<p>In an optimal power control scheme for a Code Division Multiple Access (CDMA) system all mobile stations signals should arrive to the base station at equal power. If not, stronger singals may cause too much interference and block out weaker ones. Commonly used power control schemes utilizes the Signal to Interference Ratio (SIR) to design a Power Control Command (PCC) to adjust the transmit power of the mobile station. A significant problem within the conventional methods is the slow SIR recovery due to deep channel fades. Conventional methods base the PCC on the previous channel state when in fact, the channel state may have significantly changed when transmission occurs. These channel changes may cause the SIR to drop or rise drastically and lead to uncontrollable Multi Access Interference (MAI) resulting in power escalation and making the system unstable. In order to overcome power escalation and improve the recovery from deep fades a novel power control method has been developed. Based on Linear Quadratic Control and Kalman filtering for channel prediction this method designs the PCC based on the coming channel state instead of the current. This optimizes the PCC for the channel state where transmission occurs. Simulations show that this control scheme outperforms previous methods by making the impacts of the deep fades less severe on the SIR and also improves the overall SIR behaviour.</p>

<p>In the system identification community a popular framework for the problem of estimating a parametrized model structure given a sequence of input and output pairs is given by the prediction-error method. This method tries to find the parameters which maximize the prediction capability of the corresponding model via the minimization of some chosen cost function that depends on the prediction error. This optimization problem is often quite complex with several local minima and is commonly solved using a local search algorithm. Thus, it is important to find a good initial estimate for the local search algorithm. This is the main topic of this thesis.</p><p>The first problem considered is the regressor selection problem for estimating the order of dynamical systems. The general problem formulation is difficult to solve and the worst case complexity equals the complexity of the exhaustive search of all possible combinations of regressors. To circumvent this complexity, we propose a relaxation of the general formulation as an extension of the nonnegative garrote regularization method. The proposed method provides means to order the regressors via their time lag and a novel algorithmic approach for the \textsc{arx} and \textsc{lpv-arx} case is given.</p><p> </p><p>Thereafter, the initialization of linear time-invariant polynomial models is considered. Usually, this problem is solved via some multi-step instrumental variables method. For the estimation of state-space models, which are closely related to the polynomial models via canonical forms, the state of the art estimation method is given by the subspace identification method. It turns out that this method can be easily extended to handle the estimation of polynomial models. The modifications are minor and only involve some intermediate calculations where already available tools can be used. Furthermore, with the proposed method other a priori information about the structure can be readily handled, including a certain class of linear gray-box structures. The proposed extension is not restricted to the discrete-time case and can be used to estimate continuous-time models.</p><p> </p><p>The final topic in this thesis is the initialization of discrete-time systems containing polynomial nonlinearities. In the continuous-time case, the tools of differential algebra, especially Ritt's algorithm, have been used to prove that such a model structure is globally identifiable if and only if it can be written as a linear regression model. In particular, this implies that once Ritt's algorithm has been used to rewrite the nonlinear model structure into a linear regression model, the parameter estimation problem becomes trivial. Motivated by the above and the fact that most system identification problems involve sampled data, a version of Ritt's algorithm for the discrete-time case is provided. This algorithm is closely related to the continuous-time version and enables the handling of noise signals without differentiations.</p>

<p>The object of this thesis is to provide a MATLAB framework for nonlinear filtering in general, and particle filtering in particular. This is done by using the object-oriented programming paradigm, resulting in truly expandable code. Three types of discrete and nonlinear state-space models are supported by default, as well as three filter algorithms: the Extended Kalman Filter and the SIS and SIR particle filters. Symbolic expressions are differentiated automatically, which allows for comfortable EKF filtering. A graphical user interface is also provided to make the process of filtering even more convenient. By implementing a specified interface, programming new classes for use within the framework is easy and guidelines for this are presented.</p>

