This master’s thesis examines how a small MIMO lighting system can be identified and controlled. Two approaches are examined and compared; the first approach is a dynamic model using state space representation, where the system identification technique is Recursive Least Square, RLS, and the controller is an LQG controller; the second approach is a static model derived from the physical properties of light and a feedback feed-forward controller consisting of a PI controller coupled with a Control Allocation, CA, technique. For the studied system, the CA-PI approach significantly outperforms the LQG-RLS approach, which leads to the conclusion that the system’s static properties are predominant compared to the dynamic properties.

L'objectif de cette thèse est d'explorer de nouvelles approches pour le développement de systèmes robotiques capables de partager en toute sécurité leur espace de travail avec des opérateurs humains. Dans ce contexte, le travail présenté est axé principalement sur la problématique de commande. Les questions suivantes sont abordées:- pour des lois de contrôle réactives, c'est-à-dire des problèmes de commande où la tâche à exécuter n'est pas connue à l'avance mais découverte en temps réel, comment est-il possible de garantir à chaque pâs de temps l'existence d'une solution au problème de contrôle? Cette solution devrait permettre au robot d'accomplir au mieux sa tâche préscrite et en même temps de strictement respecter les contraintes existantes, parmi lesquelles, les contraintes liées aux limitations physiques des actionneurs de ses articulations.- Comment intégrer l'opérateur humain dans la boucle de contrôle du robot de manière à ce que le contact physique puisse être engagé et désengagé en toute sécurité? Concernant le premier point, notre travail se présente comme la continuité de résultats antérieurs développés par Sébastien Rubrecht lors de sa thèse de doctorat. Sébastien Rubrecht a introduit le concept d'incompatibilité des contraintes pour des robots contrôlés de manière réactive au niveau cinématique. Le problème de l'incompatibilité des contraintes apparaît par exemple lorsque la formulation de la contrainte sur une position articulaire d'un robot ne tient pas compte de la quantité de décélération produite par son actionneur. Dans ce cas, si la contrainte de position articulaire est activée tardivement, le système peut se retrouver dans une situation où il n'a pas suffisamment de temps pour faire face à la limite de position articulaire imposée considérant ses capacités dynamiques limités... / The intended goal of this thesis is to bring new insights for developing robotic systems capable of safely sharing their workspace with human-operators. Within this context, the presented work focuses on the control problem. The following questions are tackled:-for reactive control laws, i.e., control problems where the task to be performed is not known in advance but discovered on-line, how is it possible to guarantee for every time-step the existence of a solution to the control problem? This solution should allow the robot to accomplish at best its prescribed task and at the same time to strictly comply with existing constraints, among which, constraints related to the physical limitations of its actuators and joints.-How to integrate the human-operator in the control loop of the robot so that physical contact can safely be engaged and de-engaged? Regarding the first point, our work arises as the continuity of previous results developed by Sébastien Rubrecht during his PhD thesis. Sébastien Rubrecht introduced the concept of constraints incompatibility for robots reactively controlled at the kinematic-level. The problem of constraints incompatibility appears for example when the formulation of the constraint on an articular position of a robot does not account for the amount of deceleration producible by its actuator. In such case, if the articular position constraint is activated tardively, the system may not have sufficient time to cope with the imposed joint position limit considering its bounded dynamic capabilities.

