Department of Electrical Engineering

During the last decades, improved sensor and hardware technologies as well as new methods and algorithms have made self-driving vehicles a realistic possibility in the near future. At the same time, there has been a growing demand within the transportation sector to increase efficiency and to reduce the environmental impact related to transportation of people and goods. Therefore, many leading automotive and technology companies have turned their attention towards developing advanced driver assistance systems and self-driving vehicles.

Autonomous vehicles are expected to have their first big impact in closed environments, such as mines, harbors, loading and offloading sites. In such areas, the legal requirements are less restrictive and the surrounding environment is more controlled and predictable compared to urban areas. Expected positive outcomes include increased productivity and safety, reduced emissions and the possibility to relieve the human from performing complex or dangerous tasks. Within these sites, tractor-trailer vehicles are frequently used for transportation. These vehicles are composed of several interconnected vehicle segments, and are therefore large, complex and unstable while reversing. This thesis addresses the problem of designing efficient motion planning and feedback control techniques for such systems.

The contributions of this thesis are within the area of motion planning and feedback control for long tractor-trailer combinations operating at low-speeds in closed and unstructured environments. It includes development of motion planning and feedback control frameworks, structured design tools for guaranteeing closed-loop stability and experimental validation of the proposed solutions through simulations, lab and field experiments. Even though the primary application in this work is tractor-trailer vehicles, many of the proposed approaches can with some adjustments also be used for other systems, such as drones and ships.

The developed sampling-based motion planning algorithms are based upon the probabilistic closed-loop rapidly exploring random tree (CL-RRT) algorithm and the deterministic lattice-based motion planning algorithm. It is also proposed to use numerical optimal control offline for precomputing libraries of optimized maneuvers as well as during online planning in the form of a warm-started optimization step.

To follow the motion plan, several predictive path-following control approaches are proposed with different computational complexity and performance. Common for these approaches are that they use a path-following error model of the vehicle for future predictions and are tailored to operate in series with a motion planner that computes feasible paths. The design strategies for the path-following approaches include linear quadratic (LQ) control and several advanced model predictive control (MPC) techniques to account for physical and sensing limitations. To strengthen the practical value of the developed techniques, several of the proposed approaches have been implemented and successfully demonstrated in field experiments on a full-scale test platform. To estimate the vehicle states needed for control, a novel nonlinear observer is evaluated on the full-scale test vehicle. It is designed to only utilize information from sensors that are mounted on the tractor, making the system independent of any sensor mounted on the trailer.

The amount of goods produced and transported around the world each year increases and heavy-duty trucks are an important link in the logistic chain. To guarantee reliable delivery a high degree of availability is required, i.e., avoid standing by the road unable to continue the transport mission. Unplanned stops by the road do not only cost due to the delay in delivery, but can also lead to damaged cargo. Vehicle downtime can be reduced by replacing components based on statistics of previous failures. However, such an approach is both expensive due to the required frequent visits to a workshop and inefficient as many components from the vehicles in the fleet are still operational. A prognostic method, allowing for vehicle individualized maintenance plans, therefore poses a significant potential in the automotive field. The prognostic method estimates component degradation and remaining useful life based on recorded data and how the vehicle has been operated.

Lead-acid batteries is a part of the electrical power system in a heavy-duty truck, primarily responsible for powering the starter motor but also powering auxiliary units, e.g., cabin heating and kitchen equipment, which makes the battery a vital component for vehicle availability. Developing physical models of battery degradation is a difficult process which requires access to battery health sensing that is not available in the given study as well a detailed knowledge of battery chemistry.

An alternative approach, considered in this work, is data-driven methods based on large amounts of logged data describing vehicle operation conditions. In the use-case studied, recorded data is not closely related to battery health which makes battery prognostic challenging. Data is collected during infrequent and non-equidistant visits to a workshop and there are complex dependencies between variables in the data. The main aim of this work has been to develop a framework and methods for estimating lifetime of lead-acid batteries using data-driven methods for condition-based maintenance. The methodology is general and can be applicable for prognostics of other components.

A main contribution of the thesis is development of machine learning models for predictive maintenance, estimating conditional reliability functions, using Random Survival Forests (RSF) and recurrent neural networks (RNN). An important property of the data is that for a specific vehicle there may be multiple data readouts, but also one single data readout which makes predictive modeling challenging and dealing with this situation is discussed for both RSF and neural networks models. Data quality is important when building data-driven models, and here the data is imbalanced since there are few battery failures relative to the number of vehicles. Further, the data includes many uninformative variables and among those that are informative, there are complex dependencies and correlation. Methods for selecting which data features to use in the model in this situation is also a key contribution. When a point estimation of the conditional reliability functions is available, it is of interest to know how uncertain the estimate is as it allows to take quality of the prediction into account when deciding on maintenance actions. A theory for estimating the variance of the RSF predictor is another contribution in the thesis. To conclude, the results show that Long Short-Term Memory networks, which is a type of RNN, is the most suitable for the vehicle operational data and give the best performance among methods evaluated in the thesis.

