts Ave, Cambridge, MA 02139 USA.;MIT, Dept Mech Engn, Cambridge, MA 02139 USA.;MIT, Media Lab, Cambridge, MA 02139 USA.. MIT, Dept Chem Engn, Cambridge, MA 02139 USA.;MIT, David H Koch Inst Integrat Canc Res, 77 Massachusetts Ave, Cambridge, MA 02139 USA.;MIT, Dept Mech Engn, Cambridge, MA 02139 USA.;Harvard Med Sch, Brigham & Womens Hosp, Div Gastroenterol, Boston, MA 02115 USA..
A luminal unfolding microneedle injector for oral delivery of macromolecules2019In: Nature Medicine, ISSN 1078-8956, E-ISSN 1546-170X, Vol. 25, no 10, p. 1512-+Article in journal (Refereed)

Insulin and other injectable biologic drugs have transformed the treatment of patients suffering from diabetes(1,2), yet patients and healthcare providers often prefer to use and prescribe less effective orally dosed medications(3-5). Compared with subcutaneously administered drugs, oral formulations create less patient discomfort(4), show greater chemical stability at high temperatures(6), and do not generate biohazardous needle waste(7). An oral dosage form for biologic medications is ideal; however, macromolecule drugs are not readily absorbed into the bloodstream through the gastrointestinal tract(8). We developed an ingestible capsule, termed the luminal unfolding microneedle injector, which allows for the oral delivery of biologic drugs by rapidly propelling dissolvable drug-loaded microneedles into intestinal tissue using a set of unfolding arms. During ex vivo human and in vivo swine studies, the device consistently delivered the microneedles to the tissue without causing complete thickness perforations. Using insulin as a model drug, we showed that, when actuated, the luminal unfolding microneedle injector provided a faster pharmacokinetic uptake profile and a systemic uptake > 10% of that of a subcutaneous injection over a 4-h sampling period. With the ability to load a multitude of microneedle formulations, the device can serve as a platform to orally deliver therapeutic doses of macromolecule drugs.

• 10.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Cloud-supported effective coverage of 3D structures2018In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 95-100, article id 8550377Conference paper (Refereed)

In this paper, we present a distributed algorithm for cloud-supported effective coverage of 3D structures with a network of sensing agents. The structure to inspect is abstracted into a set of landmarks, where each landmark represents a point or small area of interest, and incorporates information about position and orientation. The agents navigate the environment following the proposed control algorithm until all landmarks have reached a satisfactory level of coverage. The agents do not communicate with each other directly, but exchange data through a shared cloud repository which is accessed asynchronously and intermittently. We show formally that, under the proposed control architecture, the networked agents complete the coverage mission in finite time. The results are corroborated by simulations in ROS, and experimental evaluation is in progress.

• 11.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Human-in-the-Loop Control Synthesis for Multi-Agent Systems under Metric Interval Temporal Logic Specifications2019Licentiate thesis, monograph (Other academic)

With the increase of robotic presence in our homes and work environment, it has become imperative to consider human-in-the-loop systems when designing robotic controllers. This includes both a physical presence of humans as well as interaction on a decision and control level. One important aspect of this is to design controllers which are guaranteed to satisfy specified safety constraints. At the same time we must minimize the risk of not finding solutions, which would force the system to stop. This require some room for relaxation to be put on the specifications. Another aspect is to design the system to be adaptive to the human and its environment.

In this thesis we approach the problem by considering control synthesis for multi-agent systems under hard and soft constraints, where the human has direct impact on how the soft constraint is violated. To handle the multi-agent structure we consider both a classical centralized automata based framework and a decentralized approach with collision avoidance. To handle soft constraints we introduce a novel metric; hybrid distance, which quantify the violation. The hybrid distance consists of two types of violation; continuous distance or missing deadlines, and discrete distance or spacial violation. These distances are weighed against each other with a weight constant we will denote as the human preference constant. For the human impact we consider two types of feedback; direct feedback on the violation in the form of determining the human preference constant, and direct control input through mixed-initiative control where the human preference constant is determined through an inverse reinforcement learning algorithm based on the suggested and followed paths. The methods are validated through simulations.

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• 12.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Human in the Loop Least Violating Robot Control Synthesis under Metric Interval Temporal Logic Specifications2018In: 2018 European Control Conference, ECC 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 453-458, article id 8550179Conference paper (Refereed)

Recently, multiple frameworks for control synthesis under temporal logic have been suggested. The frameworks allow a user to give one or a set of robots high level tasks of different properties (e.g. temporal, time limited, individual and cooperative). However, the issue of how to handle tasks, which either seem to be or are infeasible, remains unsolved. In this paper we introduce a human to the loop, using the human's feedback to determine preference towards different types of violations of the tasks. We introduce a metric of violation called hybrid distance. We also suggest a novel framework for synthesizing a least violating controller with respect to the hybrid distance and the human feedback. Simulation result indicate that the suggested framework gives reasonable estimates of the metric, and that the suggested plans correspond to the expected ones.

• 13.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Human-in-the-loop control synthesis for multi-agent systems under hard and soft metric interval temporal logic specifications∗2019In: Proceedings 15th IEEE International Conference on Automation Science and Engineering, CASE 2019, IEEE Computer Society , 2019, p. 788-793Conference paper (Refereed)

In this paper we present a control synthesis framework for a multi-agent system under hard and soft constraints, which performs online re-planning to achieve collision avoidance and execution of the optimal path with respect to some human preference considering the type of the violation of the soft constraints. The human preference is indicated by a mixed initiative controller and the resulting change of trajectory is used by an inverse reinforcement learning based algorithm to improve the path which the affected agent tries to follow. A case study is presented to validate the result. © 2019 IEEE.

