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Broxvall, Mathias
Publications (10 of 46) Show all publications
Amato, G., Bacciu, D., Broxvall, M., Chessa, S., Coleman, S., Di Rocco, M., . . . Vance, P. (2015). Robotic Ubiquitous Cognitive Ecology for Smart Homes. Journal of Intelligent and Robotic Systems, 80, S57-S81
Open this publication in new window or tab >>Robotic Ubiquitous Cognitive Ecology for Smart Homes
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2015 (English)In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 80, p. S57-S81Article in journal (Refereed) Published
Abstract [en]

Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them both autonomous and adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The project RUBICON develops learning solutions which yield cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, machine learning, planning and agent-based control, and wireless sensor networks. This paper illustrates the innovations advanced by RUBICON in each of these fronts before describing how the resulting techniques have been integrated and applied to a proof of concept smart home scenario. The resulting system is able to provide useful services and pro-actively assist the users in their activities. RUBICON learns through an incremental and progressive approach driven by the feedback received from its own activities and from the user, while also self-organizing the manner in which it uses available sensors, actuators and other functional components in the process. This paper summarises some of the lessons learned by adopting such an approach and outlines promising directions for future work.

Place, publisher, year, edition, pages
Springer, 2015
Keywords
Robotic ecology, Networked robotics, Ambient assisted living, Cognitive robotics, Wireless sensor and actuator networks, Home automation, Activity recognition, Activity discovery
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-47986 (URN)10.1007/s10846-015-0178-2 (DOI)000368189000005 ()2-s2.0-84953359131 (Scopus ID)
Note

Funding Agency:

EU FP7 RUBICON project 269914

Available from: 2016-02-05 Created: 2016-02-05 Last updated: 2018-07-03Bibliographically approved
d. C. Silva-Lopez, L. S., Broxvall, M., Loutfi, A. & Karlsson, L. (2015). Towards configuration planning with partially ordered preferences: representation and results. Künstliche Intelligenz, 9(2), 173-183
Open this publication in new window or tab >>Towards configuration planning with partially ordered preferences: representation and results
2015 (English)In: Künstliche Intelligenz, ISSN 0933-1875, E-ISSN 1610-1987, Vol. 9, no 2, p. 173-183Article in journal (Refereed) Published
Abstract [en]

Configuration planning for a distributed robotic system is the problem of how to configure the system over time in order to achieve some causal and/or information goals. A configuration plan specifies what components (sensor, actuator and computational devices), should be active at different times and how they should exchange information. However, not all plans that solve a given problem need to be equally good, and for that purpose it may be important to take preferences into account. In this paper we present an algorithm for configuration planning that incorporates general partially ordered preferences. The planner supports multiple preference categories, and hence it solves a multiple-objective optimization problem: for a given problem, it finds all possible valid, non-dominated configuration plans. The planner has been able to successfully cope with partial ordering relations between quantitative preferences in practically acceptable times, as shown in the empirical results. Preferences here are represented as c-semirings, and are used for establishing dominance of a solution over another in order to obtain a set of configuration plans that will constitute the solution of a configuration planning problem with partially ordered preferences. The dominance operators tested in this paper are Pareto and Lorenz dominance. Our solver considers one guiding heuristic for obtaining the first solution, and then switches to a dominance based monotonically decreasing heuristic used for pruning dominated partial configuration plans. In our empirical results, we perform a statistical study in the space of problem instances and establish families of problems for which our approach is computationally feasible.

Place, publisher, year, edition, pages
Springer Berlin/Heidelberg, 2015
Keywords
configuration, planning, sensor network
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-44501 (URN)10.1007/s13218-015-0358-z (DOI)000410149500009 ()
Projects
GiraffPlus
Funder
EU, FP7, Seventh Framework Programme, 288173
Available from: 2015-04-29 Created: 2015-04-29 Last updated: 2018-01-19Bibliographically approved
Lidén, M., Thunberg, P., Broxvall, M. & Geijer, H. (2015). Two- and three-dimensional CT measurements of urinary calculi length and width: a comparative study. Acta Radiologica, 56(4), 487-492
Open this publication in new window or tab >>Two- and three-dimensional CT measurements of urinary calculi length and width: a comparative study
2015 (English)In: Acta Radiologica, ISSN 0284-1851, E-ISSN 1600-0455, Vol. 56, no 4, p. 487-492Article in journal (Refereed) Published
Abstract [en]

Background: The standard imaging procedure for a patient presenting with renal colic is unenhanced computed tomography (CT). The CT measured size has a close correlation to the estimated prognosis for spontaneous passage of a ureteral calculus. Size estimations of urinary calculi in CT images are still based on two-dimensional (2D) reformats.