Massive MIMO (multiple-input multiple-output) is considered as an heir of the multi-user MIMO technology and it has gained lots of attention from both academia and industry since the last decade. By equipping base stations (BSs) with hundreds of antennas in a compact array or a distributed manner, this new technology can provide very large multiplexing gains by serving many users on the same time-frequency resources and thereby bring significant improvements in spectral efficiency (SE) and energy efficiency (EE) over the current wireless networks. The transmit power, pilot training, and spatial transmission resources need to be allocated properly to the users to achieve the highest possible performance. This is called resource allocation and can be formulated as design utility optimization problems. If the resource allocation in Massive MIMO is optimized, the technology can handle the exponential growth in both wireless data traffic and number of wireless devices, which cannot be done by the current cellular network technology.

In this thesis, we focus on the five different resource allocation aspects in Massive MIMO communications: The first part of the thesis studies if power control and advanced coordinated multipoint (CoMP) techniques are able to bring substantial gains to multi-cell Massive MIMO systems compared to the systems without using CoMP. More specifically, we consider a network topology with no cell boundary where the BSs can collaborate to serve the users in the considered coverage area. We focus on a downlink (DL) scenario in which each BS transmits different data signals to each user. This scenario does not require phase synchronization between BSs and therefore has the same backhaul requirements as conventional Massive MIMO systems, where each user is preassigned to only one BS. The scenario where all BSs are phase synchronized to send the same data is also included for comparison. We solve a total transmit power minimization problem in order to observe how much power Massive MIMO BSs consume to provide the requested quality of service (QoS) of each user. A max-min fairness optimization is also solved to provide every user with the same maximum QoS regardless of the propagation conditions.

The second part of the thesis considers a joint pilot design and uplink (UL) power control problem in multi-cell Massive MIMO. The main motivation for this work is that the pilot assignment and pilot power allocation is momentous in Massive MIMO since the BSs are supposed to construct linear detection and precoding vectors from the channel estimates. Pilot contamination between pilot-sharing users leads to more interference during data transmission. The pilot design is more difficult if the pilot signals are reused frequently in space, as in Massive MIMO, which leads to greater pilot contamination effects. Related works have only studied either the pilot assignment or the pilot power control, but not the joint optimization. Furthermore, the pilot assignment is usually formulated as a combinatorial problem leading to prohibitive computational complexity. Therefore, in the second part of this thesis, a new pilot design is proposed to overcome such challenges by treating the pilot signals as continuous optimization variables. We use those pilot signals to solve different max-min fairness optimization problems with either ideal hardware or hardware impairments.

The third part of this thesis studies a two-layer decoding method that mitigates inter-cell interference in multi-cell Massive MIMO systems. In layer one, each BS estimates the channels to intra-cell users and uses the estimates for local decoding within the cell. This is followed by a second decoding layer where the BSs cooperate to mitigate inter-cell interference. An UL achievable SE expression is computed for arbitrary two-layer decoding schemes, while a closed form expression is obtained for correlated Rayleigh fading channels, maximum-ratio combining (MRC), and largescale fading decoding (LSFD) in the second layer. We formulate a sum SE maximization problem with both the data power and LSFD vectors as optimization variables. Since the problem is non-convex, we develop an algorithm based on the weighted minimum mean square error (MMSE) approach to obtain a stationary point with low computational complexity.

Motivated by recent successes of deep learning in predicting the solution to an optimization problem with low runtime, the fourth part of this thesis investigates the use of deep learning for power control optimization in Massive MIMO. We formulate the joint data and pilot power optimization for maximum sum SE in multi-cell Massive MIMO systems, which is a non-convex problem. We propose a new optimization algorithm, inspired by the weighted MMSE approach, to obtain a stationary point in polynomial time. We then use this algorithm together with deep learning to train a convolutional neural network to perform the joint data and pilot power control in sub-millisecond runtime. The solution is suitable for online optimization.

Finally, the fifth part of this thesis considers a large-scale distributed antenna system that serves the users by coherent joint transmission called Cell-free Massive MIMO. For a given user set, only a subset of the access points (APs) is likely needed to satisfy the users' performance demands. To find a flexible and energy-efficient implementation, we minimize the total power consumption at the APs in the DL, considering both the hardware consumed and transmit powers, where APs can be turned off to reduce the former part. Even though this is a nonconvex optimization problem, a globally optimal solution is obtained by solving a mixed-integer second-order cone program (SOCP). We also propose low-complexity algorithms that exploit group-sparsity or received power strength in the problem formulation.

The network latency in fifth generation mobile technology (5G) will be around one millisecond which is much lower than in 4G technology. This significantly faster response time together with higher information capacity and ultra-reliable communication in 5G technology will pave the way for future innovations in a smart and connected society. This new 5G network should be built on a reasonable wireless infrastructure and 5G radio base-stations that can be vastly deployed. That is, while the electrical specification of a radio base-station in 5G should be met in order to have the network functioning, the size, weight and power consumption of the radio system should be optimized to be able to commercially deploy these radios in a huge network.