• 14.
Uppsala Univ, Signal Proc, Uppsala, Sweden.;Univ Newcastle, Dept Elect & Comp Engn, Callaghan, NSW, Australia..
ABB Corp, Västerås, Sweden.. Scania CV, Södertalje, Sweden.. Linköping Univ, Linköping, Sweden.;Univ Newcastle, Callaghan, NSW, Australia.;Royal Inst Technol, Stockholm, Sweden.;ABB Corp Res, Vasteras, Sweden.. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). JGC Corp, Yokohama, Kanagawa, Japan. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). Univ Newcastle, Ctr Complex Dynam Syst & Control, Callaghan, NSW, Australia.;Uppsala Univ, Signals & Syst Div, Uppsala, Sweden.. Iggesund Mill, Maintenance Technol Dev, Iggesund Paperboard, Sweden.. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). CALTECH, Pasadena, CA 91125 USA.;MIT, Lab Informat & Decis Syst, 77 Massachusetts Ave, Cambridge, MA 02139 USA..
Toward Wireless Control in Industrial Process Automation: A Case Study at a Paper Mill2019In: IEEE Control Systems Magazine, ISSN 1066-033X, Vol. 39, no 5, p. 36-57Article in journal (Refereed)

Wireless sensors and networks are used only occasionally in current control loops in the process industry. With rapid developments in embedded and highperformance computing, wireless communication, and cloud technology, drastic changes in the architecture and operation of industrial automation systems seem more likely than ever. These changes are driven by ever-growing demands on production quality and flexibility. However, as discussed in "Summary," there are several research obstacles to overcome. The radio communication environment in the process industry is often troublesome, as the environment is frequently cluttered with large metal objects, moving machines and vehicles, and processes emitting radio disturbances [1], [2]. The successful deployment of a wireless control system in such an environment requires careful design of communication links and network protocols as well as robust and reconfigurable control algorithms.

• 15.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. KTH, Superseded Departments (pre-2005), Speech, Music and Hearing.
Style-Controllable Speech-Driven Gesture SynthesisUsing Normalising Flows2020Conference paper (Refereed)

Automatic synthesis of realistic gestures promises to transform the fields of animation, avatars and communicative agents. In off-line applications, novel tools can alter the role of an animator to that of a director, who provides only high-level input for the desired animation; a learned network then translates these instructions into an appropriate sequence of body poses. In interactive scenarios, systems for generating natural animations on the fly are key to achieving believable and relatable characters. In this paper we address some of the core issues towards these ends. By adapting a deep learning-based motion synthesis method called MoGlow, we propose a new generative model for generating state-of-the-art realistic speech-driven gesticulation. Owing to the probabilistic nature of the approach, our model can produce a battery of different, yet plausible, gestures given the same input speech signal. Just like humans, this gives a rich natural variation of motion. We additionally demonstrate the ability to exert directorial control over the output style, such as gesture level, speed, symmetry and spacial extent. Such control can be leveraged to convey a desired character personality or mood. We achieve all this without any manual annotation of the data. User studies evaluating upper-body gesticulation confirm that the generated motions are natural and well match the input speech. Our method scores above all prior systems and baselines on these measures, and comes close to the ratings of the original recorded motions. We furthermore find that we can accurately control gesticulation styles without unnecessarily compromising perceived naturalness. Finally, we also demonstrate an application of the same method to full-body gesticulation, including the synthesis of stepping motion and stance.

• 16.
Electrical Engineering, University of Engineering and Technology of Peshawar, Pakistan.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligenta system, Information Science and Engineering. Telecommunications and Systems Engineering, Universitat Autònoma de Barcelona, Spain. Universitat Autònoma de Barcelona, Spain.
Kronecker-Based Fusion Rule for Cooperative Spectrum Sensing with Multi-Antenna Receivers2014In: Electronics, ISSN 2079-9292, Vol. 3, no 4, p. 675-688Article in journal (Refereed)

This paper considers a novel fusion rule for spectrum sensing scheme for a cognitive radio network with multi-antenna receivers. The proposed scheme exploits the fact that when any primary signal is present, measurements are spatially correlated due to presence of inter-antenna and inter-receiver spatial correlation. In order to exploit this spatial structure, the generalized likelihood ratio test (GLRT) operates with the determinant of the sample covariance matrix. Therefore, it depends on the sample size N and the dimensionality of the received data (i.e., the number of receivers K and antennas L). However, when the dimensionality fK; Lg is on the order, or larger than the sample size N, the GLRT degenerates due to the ill-conditioning of the sample covariance matrix. In order to circumvent this issue, we propose two techniques that exploit the inner spatial structure of the received observations by using single pair and multi-pairs Kronecker products. The performance of the proposed detectors is evaluated by means of numerical simulations, showing important advantages with respect to the traditional (i.e., unstructured) GLRT approach.

• 17.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Modeling and Stability of Prosumer Heat Networks2019In: IFAC PAPERSONLINE, ELSEVIER , 2019, Vol. 52, no 20, p. 235-240Conference paper (Refereed)

The energy sector is going through a large transformation due to public demands of renewable energy sources. However, a major issue is that these energy sources are intermittent. If designed correctly, district heating systems can naturally contain energy storing units, for example by storing heat in the isolated pipes that make up the heat grid. Additionally, this makes it easier to reuse and transport already generated heat to other users. This paper proposes a mathematical model of such a grid, where excess energy can be retracted from one user and distributed to other users using a network of heat pumps. In some cases, one can balance residual heat production with the heat consumption, temporarily eliminating the need for a centralized heating plant. Existence conditions for stable steady states of such a network with general topology are given. Finally, energy optimal stable steady states are obtained through convex optimization.

• 18.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering. Department of Electrical Engineering, Mathematics and Science, University of Gävle, Gävle, Sweden.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering. Univ Gavle, Dept Elect Engn Math & Sci, Gavle, Sweden..
Behavioral modeling and digital pre-distortion techniques for RF PAs in a 3 x 3 MIMO system2019In: International journal of microwave and wireless technologies, ISSN 1759-0795, E-ISSN 1759-0787, Vol. 11, no 10, p. 989-999Article in journal (Refereed)

Modern telecommunications are moving towards (massive) multi-input multi-output (MIMO) systems in 5th generation (5G) technology, increasing the dimensionality of the systems dramatically. In this paper, the impairments of radio frequency (RF) power amplifiers (PAs) in a 3 x 3 MIMO system are compensated in both the time and the frequency domains. A three-dimensional (3D) time-domain memory polynomial-type model is proposed as an extension of conventional 2D models. Furthermore, a 3D frequency-domain technique is formulated based on the proposed time-domain model to reduce the dimensionality of the model, while preserving the performance in terms of model errors. In the 3D frequency-domain technique, the bandwidth of the system is split into several narrow sub-bands, and the parameters of the model are estimated for each sub-band. This approach requires less computational complexity, and also the procedure of the parameters estimation for each sub-band can be implemented independently. The device-under-test consists of three RF PAs including input and output cross-talk channels. The proposed techniques are evaluated in both behavioral modeling and digital pre-distortion (DPD) perspectives. The experimental results show that the proposed DPD technique can compensate the errors of non-linearity and memory effects in the both time and frequency domains.

