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Data-enabled Predictive Control of Robotic Systems
(2021)Autonomous driving and highly automated manufacturing processes are only two examples for rapidly increasing system complexity. At the same time, almost unlimited connectivity produces never before seen amounts of data. As a consequence, the spotlight of control community turns more and more to data-driven approaches. Data-enabled Predictive Control (DeePC) is such an approach. Built on behavioural systems theory, it refers to Willems’ ...Master Thesis -
Distributed Dual Quaternion Extended Kalman Filtering for Spacecraft Pose Control
(2021)Based on the dual quaternion multiplicative extended Kalman filter (DQ-MEKF) for spacecraft pose and velocity estimation using unit dual quaternions, this thesis proposes a distributed DQMEKF for the estimation of poses and velocities for individual spacecrafts in a fleet. By using absolute as well as relative pose measurements between spacecrafts, we present a distributed approach in which each spacecraft can estimate the poses and ...Master Thesis -
A comprehensive study of the phylodynamics of SARS-CoV-2 in Europe
(2021)The quick spread of SARS-CoV-2 in Europe in early 2020 shocked the continent. The short time to prepare for the pandemic resulted in rising case counts and stressed health care systems, while the knowledge about SARS-CoV-2 transmission and disease was pressingly seeked. Understanding of viral dynamics is critical to efective public health strategies and prevention of future outbreaks. In this project, we study the spatial dynamics of the ...Master Thesis -
Navigating Uncertainty with Co-Evolution of Agents and Environments for the Design of Robust Multi-Energy Systems
(2021)Distributed Multi-Energy Systems (DMES) are often designed deterministically, although research suggests that uncertainty can cause significant deviations in performance of DMES and should therefore be considered in design selection. State of the art approaches propose a framework of assessing and quantifying sensitivity of uncertain parameters in DMES design and offer approaches to optimize these designs under uncertainty. However, they ...Master Thesis -
Primus inter pares no more
(2021)Wireless sensor networks are prone to various types of failures, such as failing nodes, network partitions or lost messages. WSNs need methods for handling these failures for them to operate reliably. Popular techniques used by communication protocols for organizing themselves such as having a central leader might simplify coordination but also makes the communication more vulnerable to these failures. We therefore propose a new communication ...Master Thesis -
Real-Time Learning-Based Model Predictive Control: Online Algorithms and Applications in Energy Systems
(2021)The increased availability of sensing and computational capabilities in modern cyber-physical systems and networked systems has led to a growing interest in learning and data-driven control techniques. Learning-Based Model Predictive Control (LBMPC), i.e. the integration of learning methods in Model Predictive Control schemes, is one technique with potential applications for the control of dynamical systems under uncertain and stochastic ...Master Thesis -
Quantifying the effect of recurrent Rossby wave patterns on extremely hot summers in present-day and end-of-the-century climate
(2021)Extremely hot summers have devastating impacts on society and ecology. Recurrent Rossby wave patterns (RRWPs) are among the atmospheric features that have been linked to extreme weather events involving persistent surface weather. In this thesis, the link between RRWPs and the occurrence of extremely hot summers in the Northern Hemisphere is investigated and quantified. To this aim the synoptic evolution of RRWP events is studied in three ...Master Thesis -
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Exploring self-supervised learning techniques for hand pose estimation
(2021)Estimating 3D hand pose from a monocular RGB image is a challenging task. This is largelydue to the limited amount of available labeled data, as annotating images for 3D hand poserequires a complex multi-camera setup and a controlled lab-like setting. This in turn introducesa domain gap between the different hand pose datasets and the unconstrained settings of thereal world. In this thesis, we develop a self-supervised method to use ...Master Thesis