Abstract The use of multiple antennas is a fundamental requirement in future wireless networks as it helps to increase the reliability and spectral efficiency of mobile radio links. In this thesis, we study convex optimization based radio resource allocation methods for the downlink of multi-antenna systems. First, the problem of admission control in the downlink of a multicell multiple-input single-output (MISO) system has been considered. The objective is to maximize the number of admitted users subject to a signal-to-interference-plus-noise ratio (SINR) constraint at each admitted user and a transmit power constraint at each base station (BS). We have cast the admission control problem as an ℓ0 minimization problem; it is known to be combinatorial, NP-hard. Centralized and distributed algorithms to solve this problem have been proposed. To develop the centralized algorithm, we have used sequential convex programming (SCP). The distributed algorithm has been derived by using the consensus-based alternating direction method of multipliers in conjunction with SCP. We have shown numerically that the proposed admission control algorithms achieve a near-to-optimal performance. Next, we have extended the admission control problem to provide fairness, where long-term fairness among the users has been guaranteed. We have focused on proportional and max-min fairness, and proposed dynamic control algorithms via Lyapunov optimization. Results show that these proposed algorithms guarantee fairness. Then, the problem of admission control for the downlink of a MISO heterogeneous networks (hetnet) has been considered, and the proposed centralized and distributed algorithms have been adapted to find a solution. Numerically, we have illustrated that the centralized algorithm achieves a near-to-optimal performance, and the distributed algorithm’s performance is closer to the optimal value. Finally, an algorithm to obtain the set of all achievable power-rate tuples for a multiple-input multiple-output hetnet has been provided. The setup consists of a single macrocell and a set of femtocells. The interference power to the macro users from the femto BSs has been kept below a threshold. To find the set of all achievable power-rate tuples, a two-dimensional vector optimization problem is formulated, where we have considered maximizing the sum-rate while minimizing the sum-power, subject to maximum power and interference threshold constraints. This problem is known to be NP-hard. A solution method is provided by using the relationship between the weighted sum-rate maximization and weighted-sum-mean-squared-error minimization problems. The proposed algorithm was used to evaluate the impact of imposing interference threshold constraints and the co-channel deployments in a hetnet. / Tiivistelmä Monen antennin käyttö on perusvaatimus tulevissa langattomissa verkoissa, koska se auttaa lisäämään matkaviestinyhteyksien luotettavuutta ja spektritehokkuutta. Tässä väitöskirjassa tutkitaan konveksiin optimointiin perustuvia radioresurssien allokointimenetelmiä moniantennijärjestelmien alalinkin suunnassa. Ensiksi on käsitelty pääsynvalvonnan ongelmaa alalinkin suuntaan monen solun moni-tulo yksi-lähtö (MISO) -verkoissa. Tavoitteena on maksimoida hyväksyttyjen käyttäjien määrä, kun hyväksytyille käyttäjille on asetettu signaali-häiriö-kohinasuhteen (SINR) rajoitus, ja tukiasemille lähetystehon rajoitus. Pääsynvalvonnan ongelma on muotoiltu ℓ0-minimointiongelmana, jonka tiedetään olevan kombinatorinen, NP-vaikea ongelma. Ongelman ratkaisemiseksi on ehdotettu keskitettyjä ja hajautettuja algoritmeja. Keskitetty optimointialgoritmi perustuu sekventiaaliseen konveksiin optimointiin. Hajautettu algoritmi pohjautuu konsensusoptimointimenetelmään ja sekventiaaliseen konveksiin optimointiin. Ehdotettujen pääsynvalvonta-algoritmien on numeerisesti osoitettu saavuttavan lähes optimaalinen suorituskyky. Lisäksi pääsynvalvontaongelma on laajennettu takaamaan pitkän aikavälin oikeudenmukaisuus käyttäjien välillä. Työssä käytetään erilaisia määritelmiä oikeudenmukaisuuden takaamiseen, ja ehdotetaan dynaamisia algoritmeja pohjautuen Lyapunov-optimointiin. Tulokset osoittavat, että ehdotetuilla algoritmeilla taataan käyttäjien välinen oikeudenmukaisuus. Tämän jälkeen käsitellään heterogeenisen langattoman MISO-verkon pääsynvalvonnan ongelmaa. Edellä ehdotettuja keskitettyjä ja hajautettuja algoritmeja on muokattu tämän ongelman ratkaisemiseksi. Työssä osoitetaan numeerisesti, että sekä keskitetyllä että hajautetulla algoritmilla saavutetaan lähes optimaalinen suorituskyky. Lopuksi on laadittu algoritmi, jolla löydetään kaikki saavutettavissa olevat teho-datanopeusparit heterogeenisessä langattomassa moni-tulo moni-lähtö (MIMO) -verkossa. Verkko koostuu yhdestä makrosolusta ja useasta piensolusta. Piensolutukiasemista makrokäyttäjiin kohdistuvan häiriön teho on pidetty tietyn rajan alapuolella. Kaikkien saavutettavien teho-datanopeusparien löytämiseksi on laadittu kaksiulotteinen vektorioptimointiongelma, jossa maksimoidaan summadatanopeus pyrkien minimoimaan kokonaisteho, kun enimmäisteholle ja häiriökynnykselle on asetettu rajoitukset. Tämän ongelman tiedetään olevan NP-vaikea. Ongelman ratkaisemiseksi käytetään painotetun summadatanopeuden maksimointiongelman, ja painotetun keskineliövirheen minimointiongelman välistä suhdetta. Ehdotettua algoritmia käytettiin arvioimaan häiriörajoitusten ja saman kanavan käyttöönoton vaikutusta heterogeenisessä langattomassa verkossa.