Purpose: To develop and validate a calculus oriented three-dimensional (3D) method for measuring the length and width of urinary calculi and to compare the calculus oriented measurements of the length and width with corresponding 2D measurements obtained in axial and coronal reformats.

Material and Methods: Fifty unenhanced CT examinations demonstrating urinary calculi were included. A 3D symmetric segmentation algorithm was validated against reader size estimations. The calculus oriented size from the segmentation was then compared to the estimated size in axial and coronal 2D reformats.

Results: The validation showed 0.1 +/- 0.7mm agreement against reference measure. There was a 0.4mm median bias for 3D estimated calculus length compared to 2D (P < 0.001), but no significant bias for 3D width compared to 2D.

Conclusion: The length of a calculus in axial and coronal reformats becomes underestimated compared to 3D if its orientation is not aligned to the image planes. Future studies aiming to correlate calculus size with patient outcome should use a calculus oriented size estimation.

Place, publisher, year, edition, pages
Sage Publications, 2015
Keywords
Urinary, CT, ureter, kidney, segmentation, computer applications-3D
National Category
Radiology, Nuclear Medicine and Medical Imaging
Research subject
Radiology
Identifiers
urn:nbn:se:oru:diva-44428 (URN)10.1177/0284185114528490 (DOI)000351594300015 ()24646626 (PubMedID)2-s2.0-84929504805 (Scopus ID)
Note

Funding Agency:

Forskningskommitten, Örebro County Council, Sweden

Available from: 2015-04-24 Created: 2015-04-24 Last updated: 2019-03-26Bibliographically approved
Dragone, M., Abdel-Naby, S., Swords, D., O'Hare, G. M. .. & Broxvall, M. (2013). A Programming Framework for Multi-agent Coordination of Robotic Ecologies. In: Mehdi Dastani, Jomi F. Hübner, Brian Logan (Ed.), Programming Multi-Agent Systems: 10th International Workshop, ProMAS 2012, Valencia, Spain, June 5, 2012, Revised Selected Papers. Paper presented at Tenth International Workshop on Programming Multi-Agent Systems (pp. 72-89). Springer Publishing Company
Open this publication in new window or tab >>A Programming Framework for Multi-agent Coordination of Robotic Ecologies
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2013 (English)In: Programming Multi-Agent Systems: 10th International Workshop, ProMAS 2012, Valencia, Spain, June 5, 2012, Revised Selected Papers / [ed] Mehdi Dastani, Jomi F. Hübner, Brian Logan, Springer Publishing Company, 2013, p. 72-89Conference paper, Published paper (Refereed)
Abstract [en]

Building smart environments with Robotic ecologies, comprising of distributed sensors, actuators and mobile robot devices facilitates and extends the nature and form of smart environments that can be developed, and reduces the complexity and cost of such solutions. While the potentials of such an approach makes robotic ecologies increasingly popular, many fundamental research questions remain open. One such question is how to make a robotic ecology self-adaptive, so as to adapt to changing conditions and evolving requirements, and consequently reduce the amount of preparation and pre-programming required for their deployment in real world applications. This paper presents a framework for the specification and the programming of robotic ecologies. The framework extends an existing agent system and integrates it with the pre-existing and dominant traditional robotic and middleware approach to the development of robotic ecologies. We illustrate how these technologies complement each other and offer a candidate technology to pursue adaptive robotic ecologies.

