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Design and Engineering of a Cable-driven Floating Robot with Actuator Coupling Method
(2021)This thesis deals with designing, engineering, and manufacturing a new cable-driven parallel robot, namely the cable-driven floating robot. The aim is to reduce the energy cost of transport in robotics by proposing a novel drive system. The new drive system is based on coupling the actuators to share torque load between each other in a feasible arrangement. Additionally, the cable-driven floating robot has all components inside the robot, ...Master Thesis -
Effects of creep on the interaction between TBM, lining and rock
(2024)Mechanised tunnelling through squeezing ground is very demanding because the space available to accommodate ground deformations is limited. If the converging ground closes the shield gap in the machine area, a pressure starts to develop upon the shield and the tunnel boring machine (TBM) might get stuck. Behind the machine, if ground deformations are prevented by a stiff lining, a prohibitively high rock pressure develops, and the lining ...Doctoral Thesis -
Fast and Resolution-AgnosticDenoising Diffusion for Visual Content Generation and Computer Vision
(2024)Denoising Diffusion Probabilistic Models (DDPMs) have recently emerged as a transformative technology due to their ability to generate naturally-looking images with unprecedented quality and diversity. However, limitations still prevent them from being adapted to more applications than pure image generation. These models often generate images with fixed resolution and are not directly applicable to canvases of flexible sizes. Moreover, ...Master Thesis -
Data-Drift-Based Model Retraining Triggering in Modyn
(2024)Machine learning has become increasingly data driven. In real-world scenarios, datasets are usually not stationary, causing degradation in model quality overtime. Modyn is an open source ML pipeline designed to provide system support for exploring training triggering and data selection policies on dynamic datasets. This thesis aims to extend Modyn with a data drift-based triggering component. We study design principles of automatic training ...Master Thesis -
Kinetic Field Theory: a new formalism for microscopic perturbation theory
(2024)This thesis provides a general construction of the Kinetic Field Theory (KFT) framework and its microscopic perturbation theory for any classical physical system which can be described by a Hamiltonian. The generating functional of KFT is constructed based on a definition of phase space in terms of the cotangent bundle of configuration space and utilizing methods borrowed from the path integral formulation of classical mechanics. From it, ...Doctoral Thesis -
Sweet answers to the decades-long debates on the sucrose retardation
(2024)In the cement and concrete industry, the use of chemical admixtures is essential to improve either the properties for fresh pastes or the hardened concrete. However, many chemical admixtures cause cement hydration retardation in addition to their main effects. Among them, sugars are a family of retards which work specifically to extend the open time by delaying the onset of cement hydration. According to early studies, sucrose is a very ...Doctoral Thesis -
Modes of fitness increase during the aggregative multicellular development program of Myxococcus xanthus
(2024)In nature, environmental conditions are in constant flux. Organisms must dynamically respond and adapt to the presence of other biological entities as well as abiotic factors in order to survive and reproduce. Both cooperative and competitive interactions between organisms are common. Cooperation involves the expression of a trait that enhances the fitness of other individuals, and usually is costly to express. Conflict arises when the ...Doctoral Thesis -
Receptor-Mediated Lysosomal Clearance of Endoplasmic Reticulum and Outer Nuclear Membrane
(2024)Doctoral Thesis -
Evaluation of E-Bike-City road networks
(2024)Agent-based simulation in transport research is used to model behavior and interactions of persons (agents) traveling on the network. Here the reactions to capacity changes for cars in urban contexts are investigated, first by performing a sensitivity analysis with scaled capacities and second by using networks with road space reallocated from cars to bikes. In the reallocated networks, bikes and e-bikes are modeled to interact with cars ...Master Thesis -
Modern Adaptive Experiment Design: Machine Learning Perspective
(2024)A key challenge in science and engineering is to design experiments to learn about some unknown quantity of interest. Optimal experimental design is a branch of statistics addressing the most informative allocation of experiments in order to infer an unknown quantity of interest. In this thesis, we fundamentally revisit and extend the methods and approaches of optimal design of experiments when our unknown quantity is a member of a ...Doctoral Thesis