Les architectures régulières intégrant plusieurs cœurs de traitement sont davantage utilisées dans les systèmes embarqués. Dans cette thèse, on s'intéresse aux mécanismes d'optimisation d'énergie dans des architectures avec une dimension étendue; pour faire face aux problèmes de variabilité technologique et aux changements du contexte applicatif, le processus d'optimisation se déroule en temps réel. Des capteurs in-situ détectent le degré de dégradation du circuit. Quant a la variabilité applicative, des moniteurs d'activité sont insérés sur un niveau architectural pour estimer la charge de travail engendrée par l'application en cours et la consommation qui en découle. Nous avons développé une méthode systématique pour l'intégration de ces capteurs avec un moindre coût en surface. Leurs sorties alimentent un processus d'optimisation basé sur la théorie de consensus et dupliqué dans chaque cœur. Ce contrôle vise à fixer la meilleure configuration locale à chaque cœur permettant d'optimiser la consommation globale du système tout en respectant les contraintes temps réel de l'application en cours. Ce schéma opère d'une manière complètement distribuée afin de garantir la scalabilité de notre solution, et donc sa faisabilité, compte tenu de la complexité des circuits actuels et futurs. / Regular architectures embedding several processing elements are increasingly used in embedded systems. They require careful design to avoid high power consumption and to improve their flexibility. This thesis work deals with optimization mechanisms of large scale architectures; to meet variability issues, optimization is processed at run-time. The target design implements in-situ features to collect physical information about its yield and to monitor application workload and generated consumption. As for workload monitoring, we use activity counters connected at architecture level to a set of critical signals. We developed an automated method to optimally place these features with a minimal area overhead. The collected information are used further jointly with a power model to estimate the dissipated power and then driven appropriate optimization process. Optimal frequency for each core is set by means of a distributed controller based on consensus theory. The resulting settings aim to reduce the whole system power while fulfilling application constraints. The scheme needs to be fully distributed to garantee the control scalability, and so feasibility, as the number of cores scales.

För att komma underfund med och bli medveten om min egen övning kring dynamik och dess utförande har jag utfört en studie kring detta. Syftet grundas i flera kommentarer från lärare på masterclasses och lektioner om att jag aldrig utför tillräckligt med dynamik i stycket jag framför. Mina forskningsfrågor handlar om hur jag erfar min egen instudering och gestaltning av de dynamiska skillnaderna i flöjtsolostycket Density 21.5avEdgard Varése, hur detta upplevs vid framträdande och rummets påverkan. I bakgrundskapitlet presenteras hur dynamik får ökad betydelse genom historien, hur dynamik kan utföras på tvärflöjt, tidigare forskning kring instudering av stycken och akustik samt det teoretiska perspektivet kroppsfenomenologi av Merleau-Ponty. Metodkapitlet tydliggör studiens upplägg och hur övandesituationer har dokumenterats genom loggbok samt ljud- och videoinspelning. Detta har sedan analyserats genom kroppsfenomenologins glasögon. Ett försök har även gjorts för att tydliggöra faktorer som kan förbättra min dynamikkontroll och dess erfarande. Slutligen sker en diskussion om hur kroppens vanor och aktivitet påverkar utförandet vid både övning och framträdande. / In order to find out and become aware of my own use of dynamics and the use of it in performance, I have made a study on this. The purpose is based on several comments during master classes and lessons, as I have always been told that I never express enough dynamics in the performed piece. My research is based on the experience of my own practice and the development of big dynamic contrasts in the flute piece Density 21.5 byEdgard Varése. I also explore and look at the influences of the room acoustic and the matter it has on the actual dynamic. The background research emphasizes how dynamics are gaining importance through history, how to use dynamics on the flute, previous research that has been made on the study of pieces and acoustics and also the theoretical perspective of body phenomenology by Merleau-Ponty. The method chapter clarifies the structure of the study and how practice situations have been highlighted through logbook, audio- and video recording. This has then been analyzed through detailed body phenomenology and an attempt has also been made to clarify factors that can improve my own dynamic control and its experience. Finally, there is a discussion which brings up how habits and activities of the body affect the experience in both practice and performance.