Place, publisher, year, edition, pages
Springer Publishing Company, 2013
Series
Lecture Notes In Computer Science, ISSN 0302-9743 ; 7837
Keywords
Robotic Ecologies, Multi-agent, Framework
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-33136 (URN)10.1007/978-3-642-38700-5_5 (DOI)978-3-642-38700-5 (ISBN)
Conference
Tenth International Workshop on Programming Multi-Agent Systems
Projects
Rubicon
Funder
EU, FP7, Seventh Framework Programme, 269914
Available from: 2014-01-17 Created: 2014-01-17 Last updated: 2018-01-11Bibliographically approved
Broxvall, M. & Daoutis, M. (2013). Developing Medical Image Processing Algorithms for GPU assisted parallel computation. In: C H Chen (Ed.), Computer Vision in Medical Imaging: (pp. 245-270). World Scientific
Open this publication in new window or tab >>Developing Medical Image Processing Algorithms for GPU assisted parallel computation
2013 (English)In: Computer Vision in Medical Imaging / [ed] C H Chen, World Scientific, 2013, p. 245-270Chapter in book (Refereed)
Abstract [en]

GPU’s have recently emerged as a significantly more powerful computing plat-form, capable of several orders of magnitude faster computations compared toCPU based approaches. However, they require significant changes in the algorithmic design compared to traditional programming paradigms. In this chapter we specifically introduce the reader to an overview of GPGPU development tools and the potential algorithmic pitfalls and bottlenecks when developing medical imaging algorithms for the GPU. We present a few general methodologies and building blocks for implementing fast image processing on GPUs. More specifically they include: methods for performing fast image convolutions and filtering;line detection, and bandwidth and memory considerations when processing volumetric datasets. Finally we conclude with a discourse on numerical precision as well as on mixing single floating-point versus double floating-point code.

Place, publisher, year, edition, pages
World Scientific, 2013
Series
Series in Computer Vision ; 2
Keywords
Medical Imaging, GPU, OpenCL, Image Processing
National Category
Radiology, Nuclear Medicine and Medical Imaging Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-33135 (URN)10.1142/9789814460941_0014 (DOI)978-981-4460-93-4 (ISBN)978-981-4460-95-8 (ISBN)
Available from: 2014-01-17 Created: 2014-01-17 Last updated: 2018-01-11Bibliographically approved
Silva-Lopez, L. S. .. & Broxvall, M. (2013). Empirical methods for evaluating properties of configuration planning algorithms. In: O'Grady et. al. (Ed.), Evolving Ambient Intelligence: AmI 2013 Workshops, Dublin, Ireland, December 3-5, 2013. Revised Selected Papers. Paper presented at Fourth International Joint Conference on Ambient Intelligence AmI 2013 (pp. 114-119). Springer International Publishing
Open this publication in new window or tab >>Empirical methods for evaluating properties of configuration planning algorithms
2013 (English)In: Evolving Ambient Intelligence: AmI 2013 Workshops, Dublin, Ireland, December 3-5, 2013. Revised Selected Papers / [ed] O'Grady et. al., Springer International Publishing , 2013, p. 114-119Conference paper, Published paper (Refereed)
Abstract [en]

As the field of configuration planning grows, so does the need for objective comparisons of algorithms and results. As the community stands today, different approaches to formalise and solve the problem at hand exist, and little or no importance has been given to compare results of different research groups. In this paper we summarize the definitions used by a few different research groups, and we explain two empiric method for comparing planning algorithms, based on statistics. While the methods themselves do not solve all the problems of comparative studies, it is a first step towards numerically comparing performances of the different configuration planning methods proposed by the community.

Place, publisher, year, edition, pages
Springer International Publishing, 2013
Series
Communications in Computer and Information Science, ISSN 1865-0929 ; 413
Keywords
Research Methodology, Planning, Empirical Methods
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-33121 (URN)10.1007/978-3-319-04406-4_12 (DOI)978-3-319-04405-7 (ISBN)
Conference
Fourth International Joint Conference on Ambient Intelligence AmI 2013
Projects
Giraff Plus
Funder
EU, FP7, Seventh Framework Programme, 288173
Available from: 2014-01-16 Created: 2014-01-16 Last updated: 2018-01-11Bibliographically approved
Rashid, J., Broxvall, M. & Saffiotti, A. (2012). A middleware to integrate robots, simple devices and everyday objects into an ambient ecology. Pervasive and Mobile Computing, 8(4), 522-541
Open this publication in new window or tab >>A middleware to integrate robots, simple devices and everyday objects into an ambient ecology
2012 (English)In: Pervasive and Mobile Computing, ISSN 1574-1192, E-ISSN 1873-1589, Vol. 8, no 4, p. 522-541Article in journal (Refereed) Published
Abstract [en]