As the number of antenna elements increases in massive multiple-input multiple-output based radios such as in 5G, designing true multi-band base-station radios, with efficient physical size, power consumption and cost in emerging cellular bands especially in mid-bands (frequencies up to 10~GHz), is becoming a challenge. This demands a hard integration of radio components; particularly the radio's digital application-specific integrated circuits (ASIC) with high-performance energy-efficient multi-band data converters.

In this dissertation radio frequency digital-to-analog converter (RF DAC) and semi-digital finite-impulse response (FIR) filter digital-to-analog converter has been studied. Different techniques are used in these structures to improve the transmitter's overall performance.

In the RF DAC part, a radio frequency digital-to-analog converter solution is presented, which is capable of monolithic integration into today's digital ASIC due to its digital-in-nature architecture, while fulfills the stringent requirements of cellular network radio base station linearity and bandwidth. A voltage-mode conversion method is used as output stage, and configurable mixing logic is employed in the data path to create a higher frequency lobe and utilize the output signal in the first or the second Nyquist zone and hence achieving output frequencies up to the sample rate.

In the semi-digital FIR part, optimization problem formulation for semi-digital FIR digital-to-analog converter is investigated. Magnitude and energy metrics with variable coefficient precision are defined for cascaded digital Sigma-Delta modulators, semi-digital FIR filter, and Sinc roll-off frequency response of the DAC. A set of analog metrics as hardware cost is also defined to be included in semi-digital FIR DAC optimization problem formulation. It is shown that hardware cost of the semi-digital FIR DAC, can be reduced by introducing flexible coefficient precision in filter optimization while the semi-digital FIR DAC is not over-designed either. Different use cases are selected to demonstrate the optimization problem formulations. A combination of magnitude metric, energy metric, coefficient precision and analog metric are used in different use cases of the optimization problem formulation and solved to find out the optimum set of analog FIR taps.

Moreover, a direct digital-to-RF converter (DRFC) is presented in this thesis where a semi-digital FIR topology utilizes voltage-mode RF DAC cells to synthesize spectrally clean signals at RF frequencies. Due to its digital-in-nature design, the DRFC benefits from technology scaling and can be monolithically integrated into advance digital VLSI systems. A fourth-order single-bit quantizer bandpass digital Sigma-Delta modulator is used preceding the DRFC, resulting in a high in-band signal-to-noise ratio (SNR). The out-of-band spectrally-shaped quantization noise is attenuated by an embedded semi-digital FIR filter. The RF output frequencies are synthesized by a configurable voltage-mode RF DAC solution with a high linearity performance.

A compensation technique to cancel the code-dependent supply current variation in voltage-mode RF DAC for radio frequency direct digital frequency synthesizer is also presented in this dissertation and is studied analytically. The voltage-mode RF DAC and the compensation technique are mathematically modeled and system-level simulation is performed to support the analytical discussion.

With the demand for more advanced fighter aircraft, relying on unstable flight mechanical characteristics to gain flight performance, more focus has been put on model-based system engineering to help with the design work. The flight control system design is one important part that relies on this modeling. Therefore, it has become more important to develop flight mechanical models that are highly accurate in the whole flight envelope. For today’s modern fighter aircraft, the basic flight mechanical characteristics change between linear and nonlinear as well as stable and unstable as an effect of the desired capability of advanced maneuvering at subsonic, transonic and supersonic speeds.

This thesis combines the subject of system identification, which is the art of building mathematical models of dynamical systems based on measurements, with aeronautical engineering in order to find methods for identifying flight mechanical characteristics. Here, some challenging aeronautical identification problems, estimating model parameters from flight-testing, are treated.

Two aspects are considered. The first is online identification during flight-testing with the intent to aid the engineers in the analysis process when looking at the flight mechanical characteristics. This will also ensure that enough information is available in the resulting test data for post-flight analysis. Here, a frequency domain method is used. An existing method has been developed further by including an Instrumental Variable approach to take care of noisy data including atmospheric turbulence and by a sensor-fusion step to handle varying excitation during an experiment. The method treats linear systems that can be both stable and unstable working under feedback control. An experiment has been performed on a radio-controlled demonstrator aircraft. For this, multisine input signals have been designed and the results show that it is possible to perform more time-efficient flight-testing compared with standard input signals.

The other aspect is post-flight identification of nonlinear characteristics. Here the properties of a parameterized observer approach, using a prediction-error method, are investigated. This approach is compared with four other methods for some test cases. It is shown that this parameterized observer approach is the most robust one with respect to noise disturbances and initial offsets. Another attractive property is that no user parameters have to be tuned by the engineers in order to get the best performance.

All methods in this thesis have been validated on simulated data where the system is known, and have also been tested on real flight test data. Both of the investigated approaches show promising results.