Este trabalho apresenta o desenvolvimento e as análises de técnicas de controle aplicadas a uma base de movimento de um simulador de vôo. Nos primeiros capítulos são abordados aspectos relacionados com a simulação de movimentos. Uma breve descrição da dinâmica da aeronave e o desenvolvimento do algoritmo de movimento (washout filter) são apresentados. O modelo dinâmico da base de movimento é desenvolvido baseado num manipulador paralelo de seis graus de liberdade chamado de plataforma de Stewart acionado eletricamente. As equações de movimento do atuador eletromecânico são incluídas no modelo dinâmico da plataforma. O controle baseado na dinâmica inversa é uma alternativa para abordar o controle de sistema mecânicos não lineares como a plataforma de Stewart. Porém, essa técnica considera o conhecimento exato do modelo dinâmico do sistema, portanto, a dinâmica não modelada, as incertezas paramétricas e as perturbações externas podem degradar o desempenho do controlador. Além disso, o custo computacional pago pelo cálculo do modelo dinâmico realizado online é muito alto. Nesse contexto, duas estratégias de controle foram aplicadas na malha externa da estrutura de controle baseada na dinâmica inversa para o controle de aceleração na presença de incertezas paramétricas e da dinâmica não modelada, os quais foram introduzidas intencionalmente no processo de aproximar o modelo dinâmico com o objetivo de simplificar a implementação do controle baseado na dinâmica inversa. Na primeira estratégia, o termo robusto de controle foi projetado, provando a estabilidade do sistema linearizado por meio da teoria de estabilidade de Lyapunov. Este controle apresenta o fenômeno conhecido como chattering e então foi adotada uma função de saturação para substituir a lei de controle. Na segunda estratégia, o termo robusto de controle foi projetado considerando um problema de rejeição de distúrbio via controle H \'INFINITO\', onde o controlador considera as incertezas como distúrbios afetando o sistema linearizado resultante da aplicação do controle baseado na dinâmica inversa. Finalmente, três tipos de testes foram realizados para avaliar o sistema de controle: função descritiva, limiar dinâmico e algumas manobras da aeronave calculadas a partir do modelo dinâmico e transformadas através do algoritmo de movimento. As duas estratégias de controle foram comparadas. / This work presents the development and analysis of control techniques applied to a flight simulator motion base. The first chapters deal with subjects related to motion simulation. A brief description of the aircraft dynamic model and the development of the motion algorithm (washout filter) are presented. The motion base dynamics is derived based on a six degree of freedom parallel manipulator driven by electromechanical actuators. The six degree of freedom parallel manipulator is called Stewart platform. The motion equations of the electromechanical actuators are included in the motion base dynamics. Inverse dynamics control is an approach to nonlinear control design, nonetheless, this technique is based on the assumption of exact cancellation of nonlinear terms, therefore, parametric uncertainty, unmodeled dynamics and external disturbances may deteriorate the controller performance. In addition, a high computational burden is paid by computing on-line the complete dynamic model of the motion-base. Robustness can be regained by applying robust control tecniques in the outer loop control structure. In this context, two control strategies were applied in the outer loop of the inverse dynamics control structure linearized system for robust acceleration tracking in the presence of parametric uncertainty and unmodeled dynamic, which are intentionally introduced in the process of approximating the dynamic model in order to simplify the implementation of this approach, the inverse dynamic control. Both control strategies consist of introducing an additional term to the inverse dynamics controller which provides robustness to the control system. In the first strategy, the robust control term was designed proving the stability of the linearized system in the presence of uncertainties, using the Lyapunov stability theory. This control term presents a phenomenon known as chattering. Therefore, a saturation function was adopted to replace the control law. In the second strategy, the robust term was designed for a disturbance rejection problem via H \'INFINITE\' control, where the controller considers the uncertaities as disturbances affecting the linearized system resulting from the application of the inverse dynamic control. Finally, describing function, dynamic threshold and some maneuvers computed from the washout filter were used to evaluate the performance of the controllers. Both approaches were compared.