The fields of ambient intelligence, distributed robotics and wireless sensor networks are converging toward a common vision, in which ubiquitous sensing and acting devices cooperate to provide useful services in the home. These devices can range from sophisticated mobile robots to simple sensor nodes and even simpler tagged everyday objects. In this vision, a milkbox left on the table after the user has left the home could ask the service of a mobile robot to be placed back in the refrigerator. A missing ingredient to realize this vision is a mechanism that enables the communication and interoperation among such highly heterogeneous entities. In this paper, we propose such a mechanism in the form of a middleware able to integrate robots, tiny devices and augmented everyday objects into one and the same system. The key moves to cope with heterogeneity are: the definition of a tiny, compatible version of the middleware, that can run on small devices; and the concept of object proxy, used to make everyday object accessible within the middleware. We describe the concepts and implementation of our middleware, and show a number of experiments that illustrate its performance.

Place, publisher, year, edition, pages
Elsevier, 2012
Keywords
Robotics; Smart objects; Wireless sensor networks; Ambient ecology; Robot ecology; Smart environments
National Category
Electrical Engineering, Electronic Engineering, Information Engineering Computer Sciences
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-23782 (URN)10.1016/j.pmcj.2012.06.003 (DOI)000306646200004 ()2-s2.0-84864283516 (Scopus ID)
Funder
Swedish Research Council
Note

Funding Agency:

European Community 269914 RUBICON

Available from: 2012-06-30 Created: 2012-06-30 Last updated: 2018-01-12Bibliographically approved
Broxvall, M., Emilsson, K. & Thunberg, P. (2012). Fast GPU based adaptive filtering of 4D echocardiography. IEEE Transactions on Medical Imaging, 31(6), 1165-1172, Article ID 6099625.
Open this publication in new window or tab >>Fast GPU based adaptive filtering of 4D echocardiography
2012 (English)In: IEEE Transactions on Medical Imaging, ISSN 0278-0062, E-ISSN 1558-254X, Vol. 31, no 6, p. 1165-1172, article id 6099625Article in journal (Refereed) Published
Abstract [en]

Time resolved three-dimensional (3D) echocardiography generates four-dimensional (3D+time) data sets that bring new possibilities in clinical practice. Image quality of four-dimensional (4D) echocardiography is however regarded as poorer compared to conventional echocardiography where time-resolved 2D imaging is used. Advanced image processing filtering methods can be used to achieve image improvements but to the cost of heavy data processing. The recent development of graphics processing unit (GPUs) enables highly parallel general purpose computations, that considerably reduces the computational time of advanced image filtering methods. In this study multidimensional adaptive filtering of 4D echocardiography was performed using GPUs. Filtering was done using multiple kernels implemented in OpenCL (open computing language) working on multiple subsets of the data. Our results show a substantial speed increase of up to 74 times, resulting in a total filtering time less than 30 s on a common desktop. This implies that advanced adaptive image processing can be accomplished in conjunction with a clinical examination. Since the presented GPU processor method scales linearly with the number of processing elements, we expect it to continue scaling with the expected future increases in number of processing elements. This should be contrasted with the increases in data set sizes in the near future following the further improvements in ultrasound probes and measuring devices. It is concluded that GPUs facilitate the use of demanding adaptive image filtering techniques that in turn enhance 4D echocardiographic data sets. The presented general methodology of implementing parallelism using GPUs is also applicable for other medical modalities that generate multidimensional data.

