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Impact of natural hazards on global ecosystems
(2021)Natural hazards are a driver of ecological dynamics as they alter individual species, community structure and entire ecosystems. Their ecological impact can be highly variable over space and time: perceived by some species as disastrous but vital for the survival of others. The ability of a system to cope with such events is called ecological resilience and depends on biotic and abiotic factors, as well as the disturbance legacies. With ...Master Thesis -
Scheduling for MIG-Capable GPUs
(2021)The development of heterogeneous CPU-GPU systems for modern data centers in recent years increased the computational power massively. Multi-Instance GPUs (MIGs) allow to split a single physical GPU into multiple independent instances. Thus, more than one user can get exclusive acces to the same physical GPU. However, there are many different configurations for a single MIG-capable GPU that need to be controlled by a central instance. ...Master Thesis -
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 -
Sparse Learning in System Identification: Debiasing and Infinite-Dimensional Algorithms
(2021)In the traditional system identification techniques, a priori model structure is widely assumed to be available and the unknown parameters of the assumed model structure are estimated by maximizing the adherence of the assumed model structure to the experimental data. However, selecting the model structure can be problematic, sometimes leading to overfitting. Recent developments in the regularization based system identification methods, ...Master Thesis -
Online Feedback Optimization for Emergency Power System Operation
(2021)With increasing intermittent distributed power generation, emergency situations in the power system are more likely to occur. Current emergency operation in power systems is mostly based on manual remedial actions. The growing number of distributed generation devices add complexity to emergency operation and make decisions on remedial actions harder. In this thesis, a feedback optimization (FO) controller for emergency power system operation ...Master Thesis -
Exploiting Structured Sparsity in Transformers through Data Centric Optimizations
(2021)As deep learning is becoming increasingly costly, both in terms of computational power and storage power, many efforts have been invested in finding ways to reduce that cost. Especially in the transformer architecture, where the attention matrix grows quadratically with the sequence length, and it is in fact a lower triangular matrix. The value of implementing a fast triangular matrix matrix operator is thus highlighted. Here we ...Master Thesis -
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Human Walking Gait Modelling & Estimation for Physical Human-Robot Interaction with an Aerial Robot
(2021)This Master's Thesis further develops the control and estimation for guidance of humans using a tethered aerial robot, which can be used in Physical Human Robot Interaction applications e.g. guidance of visually impaired people. An existing Admittance based control law for human guidance presented in Tognon et. al 2020 is further improved for adaptation to human walking. While the previous control law only used the position-error from the ...Master Thesis