La lampe à iodure métallique est une des sources lumineuses de haute performance les plus compactes qui soit. En raison de leur bon indice de rendu des couleurs et de leur haute efficacité lumineuse, ces lampes sont souvent préférées dans les endroits où la couleur et l'efficacité sont importantes, comme les supermarchés, les gymnases, les patinoires et les arènes sportives. L’inconvénient majeur de ce type de lampe à iodure métallique vient d’un phénomène appelé « résonance acoustique ». Lorsqu’il se produit, la lumière scintille, l’arc au centre de la lampe se met à fléchir et à tourner. Cela peut aller jusqu’à l'extinction de la lampe et, dans le pire des cas, à l’explosion du tube lorsque les lampes fonctionnent dans certaines bandes de fréquence. Cette thèse se situe dans le contexte du développement de ballasts électroniques incorporant des mécanismes robustes de détection et d'évitement de résonance acoustique. À cette fin, plusieurs méthodes de détection d'enveloppe telles que le circuit multiplicateur, le circuit redresseur et l'amplificateur à verrouillage de phase sont proposées pour caractériser les fluctuations de la résonance acoustique et mieux les détecter. Des critères statistiques basés sur l'écart-type de ces fluctuations ont été établis pour détecter la présence de résonances acoustiques et les classer suivant leur gravité. Les critères proposés permettent de différencier les cas sans résonance acoustique et avec présence de résonance acoustique dans un plan bidimensionnel ou en utilisant des intervalles de confiance. Cette analyse temporelle est confirmée par l’étude des variations du spectre optique et des paramètres colorimétriques. Leurs écarts-types relatifs sont également corrélés à la présence de résonances acoustiques. Les résultats de cette étude montrent que les variations de l'enveloppe de tension ou les variations du spectre et des paramètres colorimétriques sont fortement influencées par les phénomènes de résonance acoustique Un ensemble de lampes à iodure métallique de différents fabricants et avec des puissances différentes a été testé dans nos expériences. Nous avons conclu que les circuits à multiplicateurs et a redressement permettent de détecter les résonances acoustiques avec le même niveau de sensibilité que le système à verrouillage de phase, ouvrant la voie à l’implantation de cette fonction directement au niveau du circuit du ballast. / Metal halide lamp is one kind of the most compact high-performance light sources. Because of their good color rendering index and high luminous efficacy, these lamps are often preferred in locations where color and efficacy are important, such as supermarkets, gymnasiums, ice rinks and sporting arenas. Unfortunately, acoustic resonance phenomenon occurs in metal halide lamps and causes light flicker, lamp arc bending and rotation, lamp extinction and in the worst case, arc tube explosion, when the lamps are operated in high-frequency bands. This thesis takes place in the context of developing electronic ballasts with robust acoustic resonance detection and avoidance mechanisms. To this end, several envelope detection methods such as the multiplier circuit, rectifier circuit, and lock-in amplifier, are proposed to characterize fluctuations of acoustic resonance. Furthermore, statistical criteria based on the standard deviation of these fluctuations are proposed to assess acoustic resonance occurrence and classify its severity. The proposed criteria enable classifying between no acoustic resonance and acoustic resonance cases based upon either a two-dimensional plane, a histogram or a boxplot. These analyses are confirmed by the study of spectral variations (variations of the spectral irradiance and colorimetric parameters) as well. Standard deviations and relative standard deviations of these variations are also correlated with the presence of acoustic resonance. The results from this study show that whatever voltage envelope variations or spectral variations are significantly influenced by acoustic resonance phenomena. A set of metal halide lamps from different manufacturers and with different powers are tested in our experiments. We concluded that our designed multiplier and rectifier circuits for acoustic resonance detection have the same sensitivity as the lock-in amplifier, paving the way for the implementation of this function directly into the ballast circuit board.