• 19.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering. University of Gävle.
University of Gävle. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
A new Block-Structure Modeling Technique for RF Power Amplifiers in a 2×2 MIMO System2017In: 2017 13th International Conference on Advanced Technologies, Systems and Services in Telecommunications, TELSIKS 2017 - Proceeding, Nis, Serbia: IEEE, 2017, Vol. 2017, p. 224-227Conference paper (Refereed)

A new block-structure behavioral model is proposed for radio frequency power amplifiers in a 2×2 multiple-input multiple-output system including input cross-talk. The proposed model forms kernels of blocks of different nonlinear order that correspond to the significant frequency response of measured frequency domain Volterra kernels. The model can therefore well describe the input-output relationships of the nonlinear dynamic behavior of PAs. The proposed model outperforms conventional models in terms of model errors.

• 20.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
Dual-Arm Robotic Manipulation under Uncertainties and Task-Based Redundancy2019Doctoral thesis, comprehensive summary (Other academic)

Robotic manipulators are mostly employed in industrial environments, where their tasks can be prescribed with little to no uncertainty. This is possible in scenarios where the deployment time of robot workcells is not prohibitive, such as in the automotive industry. In other contexts, however, the time cost of setting up a classical robotic automation workcell is often prohibitive. This is the case with cellphone manufacturing, for example, which is currently mostly executed by human workers. Robotic automation is nevertheless desirable in these human-centric environments, as a robot can automate the most tedious parts of an assembly. To deploy robots in these environments, however, requires an ability to deal with uncertainties and to robustly execute any given task. In this thesis, we discuss two topics related to autonomous robotic manipulation. First, we address parametric uncertainties in manipulation tasks, such as the location of contacts during the execution of an assembly. We propose and experimentally evaluate two methods that rely on force and torque measurements to produce estimates of task related uncertainties: a method for dexterous manipulation under uncertainties which relies on a compliant rotational degree of freedom at the robot's gripper grasp point and exploits contact  with an external surface, and a cooperative manipulation system which is able to identify the kinematics of a two degrees of freedom mechanism. Then, we consider redundancies in dual-arm robotic manipulation. Dual-armed robots offer a large degree of redundancy which can be exploited to ensure a more robust task execution. When executing an assembly task, for instance, robots can freely change the location of the assembly in their workspace without affecting the task execution. We discuss methods that explore these types of redundancies in relative motion tasks in the form of asymmetries in their execution. Finally, we approach the converse problem by presenting a system which is able to balance measured forces and torques at its end-effectors by leveraging relative motion between them, while grasping a rigid tray. This is achieved through discrete sliding of the grasp points, which constitutes a novel application of bimanual dexterous manipulation.

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• 21.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL. Dept. of Electrical Eng., Chalmers University of Technology.
Cooperative Manipulation and Identification of a 2-DOF Articulated Object by a Dual-Arm Robot2018In: 2018 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) / [ed] IEEE, 2018, p. 5445-5451Conference paper (Refereed)

In this work, we address the dual-arm manipula-tion of a two degrees-of-freedom articulated object that consistsof two rigid links. This can include a linkage constrainedalong two motion directions, or two objects in contact, wherethe contact imposes motion constraints. We formulate theproblem as a cooperative task, which allows the employment ofcoordinated task space frameworks, thus enabling redundancyexploitation by adjusting how the task is shared by the robotarms. In addition, we propose a method that can estimate thejoint location and the direction of the degrees-of-freedom, basedon the contact forces and the motion constraints imposed bythe object. Experimental results demonstrate the performanceof the system in its ability to estimate the two degrees of freedomindependently or simultaneously.

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• 22.
MIT, Cambridge, MA 02139 USA..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Preface to the Focused Issue on Dynamic Games in Cyber Security2019In: Dynamic Games and Applications, ISSN 2153-0785, E-ISSN 2153-0793, Vol. 9, no 4, p. 881-883Article in journal (Other academic)
• 23.
KTH, School of Electrical Engineering and Computer Science (EECS), Micro and Nanosystems.
KTH, School of Electrical Engineering and Computer Science (EECS), Micro and Nanosystems. KTH, School of Electrical Engineering and Computer Science (EECS), Micro and Nanosystems. KTH, School of Electrical Engineering and Computer Science (EECS), Micro and Nanosystems.
Freeze-Dried Carbon Nanotube Aerogels for High-Frequency Absorber Applications2018In: ACS Applied Materials and Interfaces, ISSN 1944-8244, E-ISSN 1944-8252, ISSN 1944-8244, Vol. 10, no 23, p. 19806-19811Article in journal (Refereed)

A novel technique for millimeter wave absorber material embedded in a metal waveguide is proposed. The absorber material is a highly porous carbon nanotube (CNT) aerogel prepared by a freeze-drying technique. CNT aerogel structures are shown to be good absorbers with a low reflection coefficient, less than -12 dB at 95 GHz. The reflection coefficient of the novel absorber is 3-4 times lower than that of commercial absorbers with identical geometry. Samples prepared by freeze-drying at -25 degrees C demonstrate resonance behavior, while those prepared at liquid nitrogen temperature (-196 degrees C) exhibit a significant decrease in reflection coefficient, with no resonant behavior. CNT absorbers of identical volume based on wet-phase drying preparation show significantly worse performance than the CNT aerogel absorbers prepared by freeze-drying. Treatment of the freeze-dried CNT aerogel with n- and p-dopants (monoethanolamine and iodine vapors, respectively) shows remarkable improvement in the performance of the waveguide embedded absorbers, reducing the reflection coefficient by 2 dB across the band.

fulltext
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
Reducing the human effort for human-robot cooperative object manipulation via control design2017In: IFAC PAPERSONLINE, ELSEVIER SCIENCE BV , 2017, Vol. 50, no 1, p. 14922-14927Conference paper (Refereed)

This study is concerned with the shared object manipulation problem in a physical Human-Robot Interaction (pHRI) setting. In such setups, the operator manipulates the object with the help of a robot. In this paper, the operator is assigned with the lead role, and the robot is passively following the forces/torques exerted by the operator. We propose a controller that is free from the well-known translation/rotation problem and enhances the operator's ability to move the object by reducing the human effort. The key point in our study is that the controller is defined based on the instantaneous center of rotation. The passivity of the system including the object and the manipulator has been evaluated. Simulation results validate the theoretical findings on different scenarios of subsequent rotations and translations of the object.