Place, publisher, year, edition, pages
Piscataway, USA: Institute of Electrical and Electronics Engineers (IEEE), 2012
Keywords
Echocardiography, high performance computing, image denoising, image enhancement, parallel computing
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-24981 (URN)10.1109/TMI.2011.2179308 (DOI)000304911300001 ()22167599 (PubMedID)2-s2.0-84861840831 (Scopus ID)
Note

Funding agencies:

EU 

Research Committe of Örebro County Council  

Available from: 2012-08-24 Created: 2012-08-23 Last updated: 2018-09-12Bibliographically approved
Amato, G., Broxvall, M., Chessa, S., Dragone, M., Gennaro, C., Lopez, R., . . . Pecora, F. (2012). Robotic UBIquitous COgnitive Network. In: Paulo Novais, Kasper Hallenborg, Dante I. Tapia, Juan M. Corchado Rodríguez (Ed.), Ambient Intelligence: Software and Applications. Paper presented at 3rd International Symposium on Ambient Intelligence (ISAmI 2012), Salamanca, Spain, March 28-30, 2012 (pp. 191-195). Springer-Verlag New York
Open this publication in new window or tab >>Robotic UBIquitous COgnitive Network
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2012 (English)In: Ambient Intelligence: Software and Applications / [ed] Paulo Novais, Kasper Hallenborg, Dante I. Tapia, Juan M. Corchado Rodríguez, Springer-Verlag New York, 2012, p. 191-195Conference paper, Published paper (Refereed)
Abstract [en]

Robotic ecologies are networks of heterogeneous robotic devices pervasively embedded in everyday environments, where they cooperate to perform complex tasks. While their potential makes them increasingly popular, one fundamental problem is how to make them self-adaptive, so as to reduce the amount of preparation, pre-programming and human supervision that they require in real world applications. The EU FP7 project RUBICON develops self-sustaining learning solutions yielding cheaper, adaptive and efficient coordination of robotic ecologies. The approach we pursue builds upon a unique combination of methods from cognitive robotics, agent control systems, wireless sensor networks and machine learning. This paper briefly illustrates how these techniques are being extended, integrated, and applied to AAL applications.

Place, publisher, year, edition, pages
Springer-Verlag New York, 2012
Series
Advances in Intelligent and Soft Computing, ISSN 1867-5662 ; 153
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-24026 (URN)10.1007/978-3-642-28783-1 (DOI)000310488400023 ()2-s2.0-84861218029 (Scopus ID)978-3-642-28782-4 (ISBN)978-3-642-28783-1 (ISBN)
Conference
3rd International Symposium on Ambient Intelligence (ISAmI 2012), Salamanca, Spain, March 28-30, 2012
Projects
RUBICON
Funder
EU, FP7, Seventh Framework Programme, 269914
Note

Note; 

Istituto di Scienza e Tecnologie dell'Informazione (ISTI)

Italian National Research Council (CNR)

Available from: 2012-07-10 Created: 2012-07-10 Last updated: 2018-05-09Bibliographically approved
Bacciu, D., Broxvall, M., Coleman, S., Dragone, M., Gallicchio, C., Gennaro, C., . . . Vairo, C. (2012). Self-sustaining learning for robotic ecologies. Paper presented at 1st International Conference on Sensor Networks (SENSORNETS), 24-26 February, 2012, Rome, Italy.
Open this publication in new window or tab >>Self-sustaining learning for robotic ecologies
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2012 (English)Conference paper, Oral presentation only (Refereed)
Abstract [en]

The most common use of wireless sensor networks (WSNs) is to collect environmental data from a specificarea, and to channel it to a central processing node for on-line or off-line analysis. The WSN technology,however, can be used for much more ambitious goals. We claim that merging the concepts and technology ofWSN with the concepts and technology of distributed robotics and multi-agent systems can open new waysto design systems able to provide intelligent services in our homes and working places. We also claim thatendowing these systems with learning capabilities can greatly increase their viability and acceptability, bysimplifying design, customization and adaptation to changing user needs. To support these claims, we illus-trate our architecture for an adaptive robotic ecology, named RUBICON, consisting of a network of sensors,effectors and mobile robots.

Keywords
Robotic Ecology, Wireless Sensor Network, Learning
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-24144 (URN)
Conference
1st International Conference on Sensor Networks (SENSORNETS), 24-26 February, 2012, Rome, Italy
Projects
Rubicon
Funder
EU, FP7, Seventh Framework Programme, 269914
Available from: 2012-07-18 Created: 2012-07-18 Last updated: 2017-10-17Bibliographically approved
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