Este trabalho apresenta o desenvolvimento e as análises de técnicas de controle aplicadas a uma base de movimento de um simulador de vôo. Nos primeiros capítulos são abordados aspectos relacionados com a simulação de movimentos. Uma breve descrição da dinâmica da aeronave e o desenvolvimento do algoritmo de movimento (washout filter) são apresentados. O modelo dinâmico da base de movimento é desenvolvido baseado num manipulador paralelo de seis graus de liberdade chamado de plataforma de Stewart acionado eletricamente. As equações de movimento do atuador eletromecânico são incluídas no modelo dinâmico da plataforma. O controle baseado na dinâmica inversa é uma alternativa para abordar o controle de sistema mecânicos não lineares como a plataforma de Stewart. Porém, essa técnica considera o conhecimento exato do modelo dinâmico do sistema, portanto, a dinâmica não modelada, as incertezas paramétricas e as perturbações externas podem degradar o desempenho do controlador. Além disso, o custo computacional pago pelo cálculo do modelo dinâmico realizado online é muito alto. Nesse contexto, duas estratégias de controle foram aplicadas na malha externa da estrutura de controle baseada na dinâmica inversa para o controle de aceleração na presença de incertezas paramétricas e da dinâmica não modelada, os quais foram introduzidas intencionalmente no processo de aproximar o modelo dinâmico com o objetivo de simplificar a implementação do controle baseado na dinâmica inversa. Na primeira estratégia, o termo robusto de controle foi projetado, provando a estabilidade do sistema linearizado por meio da teoria de estabilidade de Lyapunov. Este controle apresenta o fenômeno conhecido como chattering e então foi adotada uma função de saturação para substituir a lei de controle. Na segunda estratégia, o termo robusto de controle foi projetado considerando um problema de rejeição de distúrbio via controle H \'INFINITO\', onde o controlador considera as incertezas como distúrbios afetando o sistema linearizado resultante da aplicação do controle baseado na dinâmica inversa. Finalmente, três tipos de testes foram realizados para avaliar o sistema de controle: função descritiva, limiar dinâmico e algumas manobras da aeronave calculadas a partir do modelo dinâmico e transformadas através do algoritmo de movimento. As duas estratégias de controle foram comparadas. / This work presents the development and analysis of control techniques applied to a flight simulator motion base. The first chapters deal with subjects related to motion simulation. A brief description of the aircraft dynamic model and the development of the motion algorithm (washout filter) are presented. The motion base dynamics is derived based on a six degree of freedom parallel manipulator driven by electromechanical actuators. The six degree of freedom parallel manipulator is called Stewart platform. The motion equations of the electromechanical actuators are included in the motion base dynamics. Inverse dynamics control is an approach to nonlinear control design, nonetheless, this technique is based on the assumption of exact cancellation of nonlinear terms, therefore, parametric uncertainty, unmodeled dynamics and external disturbances may deteriorate the controller performance. In addition, a high computational burden is paid by computing on-line the complete dynamic model of the motion-base. Robustness can be regained by applying robust control tecniques in the outer loop control structure. In this context, two control strategies were applied in the outer loop of the inverse dynamics control structure linearized system for robust acceleration tracking in the presence of parametric uncertainty and unmodeled dynamic, which are intentionally introduced in the process of approximating the dynamic model in order to simplify the implementation of this approach, the inverse dynamic control. Both control strategies consist of introducing an additional term to the inverse dynamics controller which provides robustness to the control system. In the first strategy, the robust control term was designed proving the stability of the linearized system in the presence of uncertainties, using the Lyapunov stability theory. This control term presents a phenomenon known as chattering. Therefore, a saturation function was adopted to replace the control law. In the second strategy, the robust term was designed for a disturbance rejection problem via H \'INFINITE\' control, where the controller considers the uncertaities as disturbances affecting the linearized system resulting from the application of the inverse dynamic control. Finally, describing function, dynamic threshold and some maneuvers computed from the washout filter were used to evaluate the performance of the controllers. Both approaches were compared.