• 25.
Univ Fed Ceara, Wireless Telecom Res Grp, BR-60440900 Fortaleza, Ceara, Brazil..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). Ericsson Res, Stand & Technol, S-16480 Stockholm, Sweden.. Univ Fed Ceara, Wireless Telecom Res Grp, BR-60440900 Fortaleza, Ceara, Brazil..
User Scheduling for Sum-Rate Maximization Under Minimum Rate Constraints for the MIMO IBC2019In: IEEE Wireless Communications Letters, ISSN 2162-2337, E-ISSN 2162-2345, Vol. 8, no 6, p. 1591-1595Article in journal (Refereed)

While the problem of sum-rate maximization of the multiple-input-multiple-output interference broadcast channel (MIMO IBC) has been extensively studied, most of the proposed solutions do not ensure a minimum rate for each scheduled user. In practice, many services require a minimum rate from the underlying communication links. Therefore, in this letter, we consider a sum-rate maximization problem with per-link minimum rate constraints for the MIMO IBC. The key idea is scheduling a suitable subset of the communication links for simultaneous transmissions, such that a minimum rate for each scheduled link can be ensured. To this end, we pose the sum-rate maximization problem as a combinatorial optimization problem, in which we introduce binary variables to the classical transceiver design problem. We propose a centralized solution based on branch-and-bound and a low-complexity semi-distributed scheme, in which a centralized unit is responsible for scheduling decisions, while the transceiver computations are distributed. Simulations show that the proposed solutions handle the user scheduling effectively, while the proposed semi-distributed scheme performs closely to the centralized scheme.

• 26.
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, Perception and Learning, RPL.
Global Search with Bernoulli Alternation Kernel for Task-oriented Grasping Informed by Simulation2018In: Proceedings of The 2nd Conference on Robot Learning, PMLR 87, 2018, p. 641-650Conference paper (Refereed)

We develop an approach that benefits from large simulated datasets and takes full advantage of the limited online data that is most relevant. We propose a variant of Bayesian optimization that alternates between using informed and uninformed kernels. With this Bernoulli Alternation Kernel we ensure that discrepancies between simulation and reality do not hinder adapting robot control policies online. The proposed approach is applied to a challenging real-world problem of task-oriented grasping with novel objects. Our further contribution is a neural network architecture and training pipeline that use experience from grasping objects in simulation to learn grasp stability scores. We learn task scores from a labeled dataset with a convolutional network, which is used to construct an informed kernel for our variant of Bayesian optimization. Experiments on an ABB Yumi robot with real sensor data demonstrate success of our approach, despite the challenge of fulfilling task requirements and high uncertainty over physical properties of objects.

fulltext
• 27.
Univ Fed Ceara, Wireless Telecom Res Grp GTEL, BR-60020181 Fortaleza, Ceara, Brazil.;Tech Univ Ilmenau, Commun Res Lab, D-98693 Ilmenau, Germany..
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). Ericsson Research. Univ Fed Ceara, Wireless Telecom Res Grp GTEL, BR-60020181 Fortaleza, Ceara, Brazil.. Univ Fed Ceara, Wireless Telecom Res Grp GTEL, BR-60020181 Fortaleza, Ceara, Brazil.. Univ Fed Ceara, Wireless Telecom Res Grp GTEL, BR-60020181 Fortaleza, Ceara, Brazil..
Hybrid Analog-Digital Beamforming Design for SE and EE Maximization in Massive MIMO Networks2020In: IEEE Transactions on Vehicular Technology, ISSN 0018-9545, E-ISSN 1939-9359, Vol. 69, no 1, p. 377-389Article in journal (Refereed)

Hybrid analog-digital (HAD) beamforming architectures have been proposed to facilitate the practical implementation of massive multiple-input multiple-output (MIMO) systems by reducing the number of employed radio frequency chains. While most prior studies have aimed to maximize spectral efficiency (SE), the present paper proposes a two-stage HAD beamforming design for multi-user MIMO systems that can be used to maximize either the system's overall energy efficiency (EE) or SE. This problem is nonconvex and NP-hard due to the joint optimization between the analog and digital domains and the constant modulus constraints required by the analog domain. To address this problem, we propose a decoupled two-stage design wherein the first stage, the analog beamforming parts are updated, which are then taken into account in the second stage to design the digital beamforming parts to maximize the system's EE or SE. We consider two widely-used HAD beamforming techniques that utilize either fully-connected (FC) or partially-connected (PC) architectures employing variable phase-shifters. Using the most recently available data for the circuitry power consumption of the components, we compare the performance of these two HAD architectures with that of the fully-digital (FD) architecture in terms of the total circuitry power consumption, and achieved SE and EE. We find that there is a certain number of users above which the FC architecture has higher circuitry power consumption than the FD counterpart, in contrast to the PC architecture that always has lower circuitry power consumption. More importantly, our results reveal, contrary to the common opinion, that depending on the circuitry parameters the FD architecture may achieve not only higher SE, but also higher EE than the HAD architectures.

• 28.
KTH.
KTH. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH.
A Collaborative Previsualization Tool for Filmmaking in Virtual Reality2019In: Proceedings - CVMP 2019: 16th ACM SIGGRAPH European Conference on Visual Media Production, ACM Digital Library, 2019Conference paper (Refereed)

Previsualization is a process within pre-production of filmmaking where filmmakers can visually plan specific scenes with camera works, lighting, character movements, etc. The costs of computer graphics-based effects are substantial within film production. Using previsualization, these scenes can be planned in detail to reduce the amount of work put on effects in the later production phase. We develop and assess a prototype for previsualization in virtual reality for collaborative purposes where multiple filmmakers can be present in a virtual environment to share a creative work experience, remotely. By performing a within-group study on 20 filmmakers, our findings show that the use of virtual reality for distributed, collaborative previsualization processes is useful for real-life pre-production purposes.