<p>This report presents work done in the field of linear and nonlinear system identification on robots. The subject of study has been a new parallel manipulator called Gantry-Tau. The work shall be seen as one of the first steps in the dynamical analysis of the robot. All practical work presented in the report was conducted on a prototype situated at University of Queensland.</p><p> </p><p>The actuators have been analysed and modelled with the aim to gain knowledge of weaknesses and dynamical behaviour. The analysis resulted in a study of nonlinear grey-box identification of hysteresis in the drive train of the actuators. A very compact nonlinear hysteresis model was used together with a three-step identification procedure. The results show that a model of the nonlinear system can be successfully identified from measurement data.</p><p>Finally a method for estimation of parameters in the model for the inverse dynamics of the leg structure has been investigated. It turns out that the investigated method is not able to give accurate estimates. This is thought to be a result of unmodelled behaviour in the system and noisy data.</p>

<p>The ambition to lower fuel consumption has been a goal for the vehicle industrysince many years.  During the first oil crisis in the seventies this first came intolight and it has become more relevant during the last years climate change debate.Fuel costs are also an issue.  Reducing lifetime costs, in which fuel is 30 %, givesa competitive advantage to the vehicle producer.  Over the years the drive trainhas been made efficient to the point where a reduction in fuel consumption due toimprovements in the drive train is highly expensive to develop.  The fact that thedriver behavior is a big factor in the vehicle’s fuel consumption has recently comeinto attention.  This master thesis has been performed at Scania in Södertälje andpresents a way to give the driver advice in advance of difficult road segments.  Theadvice will help the driver drive in a fuel efficient manner. Focus is put on a specificcase where the vehicle approaches a downhill and advice is given for the driver tolet the vehicle coast up to the start of the downhill so that the vehicle can regainits speed in the downhill.  The detection of the downhill is made with look-aheadtechnology where a GPS and a digital 3D road map makes the topography of theroad segment ahead available.</p>

<p>Reversing with a trailer is very difficult and many drivers hesitate to even try it. This thesis examines if active steering, particularly AFS (Active Front Steering), can be used to provide assistance.</p><p>For analysis and controller design a simple geometric model of car and trailer is used. The model seems to be accurate enough at the low speeds relevant for trailer reversing. It is shown that the only trailer dependent model parameter can be estimated while driving. This enables use with different trailers.</p><p>Different schemes to control the system are tested. The main approach is to use the steering wheel as reference for some appropriate output signal, for example the angle between car and trailer. This makes reversing with a trailer more like reversing without a trailer. To turn left, the driver simply turns the steering wheel left and drives. Test driving, as well as theoretical analysis, shows that the resulting system is stable. Of the eight drivers that have tested this type of control, five found it to be a great advantage while two considered it more confusing than helpful.</p><p>A major problem with this control approach has to do with the way AFS is constructed. With AFS, the torque required to turn the front wheels results in a reaction torque in the steering wheel. Together with the reference tracking controllers, this makes the steering wheel unstable. Theoretical analysis implies that this problem has to be solved mechanically. One solution would be to combine AFS with electric power steering.</p><p>This thesis also presents a trajectory tracking scheme to autonomously reverse with a trailer. Starting from the current trailer position and the desired trajectory an appropriate turning radius for the trailer is decided. Within certain limits, this will stabilize the car as well. The desired trajectory can be programmed beforehand, but it can also be saved while driving forward. Both variants have been tested with good results.</p>

<p>When models are used to describe physical phenomenon during development or modification of a technical system, it is often possible to reduce both the time needed and the overall development cost. With the use of models it is also possible to investigate the potential of the selected solution, without the need for any expensive details and testrigs. In many cases it is also not possible to test all the aspects regarding the functionality that are desired from the system, without using the complete and final product.</p><p>In this case a model based approach has been used to optimize the different parameters in the new snubbing mechanism for the Nose Landing Gear Retract Actuator on the JAS39 Gripen.</p><p>During the simulations, upper and lower boundaries were calculated for the length of the spring and the diameter for the restrictor. The governing constraints were given by the requirements for the retraction time during cold conditions and that the amplitude of the alternating loads in the uplock mechanism were brought to an acceptable level.</p><p>The most promising results from the simulations were then used in a limited number of trials in the hydraulic rig to verify that the configurations comply with the requirements.</p><p>The final parameters for the snubbing mechanism were chosen to 35±1mm for the spring and 0.4-0.5 mm diameter for the restrictor.</p>