Abstract This thesis examines radio resource management techniques for multicell multi-input single-output (MISO) downlink networks. Specifically, the thesis focuses on developing linear transmit beamforming techniques by optimizing certain quality-of-service (QoS) features, including, spectral efficiency, fairness, and throughput. The problem of weighted sum-rate-maximization (WSRMax) has been identified as a central problem to many network optimization methods, and it is known to be NP-hard. An algorithm based on a branch and bound (BB) technique which globally solves the WSRMax problem with an optimality certificate is proposed. Novel bounding techniques via conic optimization are introduced and their efficiency is illustrated by numerical simulations. The proposed BB based algorithm is not limited to WSRMax only; it can be easily extended to maximize any system performance metric that can be expressed as a Lipschitz continuous and increasing function of the signal-to-interference-plus-noise (SINR) ratio. Beamforming techniques can provide higher spectral efficiency, only when the channel state information (CSI) of users is accurately known. However, in practice the CSI is not perfect. By using an ellipsoidal uncertainty model for CSI errors, both optimal and suboptimal robust beamforming techniques for the worst-case WSRMax problem are proposed. The optimal method is based on a BB technique. The suboptimal algorithm is derived using alternating optimization and sequential convex programming. Through a numerical example it is also shown how the proposed algorithms can be applied to a scenario with statistical channel errors. Next two decentralized algorithms for multicell MISO networks are proposed. The optimization problems considered are: P1) minimization of the total transmission power subject to minimum SINR constraints of each user, and P2) SINR balancing subject to the total transmit power constraint of the base stations. Problem P1 is of great interest for obtaining a transmission strategy with minimal transmission power that can guarantee QoS for users. In a system where the power constraint is a strict system restriction, problem P2 is useful in providing fairness among the users. Decentralized algorithms for both problems are derived by using a consensus based alternating direction method of multipliers. Finally, the problem of spectrum sharing between two wireless operators in a dynamic MISO network environment is investigated. The notion of a two-person bargaining problem is used to model the spectrum sharing problem, and it is cast as a stochastic optimization. For this problem, both centralized and distributed dynamic resource allocation algorithms are proposed. The proposed distributed algorithm is more suitable for sharing the spectrum between the operators, as it requires a lower signaling overhead, compared with centralized one. Numerical results show that the proposed distributed algorithm achieves almost the same performance as the centralized one. / Tiivistelmä Tässä väitöskirjassa tarkastellaan monisoluisten laskevan siirtotien moniantennilähetystä käyttävien verkkojen radioresurssien hallintatekniikoita. Väitöskirjassa keskitytään erityisesti kehittämään lineaarisia siirron keilanmuodostustekniikoita optimoimalla tiettyjä palvelun laadun ominaisuuksia, kuten spektritehokkuutta, tasapuolisuutta ja välityskykyä. Painotetun summadatanopeuden maksimoinnin (WSRMax) ongelma on tunnistettu keskeiseksi monissa verkon optimointitavoissa ja sen tiedetään olevan NP-kova. Tässä työssä esitetään yleinen branch and bound (BB) -tekniikkaan perustuva algoritmi, joka ratkaisee WSRMax-ongelman globaalisti ja tuottaa todistuksen ratkaisun optimaalisuudesta. Samalla esitellään uusia conic-optimointia hyödyntäviä suorituskykyrajojen laskentatekniikoita, joiden tehokkuutta havainnollistetaan numeerisilla simuloinneilla. Ehdotettu BB-perusteinen algoritmi ei rajoitu pelkästään WSRMax-ongelmaan, vaan se voidaan helposti laajentaa maksimoimaan