Previs
• 29.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL. Center for Applied Autonomous Sensor Systems, Örebro University, Sweden.
Vpe: Variational policy embedding for transfer reinforcement learning2019In: 2019 International Conference on Robotics And Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 36-42Conference paper (Refereed)

Reinforcement Learning methods are capable of solving complex problems, but resulting policies might perform poorly in environments that are even slightly different. In robotics especially, training and deployment conditions often vary and data collection is expensive, making retraining undesirable. Simulation training allows for feasible training times, but on the other hand suffer from a reality-gap when applied in real-world settings. This raises the need of efficient adaptation of policies acting in new environments. We consider the problem of transferring knowledge within a family of similar Markov decision processes. We assume that Q-functions are generated by some low-dimensional latent variable. Given such a Q-function, we can find a master policy that can adapt given different values of this latent variable. Our method learns both the generative mapping and an approximate posterior of the latent variables, enabling identification of policies for new tasks by searching only in the latent space, rather than the space of all policies. The low-dimensional space, and master policy found by our method enables policies to quickly adapt to new environments. We demonstrate the method on both a pendulum swing-up task in simulation, and for simulation-to-real transfer on a pushing task.

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• 30. Arnela, Marc
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligenta system, Speech, Music and Hearing, TMH, Speech Communication and Technology.
MRI-based vocal tract representations for the three-dimensional finite element synthesis of diphthongs2019In: IEEE Transactions on Audio, Speech, and Language Processing, ISSN 1558-7916, E-ISSN 1558-7924, Vol. 27, no 12, p. 2173-2182Article in journal (Refereed)

The synthesis of diphthongs in three-dimensions (3D) involves the simulation of acoustic waves propagating through a complex 3D vocal tract geometry that deforms over time. Accurate 3D vocal tract geometries can be extracted from Magnetic Resonance Imaging (MRI), but due to long acquisition times, only static sounds can be currently studied with an adequate spatial resolution. In this work, 3D dynamic vocal tract representations are built to generate diphthongs, based on a set of cross-sections extracted from MRI-based vocal tract geometries of static vowel sounds. A diphthong can then be easily generated by interpolating the location, orientation and shape of these cross-sections, thus avoiding the interpolation of full 3D geometries. Two options are explored to extract the cross-sections. The first one is based on an adaptive grid (AG), which extracts the cross-sections perpendicular to the vocal tract midline, whereas the second one resorts to a semi-polar grid (SPG) strategy, which fixes the cross-section orientations. The finite element method (FEM) has been used to solve the mixed wave equation and synthesize diphthongs [${\alpha i}$] and [${\alpha u}$] in the dynamic 3D vocal tracts. The outputs from a 1D acoustic model based on the Transfer Matrix Method have also been included for comparison. The results show that the SPG and AG provide very close solutions in 3D, whereas significant differences are observed when using them in 1D. The SPG dynamic vocal tract representation is recommended for 3D simulations because it helps to prevent the collision of adjacent cross-sections.

• 31.
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS.
KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering and Computer Science (EECS), Computer Science, Theoretical Computer Science, TCS. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
Aerial path planning for multi-vehicles2019In: Proceedings - IEEE 2nd International Conference on Artificial Intelligence and Knowledge Engineering, AIKE 2019, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 267-272, article id 8791733Conference paper (Refereed)

Unmanned Aerial Vehicles (UAV) are a potential solution to fast and cost efficient package delivery services. There are two types of UAVs, namely fixed wing (UAV-FW) and rotor wing (UAV-RW), which have their own advantages and drawbacks. In this paper we aim at providing different solutions to a collaborating multi-agent scenario combining both UAVs types. We show the problem can be reduced to the facility location problem (FLP) and propose two local search algorithms to solve it: Tabu search and simulated annealing.

• 32.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
On design of optimal smart meter privacy control strategy against adversarial MAP detection2020In: Proceedings of the ICASSP 2020 - 2020 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), Barcelona, Spain, 2020Conference paper (Refereed)

We study the optimal control problem of the maximum a posteriori (MAP) state sequence detection of an adversary using smart meter data. The privacy leakage is measured using the Bayesian risk and the privacy-enhancing control is achieved in real-time using an energy storage system. The control strategy is designed to minimize the expected performance of a non-causal adversary at each time instant. With a discrete-state Markov model, we study two detection problems: when the adversary is unaware or aware of the control. We show that the adversary in the former case can be controlled optimally. In the latter case, where the optimal control problem is shown to be non-convex, we propose an adaptive-grid approximation algorithm to obtain a sub-optimal strategy with reduced complexity. Although this work focuses on privacy in smart meters, it can be generalized to other sensor networks.

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• 33.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
Optimal privacy-by-design strategy for user demand shaping in smart grids2020In: Proceedings of the 2020 IEEE Power & Energy Society Innovative Smart Grid Technologies, Washington, DC, USA, USA, 2020Conference paper (Refereed)

In this work, we propose an optimal privacy-by-design strategy using an energy storage system (ESS) that is capable of shaping the user demand to follow a time-varying target profile. In addition, we consider the ESS usage cost due to its energy losses and capacity degradation. We measure the privacy leakage in terms of the Bayesian risk. The proposed strategy is computed by solving a multi-objective optimization problem using the Markov decision process framework. With numerical simulations using real household consumption data and a lithium-ion battery model, we study the trade-off between the achievable Bayesian risk, the variations in the user demand from the target profile and the energy storage cost. The results show that by trading-off some privacy, the variations in the user demand can be reduced while improving the battery lifetime.

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• 34.
KTH, School of Electrical Engineering and Computer Science (EECS), Information Science and Engineering.
KTH, School of Electrical Engineering and Computer Science (EECS), Information Science and Engineering. KTH, School of Electrical Engineering and Computer Science (EECS), Electromagnetic Engineering.
Privacy-preserving smart meter control strategy including energy storage losses2018In: Proceedings - 2018 IEEE PES Innovative Smart Grid Technologies Conference Europe, ISGT-Europe 2018, Institute of Electrical and Electronics Engineers (IEEE), 2018, article id 8571537Conference paper (Refereed)

Privacy-preserving smart meter control strategies proposed in the literature so far make some ideal assumptions such as instantaneous control without delay, lossless energy storage systems etc. In this paper, we present a one-step-ahead predictive control strategy using Bayesian risk to measure and control privacy leakage with an energy storage system. The controller estimates energy state using a three-circuit energy storage model to account for steady-state energy losses. With numerical experiments, the controller is evaluated with real household consumption data using a state-of-the-art adversarial algorithm. Results show that the state estimation of the energy storage system significantly affects the controller's performance. The results also show that the privacy leakage can be effectively reduced using an energy storage system but at the expense of energy loss.