<p>The ducted fan UAV is an unmanned aerial vehicle consisting mainly of a propeller enclosed in a open ended tube. The UAV has the same basic functions as an ordinary helicopter UAV but has several advantages to the same.</p><p>This thesis aims to estimate the performance of the concept of the ducted fan UAV. The company where this thesis has been written, DST Control AB, is currently investigating the economical possibilities to continue the development of this kind of UAV. This thesis shall provide DST Control AB with a theoretical as well as experimental ground for the investigation by estimation the lift capacity, position accuracy and wind tolerance.</p><p>A ducted fan UAV prototype and a mathematical model for that UAV have been developed by DST Control AB and a student project at Linköping University. The model is constructed through pure physical modeling. Several noise sources have been added to better fit the reality. Several experiments have been conducted to validate the model with satisfying results. Experiments to determine the lift capacity of the craft have also been conducted. These experiments showed a slightly smaller lift capacity than the theoretically calculated lift capacity. The wind tolerance has not been tested in experiments because of the lack of available wind tunnels but simulations have given an estimation of this tolerance.</p><p>To estimate the position accuracy, two different control systems have been implemented. The simplest control system is a system consisting of several PID controllers. The system is divided into two separate subsystems connected in cascade. The inner subsystem takes the pitch, roll and yaw angle as inputs and gives the rudder angles as outputs. The outer subsystem takes the inertial position as input and gives roll, pitch and yaw as outputs. Together, the two subsystems can be used to control the entire craft. The inner subsystem has also been replaced with a small LQ Compensator. An LQ Compensator for the entire system is also implemented giving about as good performance as the PID controller and better performance than the PID/LQ combination.</p>

<p>Active insulin receptors (IR) phosphorylate insulin receptor substrate (IRS), but it is not clear whether IRS is phosphorylated mainly by IR at the plasma membrane or by internalized IR in the cytosol. In this thesis, structural identifiability analysis and parameter sensitivity analysis is performed for models of the first steps in the metabolic insulin signaling pathway. In particular, the identifiability of the kinetic parameters governing IRS phosphorylation are investigated.</p><p>Given measurements of the relative increase in phosphorylation degree of IR and IRS, the structural identifiability analysis revealed that the parameters governing IRS phosphorylation are non-identifiable, but their ratio is identifiable. This is sufficient to study whether phosphorylation of IRS proceeds more rapidly by IR at the plasma membrane or by internalized IR in the cytosol. In the examined model structure, internalization of insulin receptors is shown to be necessary to reproduce the experimental data.</p><p>Sensitivity analysis of the parameters governing IRS phosphorylation showed that many parameters need to be known in order to obtain ``practical identifiability'' of the interesting parameters.</p>

<p>Have you thought of why you get tired or why you get hungry? Something in your body keeps track of time. It is almost like you have a clock that tells you all those things.</p><p>And indeed, in the suparachiasmatic region of our hypothalamus reside cells which each act like an oscillator, and together form a coherent circadian rhythm to help our body keep track of time. In fact, such circadian clocks are not limited to mammals but can be found in many organisms including single-cell, reptiles and birds. The study of such rhythms constitutes a field of biology, chronobiology, and forms the background for my research and this thesis.</p><p>Pioneers of chronobiology, Pittendrigh and Aschoff, studied biological clocks from an input-output view, across a range of organisms by observing and analyzing their overt activity in response to stimulus such as light. Their study was made without recourse to knowledge of the biological underpinnings of the circadian pacemaker. The advent of the new biology has now made it possible to "break open the box" and identify biological feedback systems comprised of gene transcription and protein translation as the core mechanism of a biological clock.</p><p>My research has focused on a simple transcription-translation clock model which nevertheless possesses many of the features of a circadian pacemaker including its entrainability by light. This model consists of two nonlinear coupled and delayed differential equations. Light pulses can reset the phase of this clock, whereas constant light of different intensity can speed it up or slow it down. This latter property is a signature property of circadian clocks and is referred to in chronobiology as "Aschoff's rule". The discussion in this thesis focus on develop a connection and also a understanding of how constant light effect this clock model.</p>