mikä tahansa järjestelmän suorituskykyarvo, joka voidaan ilmaista Lipschitz-jatkuvana ja signaali-(häiriö+kohina) -suhteen (SINR) kasvavana funktiona. Keilanmuodostustekniikat voivat tuottaa suuremman spektritehokkuuden vain, jos käyttäjien kanavien tilatiedot tiedetään tarkasti. Käytännössä kanavan tilatieto ei kuitenkaan ole täydellinen. Tässä väitöskirjassa ehdotetaan WSRMax-ongelman ääritapauksiin sekä optimaalinen että alioptimaalinen keilanmuodostustekniikka soveltaen tilatietovirheisiin ellipsoidista epävarmuusmallia. Optimaalinen tapa perustuu BB-tekniikkaan. Alioptimaalinen algoritmi johdetaan peräkkäistä konveksiohjelmointia käyttäen. Numeerisen esimerkin avulla näytetään, miten ehdotettuja algoritmeja voidaan soveltaa skenaarioon, jossa on tilastollisia kanavavirheitä. Seuraavaksi ehdotetaan kahta hajautettua algoritmia monisoluisiin moniantennilähetyksellä toimiviin verkkoihin. Tarkastelun kohteena olevat optimointiongelmat ovat: P1) lähetyksen kokonaistehon minimointi käyttäjäkohtaisten minimi-SINR-rajoitteiden mukaan ja P2) SINR:n tasapainottaminen tukiasemien kokonaislähetystehorajoitusten mukaisesti. Ongelma P1 on erittäin kiinnostava, kun pyritään kehittämään mahdollisimman pienen lähetystehon vaativa lähetysstrategia, joka pystyy takaamaan käyttäjien palvelun laadun. Ongelma P2 on hyödyllinen tiukasti tehorajoitetussa järjestelmässä, koska se tarjoaa tasapuolisuutta käyttäjien välillä. Molempien ongelmien hajautetut algoritmit johdetaan konsensusperusteisen vuorottelevan kertoimien suuntaustavan avulla. Lopuksi tarkastellaan kahden langattoman operaattorin välisen spektrinjaon ongelmaa dynaamisessa moniantennilähetystä käyttävässä verkkoympäristössä. Spektrinjako-ongelmaa mallinnetaan käyttämällä kahden osapuolen välistä neuvottelua stokastisen optimoinnin näkökulmasta. Tähän ongelmaan ehdotetaan ratkaisuksi sekä keskitettyä että hajautettua resurssien allokoinnin algoritmia. Hajautettu algoritmi sopii paremmin spektrin jakamiseen operaattorien välillä, koska se vaatii vähemmän kontrollisignalointia. Numeeriset tulokset osoittavat, että ehdotetulla hajautetulla algoritmilla saavutetaan lähes sama suorituskyky kuin keskitetyllä algoritmillakin.

傳統的二項累積和(CUSUM)管制圖是監測不合格率變化的有效工具。在本文中，我們考慮了俱有機率管制界線的二項CUSUM管制圖的設計，旨在控制每一期的條件誤報率達到所需的值。與固定的管制界線相比，機率管制界線將會是動態的，且更一般化、更能適應各種複雜的實際情況。在本文中，我們著重在機率管制界線的決定。藉由積分方程式法的發展，以促成動態二項加權CUSUM管制圖的設計與分析。俱有機率管制界線或固定管制界線的二項加權CUSUM管制圖與是否俱有快速起始反應特性的管制圖皆進行了比較。此外，在高良率的情境下，我們互相比較俱有機率管制界線與固定管制界線的二項加權CUSUM管制圖在製程失控時的偵測力表現。舉了一個例子來說明該如何應用所提出的管制圖。比較的結果顯示，動態界線的管制圖優於固定管制界線的管制圖，且在高良率的情況下，若樣本數越大，對動態管制界線的管制圖越有利。 / The conventional binomial CUSUM chart is an efficient tool for monitoring changes in fraction nonconforming. In this paper, we consider the design of Binomial CUSUM charts with probability control limits aimed at controlling the condi- tional false alarm rate at the desired value at each time step. The resulting control limits would be dynamic, which are more general and capable of accommodating more complex situations in practice as compared to the use of a constant control limit. In this paper, We focus on the determination of the probability control limits. An integral equation approach is developed to facilitate the design and analysis of the binomial WCUSUM control chart with probability control limits. The performance of the binomial WCUSUM charts with probability and constant control limits and the binomial WCUSUM charts with and without the fast initial response feature are compared. Besides, we compared the out-of-control detection perfromance of the binomial WCUSUM charts with probability and constant control limits for high yield process. An example is used to illustrate the application of the proposed control chart. Our comparisons show that the binomial WCUSUM chart with probability control limits generally outperforms the WCUSUM chart with constant control limits, and the conventional binomial CUSUM control chart with a constant control limit for high yield process when the sample size is large.