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• 35.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering. Power Systems Laboratory, ETH Zurich, Switzerland. Power Systems Laboratory, ETH Zurich, Switzerland.
Smart Meter Privacy Control Strategy Including Energy Storage Degradation2019In: 2019 IEEE Milan PowerTech, IEEE, 2019Conference paper (Refereed)

In this paper, we present a degradation-aware privacy control strategy for smart meters by taking into account the capacity fade and energy loss of the battery, which has not been included previously. The energy management strategy is designed by minimizing the weighted sum of both privacy loss and total energy storage losses, where the weightage is set using a trade-off parameter. The privacy loss is measured in terms of Bayesian risk of an unauthorized hypothesis test. By making first-order Markov assumptions, the stochastic parameters of energy loss and capacity fade of the energy storage system are modelled using degradation maps. Using household power consumption data from the ECO dataset, the proposed control strategy is numerically evaluated for different trade-off parameters. Results show that, by including the degradation losses in the design of the privacy-enhancing control strategy, significant improvement in battery life can be achieved, in general, at the expense of some privacy loss.

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• 36.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH.
Modelling Adaptive Presentations in Human-Robot Interaction using Behaviour Trees2019In: 20th Annual Meeting of the Special Interest Group on Discourse and Dialogue: Proceedings of the Conference / [ed] Satoshi Nakamura, Stroudsburg, PA, 2019, p. 345-352Conference paper (Refereed)

In dialogue, speakers continuously adapt their speech to accommodate the listener, based on the feedback they receive. In this paper, we explore the modelling of such behaviours in the context of a robot presenting a painting. A Behaviour Tree is used to organise the behaviour on different levels, and allow the robot to adapt its behaviour in real-time; the tree organises engagement, joint attention, turn-taking, feedback and incremental speech processing. An initial implementation of the model is presented, and the system is evaluated in a user study, where the adaptive robot presenter is compared to a non-adaptive version. The adaptive version is found to be more engaging by the users, although no effects are found on the retention of the presented material.

• 37.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Robotics, Perception and Learning, RPL.
Integrated motion planning and control under metric interval temporal logic specifications2019In: 2019 18th European Control Conference, ECC 2019, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 2042-2049, article id 8795925Conference paper (Refereed)

This paper proposes an approach that combines motion planning and hybrid feedback control design in order to find and follow trajectories fulfilling a given complex mission involving time constraints. We use Metric Interval Temporal Logic (MITL) as a rich and rigorous formalism to specify such missions. The solution builds on three main steps: (i) using sampling-based motion planning methods and the untimed version of the mission specification in the form of Zone automaton, we find a sequence of waypoints in the workspace; (ii) based on the clock zones from the satisfying run on the Zone automaton, we compute time-stamps at which these waypoints should be reached; and (iii) to control the system to connect two waypoints in the desired time, we design a low-level feedback controller leveraging Time-varying Control Barrier Functions. Illustrative simulation results are included.

• 38.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
Skoglund, Mikael
KTH, Superseded Departments (pre-2005), Signals, Sensors and Systems. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
Johansson, Karl H.
KTH, Superseded Departments (pre-2005), Signals, Sensors and Systems. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Centres, ACCESS Linnaeus Centre.
Statistical Parameter Privacy2020In: Privacy in Dynamical Systems / [ed] Farhad Farokhi, Springer Nature, 2020, p. 65-82Chapter in book (Refereed)

We investigate the problem of sharing the outcomes of a parametric source with an untrusted party while ensuring the privacy of the parameters. We propose privacy mechanisms which guarantee parameter privacy under both Bayesian statistical as well as information-theoretic privacy measures. The properties of the proposed mechanisms are investigated and the utility-privacy trade-off is analyzed.

• 39.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
Lossy Communication Subject to Statistical Parameter Privacy2018In: 2018 IEEE International Symposium on Information Theory (ISIT) - Proceedings, Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 1031-1035, article id 8437690Conference paper (Refereed)

We investigate the problem of sharing (communi-cating) the outcomes of a memoryless source when some of its statistical parameters must be kept private. Privacy is measured in terms of the Bayesian statistical risk according to a desired loss function while the quality of the reconstruction is measured by the average per-letter distortion. We first bound -uniformly over all possible estimators- the expected risk from below. This information-theoretic bound depends on the mutual information between the parameters and the disclosed (noisy) samples. We then present an achievable scheme that guarantees an upper bound on the average distortion while keeping the risk above a desired threshold, even when the length of the sample increases.

• 40.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Information Science and Engineering.
On the Mutual Information of Two Boolean Functions, with Application to Privacy2019In: Proceedings 2019 IEEE International Symposium on Information Theory (ISIT), IEEE , 2019, p. 1197-1201Conference paper (Refereed)

We investigate the behavior of the mutual information between two Boolean functions of correlated binary strings. The covariance of these functions is found to be a crucial parameter in the aforementioned mutual information. We then apply this result in the analysis of a specific privacy problem where a user observes a random binary string. Under particular conditions, we characterize the optimal strategy for communicating the outcomes of a function of said string while preventing to leak any information about a different function.

• 41.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control. Max Planck Institute for Intelligent Systems.
Fast and Resource-Efficient Control of Wireless Cyber-Physical Systems2019Licentiate thesis, monograph (Other academic)

Cyber-physical systems (CPSs) tightly integrate physical processes with computing and communication to autonomously interact with the surrounding environment.This enables emerging applications such as autonomous driving, coordinated flightof swarms of drones, or smart factories. However, current technology does notprovide the reliability and flexibility to realize those applications. Challenges arisefrom wireless communication between the agents and from the complexity of thesystem dynamics. In this thesis, we take on these challenges and present three maincontributions.We first consider imperfections inherent in wireless networks, such as communication delays and message losses, through a tight co-design. We tame the imperfectionsto the extent possible and address the remaining uncertainties with a suitable controldesign. That way, we can guarantee stability of the overall system and demonstratefeedback control over a wireless multi-hop network at update rates of 20-50 ms.If multiple agents use the same wireless network in a wireless CPS, limitedbandwidth is a particular challenge. In our second contribution, we present aframework that allows agents to predict their future communication needs. Thisallows the network to schedule resources to agents that are in need of communication.In this way, the limited resource communication can be used in an efficient manner.As a third contribution, to increase the flexibility of designs, we introduce machinelearning techniques. We present two different approaches. In the first approach,we enable systems to automatically learn their system dynamics in case the truedynamics diverge from the available model. Thus, we get rid of the assumption ofhaving an accurate system model available for all agents. In the second approach, wepropose a framework to directly learn actuation strategies that respect bandwidthconstraints. Such approaches are completely independent of a system model andstraightforwardly extend to nonlinear settings. Therefore, they are also suitable forapplications with complex system dynamics.

fulltext
• 42. Beck, O.
KTH, School of Electrical Engineering and Computer Science (EECS), Micro and Nanosystems.
Study of measurement of the alcohol biomarker phosphatidylethanol (PEth) in dried blood spot (DBS) samples and application of a volumetric DBS device2018In: Clinica Chimica Acta, ISSN 0009-8981, E-ISSN 1873-3492, Vol. 479, p. 38-42Article in journal (Refereed)

Phosphatidylethanol (PEth) is a group of phospholipids formed in cell membranes following alcohol consumption. PEth measurement in whole blood samples is established as a specific alcohol biomarker with clinical and medico-legal applications. This study further evaluated the usefulness of dried blood spot (DBS) samples collected on filter paper for PEth measurement. Specimens used were surplus volumes of venous whole blood sent for routine LC–MS/MS quantification of PEth 16:0/18:1, the major PEth homolog. DBS samples were prepared by pipetting blood on Whatman 903 Protein Saver Cards and onto a volumetric DBS device (Capitainer). The imprecision (CV) of the DBS sample amount based on area and weight measurements of spot punches were 23–28%. Investigation of the relationship between blood hematocrit and PEth concentration yielded a linear, positive correlation, and at around 1.0–1.5 μmol/L PEth 16:0/18:1, the PEth concentration increased by ~ 0.1 μmol/L for every 5% increase in hematocrit. There was a close agreement between the PEth concentrations obtained with whole blood samples and the corresponding results using Whatman 903 (PEthDBS = 1.026 PEthWB + 0.013) and volumetric device (PEthDBS = 1.045 PEthWB + 0.016) DBS samples. The CV of PEth quantification in DBS samples at concentrations ≥ 0.05 μmol/L were ≤ 15%. The present results further confirmed the usefulness of DBS samples for PEth measurement.

• 43.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
A hybrid controller for obstacle avoidance in an n-dimensional euclidean space2019In: 2019 18th European Control Conference, ECC 2019, Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 764-769, article id 8795713Conference paper (Refereed)

For a vehicle moving in an n-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. The proposed hybrid control algorithm switches between two modes of operation: stabilization (motion-to-goal) and avoidance (boundary-following). The geometric construction of the flow and jump sets of the hybrid controller, exploiting a hysteresis region, guarantees robust switching (chattering-free) between stabilization and avoidance. Simulation results illustrate the performance of the proposed hybrid control approach for a 3-dimensional scenario.

• 44.
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
Univ Western Ontario, Dept Elect & Comp Engn, London, ON, Canada.;Lakehead Univ, Dept Elect Engn, Thunder Bay, ON, Canada.. Univ Calif Santa Barbara, Dept Elect & Comp Engn, Santa Barbara, CA 93106 USA..
Hybrid Constrained Estimation For Linear Time-Varying Systems2018In: 2018 IEEE CONFERENCE ON DECISION AND CONTROL (CDC), IEEE , 2018, p. 4643-4648Conference paper (Refereed)

For linear time-varying systems with possibly constrained states, we propose a hybrid observer that guarantees the containment of the estimated state variables in a prescribed domain of interest. The hybrid observer employs a Kalmantype continuous estimator during the flows while, during the jumps, projects the state estimates onto the set described by the constraint equation. A suitable choice of the flow and jump sets allows to conclude uniform global asymptotic stability of the zero estimation error set.

• 45.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH.
Spoken and non-verbal interaction experiments with a social robot2016In: The Journal of the Acoustical Society of America, Acoustical Society of America , 2016, Vol. 140, no 3005Conference paper (Refereed)

During recent years, we have witnessed the start of a revolution in personal robotics. Once associated with highly specialized manufacturing tasks, robots are rapidly starting to become part of our everyday lives. The potential of these systems is far-reaching; from co-worker robots that operate and collaborate with humans side-by-side to robotic tutors in schools that interact with humans in a shared environment. All of these scenarios require systems that are able to act and react in a social way. Evidence suggests that robots should leverage channels of communication that humans understand—despite differences in physical form and capabilities. We have developed Furhat—a social robot that is able to convey several important aspects of human face-to-face interaction such as visual speech, facial expression, and eye gaze by means of facial animation that is retro-projected on a physical mask. In this presentation, we cover a series of experiments attempting to quantize the effect of our social robot and how it compares to other interaction modalities. It is shown that a number of functions ranging from low-level audio-visual speech perception to vocabulary learning improve when compared to unimodal (e.g., audio-only) settings or 2D virtual avatars.

• 46. Betz, Simon
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Speech, Music and Hearing, TMH.
The greennn tree - lengthening position influences uncertainty perception2019In: Proceedings of the Annual Conference of the International Speech Communication Association, INTERSPEECH 2019, The International Speech Communication Association (ISCA), 2019, p. 3990-3994Conference paper (Refereed)

Synthetic speech can be used to express uncertainty in dialogue systems by means of hesitation. If a phrase like “Next to the green tree” is uttered in a hesitant way, that is, containing lengthening, silences, and fillers, the listener can infer that the speaker is not certain about the concepts referred to. However, we do not know anything about the referential domain of the uncertainty; if only a particular word in this sentence would be uttered hesitantly, e.g. “the greee:n tree”, the listener could infer that the uncertainty refers to the color in the statement, but not to the object. In this study, we show that the domain of the uncertainty is controllable. We conducted an experiment in which color words in sentences like “search for the green tree” were lengthened in two different positions: word onsets or final consonants, and participants were asked to rate the uncertainty regarding color and object. The results show that initial lengthening is predominantly associated with uncertainty about the word itself, whereas final lengthening is primarily associated with the following object. These findings enable dialogue system developers to finely control the attitudinal display of uncertainty, adding nuances beyond the lexical content to message delivery.

fulltext
• 47.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Micro and Nanosystems.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Micro and Nanosystems. KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Micro and Nanosystems.
Micromachined Waveguides with Integrated Silicon Absorbers and Attenuators at 220–325 GHz2018In: IEEE MTT-S International Microwave Symposium, IEEE conference proceedings, 2018 / [ed] IEEE, IEEE, 2018Conference paper (Refereed)

This paper reports for the first time on micromachined waveguides with integrated micromachined silicon absorbers. In contrast to epoxy-based microwave absorbers, micromachined lossy silicon absorbers are fully compatible with high temperature fabrication and assembly processes for micromachined waveguides. Furthermore, micromachining enables the fabrication of exact, near ideal taper tips for the silicon absorbers, whereas the tip of epoxy-based absorbers cannot be shaped accurately and reproducibly for small waveguides. Silicon of different conductivity is a very well understood and characterized dielectric material, in contrast to conventional absorber materials which are not specified above 60 GHz. Micromachined silicon waveguides with integrated absorbers and attenuators were designed, fabricated and characterized in the frequency band of 220 – 325 GHz. The return and insertion loss for various taper-geometry variations of double-tip tapered absorbers and attenuators was studied. The average return loss for the best investigated device is 19 dB over the whole band. The insertion loss of the two-port attenuators is 16 – 33 dB for different designs and shows an excellent agreement to the simulated results. The best measured devices of the one-port absorbers exhibit an average and worst-case return loss of 22 dB and 14 dB, respectively, over the whole band. The return loss is not characterized by a good simulation-measurement match, which is most likely attributed to placement tolerances of the absorbers in the waveguide cavities affecting the return but not the insertion loss.

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• 48.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Distributed Stochastic Programming with Applications to Large-Scale Hydropower Operations2019Licentiate thesis, monograph (Other academic)

Stochastic programming is a subfield of mathematical programming concerned with optimization problems subjected to uncertainty. Many engineering problems with random elements can be accurately modeled as a stochastic program. In particular, decision problems associated with hydropower operations motivate the application of stochastic programming. When complex decision-support problems are considered, the corresponding stochastic programming models often grow too large to store and solve on a single computer. This clarifies the need for parallel approaches that could enable efficient treatment of large-scale stochastic programs in a distributed environment. In this thesis, we develop mathematical and computational tools in order to facilitate distributed stochastic programs that can be efficiently stored and solved.

First, we present a software framework for stochastic programming implemented in the Julia language. A key feature of the framework is the support for distributing stochastic programs in memory. Moreover, the framework includes a large set of structure-exploiting algorithms for solving stochastic programming problems. These algorithms are based on the classical L-shaped and progressive-hedging algorithms and can run in parallel on distributed stochastic programs. The distributed performance of our software tools is improved by exploring algorithmic innovations and software patterns. We present the architecture of the framework and highlight key implementation details. Finally, we provide illustrative examples of stochastic programming functionality and benchmarks on large-scale problems.

Then, we pursue further algorithmic improvements to the distributed L-shaped algorithm. Specifically, we consider the use of dynamic cut aggregation. We develop theoretical results on convergence and complexity and then showcase performance improvements in numerical experiments. We suggest several aggregation schemes that are based on parameterized selection rules. Before we perform large-scale experiments, the aggregation parameters are determined by a tuning procedure. In brief, cut aggregation can yield major performance improvements to L-shaped algorithms in distributed settings.

Finally, we consider an application to hydropower operations. The day-ahead planning problem involves specifying optimal order volumes in a deregulated electricity market, without knowledge of the next-day market price, and then optimizing the hydropower production. We provide a detailed introduction to the day-ahead model and explain how we can implement it with our computational tools. This covers a complete procedure of gathering data, generating forecasts from the data, and finally formulating and solving a stochastic programming model of the day-ahead problem. Using a sample-based algorithm that internally relies on our structure-exploiting solvers, we obtain tight confidence intervals around the optimal solution of the day-ahead problem.

kth-lic-biel-2019
• 49.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control). KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
POLO.Jl: Policy-based optimization algorithms in Julia2019In: Advances in Engineering Software, ISSN 0965-9978, E-ISSN 1873-5339, Vol. 136, article id 102695Article in journal (Refereed)

We present POLO. j1- a Julia package that helps algorithm developers and machine-learning practitioners design and use state-of-the-art parallel optimization algorithms in a flexible and efficient way. POLO. j1 extends our C+ + library POLO, which has been designed and implemented with the same intentions. POLO. j1 not only wraps selected algorithms in POLO and provides an easy mechanism to use data manipulation facilities and loss function definitions in Julia together with the underlying compiled C+ + library, but it also uses the policy-based design technique in a Julian way to help users prototype optimization algorithms from their own building blocks. In our experiments, we observe that there is little overhead when using the compiled C+ + code directly within Julia. We also notice that the performance of algorithms implemented in pure Julia is comparable with that of their C+ + counterparts. Both libraries are hosted on GitHub(1)under the free MIT license, and can be used easily by pulling the pre-built 64-bit architecture Docker images.(2)

• 50.
KTH, School of Electrical Engineering and Computer Science (EECS), Intelligent systems, Decision and Control Systems (Automatic Control).
Eindhoven Univ Technol, Dept Mech Engn, POB 513, NL-5600 MB Eindhoven, Netherlands.. Univ Toulouse, CNRS, LAAS, F-31400 Toulouse, France.;Univ Trento, Dept Ind Engn, I-38122 Trento, Italy.. Eindhoven Univ Technol, Dept Mech Engn, POB 513, NL-5600 MB Eindhoven, Netherlands.. Eindhoven Univ Technol, Dept Mech Engn, POB 513, NL-5600 MB Eindhoven, Netherlands.. Eindhoven Univ Technol, Dept Mech Engn, POB 513, NL-5600 MB Eindhoven, Netherlands.;Univ Minnesota, Dept Civil Environm & GeoEngn, Minneapolis, MN 55455 USA..
Hybrid model formulation and stability analysis of a PID-controlled motion system with Coulomb friction2019In: IFAC PAPERSONLINE, ELSEVIER , 2019, Vol. 52, no 16, p. 84-89Conference paper (Refereed)

For a PID-controlled motion system under Coulomb friction described by a differential inclusion, we present a hybrid model comprising logical states indicating whether the closed loop is in stick or in slip, thereby resembling a hybrid automaton. A key step for this description is the addition of a timer exploiting a peculiar semiglobal dwell time of the original dynamics, which then removes defective and unwanted nonconverging Zeno solutions from the hybrid model. Through it, we then revisit an existing proof of global asymptotic stability, which is significantly simplified by way of a smooth weak Lyapunov function. The relevance of the proposed hybrid representation is also illustrated on a novel control strategy resetting the PID integrator and hinging upon the proposed hybrid model.

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