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  • 1.
    Afshar, Sara
    et al.
    Mälardalens högskola, Inbyggda system.
    Moghaddami Khalilzad, Nima
    Mälardalens högskola, Inbyggda system.
    Nemati, Farhang
    Mälardalens högskola, Inbyggda system.
    Nolte, Thomas
    Mälardalens högskola, Inbyggda system.
    Resource Sharing among Prioritized Real-Time Applications on Multiprocessors2015In: ACM SIGBED Review - Special Issue on the 6th International Workshop on Compositional Theory and Technology for Real-Time Embedded Systems Homepage archiveVolume 12 Issue 1, 2015, p. 46-55Conference paper (Refereed)
    Abstract [en]

    In this paper, we propose a new protocol for handling resource sharing among prioritized real-time applications composed on a multiprocessor platform. We propose an optimal priority assignment algorithm which assigns unique priorities to the applications based on information in their interfaces. We have performed experimental evaluations to compare the proposed protocol (called MSOS-Priority) to the current state of the art locking protocols under multiprocessor partitioned scheduling, i.e., MPCP, MSRP, FMLP, MSOS, and OMLP. The valuations show that MSOS-Priority mostly performs significantly better than alternative approaches.

  • 2.
    Ahmed, Mobyen Uddin
    et al.
    Örebro University, School of Science and Technology.
    Banaee, Hadi
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Health monitoring for elderly: an application using case-based reasoning and cluster analysis2013In: ISRN Artificial Intelligence, ISSN 2090-7435, E-ISSN 2090-7443, Vol. 2013, no 2013, p. 1-11Article in journal (Refereed)
    Abstract [en]

    This paper presents a framework to process and analyze data from a pulse oximeter which measures pulse rate and blood oxygen saturation from a set of individuals remotely. Using case-based reasoning (CBR) as the backbone to the framework, records are analyzed and categorized according to how well they are similar. Record collection has been performed using a personalized health profiling approach where participants wore a pulse oximeter sensor for a fixed period of time and performed specific activities for pre-determined intervals. Using a variety of feature extraction in time, frequency and time-frequency domains, and data processing techniques, the data is fed into a CBR system which retrieves most similar cases and generates alarm and flag according to the case outcomes. The system has been compared with an expert's classification and 90% match is achieved between the expert's and CBR classification. Again, considering the clustered measurements the CBR approach classifies 93% correctly both for the pulse rate and oxygen saturation. Along with the proposed methodology, this paper provides a basis for which the system can be used in analysis of continuous health monitoring and be used as a suitable method as in home/remote monitoring systems.

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  • 3.
    Ahmed, Mobyen Uddin
    et al.
    Örebro University, School of Science and Technology.
    Islam, Asif Moinul
    Örebro University, Örebro, Sweden.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    A case-based patient identification system using pulseoximeter and a personalized health profile2012Conference paper (Refereed)
    Abstract [en]

    This paper proposes a case-based system framework in order to identify patient using their health parameters taken with physiological sensors. It combines a personalized health profiling protocol with a Case-Based Reasoning (CBR) approach. The personalized health profiling helps to determine a number of individual parameters which are important inputs for a clinician to make the final diagnosis and treatment plan. The proposed system uses a pulse oximeter that measures pulse rate and blood oxygen saturation. The measurements are taken through an android application in a smart phone which is connected with the pulseoximeter and bluetooth communication. The CBR approach helps clinicians to make a diagnosis, classification and treatment plan by retrieving the most similar previous case. The case may also be used to follow the treatment progress. Here, the cases are formulated with person’s contextual information and extracted features from sensor signal measurements. The features are extracted considering three domain analysis:1) time domain features using statistical measurement, 2) frequency domain features applying Fast Fourier Transform (FFT), and 3) time-frequency domain features applying Discrete Wavelet Transform (DWT). The initial result is acceptable that shows the advancement of the system while combining the personalized health profiling together with CBR.

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  • 4.
    Akalin, Neziha
    et al.
    Örebro University, School of Science and Technology.
    Kiselev, Andrey
    Örebro University, School of Science and Technology.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    An Evaluation Tool of the Effect of Robots in Eldercare on the Sense of Safety and Security2017In: Social Robotics: 9th International Conference, ICSR 2017, Tsukuba, Japan, November 22-24, 2017, Proceedings / [ed] Kheddar, A.; Yoshida, E.; Ge, S.S.; Suzuki, K.; Cabibihan, J-J:, Eyssel, F:, He, H., Springer International Publishing , 2017, p. 628-637Conference paper (Refereed)
    Abstract [en]

    The aim of the study presented in this paper is to develop a quantitative evaluation tool of the sense of safety and security for robots in eldercare. By investigating the literature on measurement of safety and security in human-robot interaction, we propose new evaluation tools. These tools are semantic differential scale questionnaires. In experimental validation, we used the Pepper robot, programmed in the way to exhibit social behaviors, and constructed four experimental conditions varying the degree of the robot’s non-verbal behaviors from no gestures at all to full head and hand movements. The experimental results suggest that both questionnaires (for the sense of safety and the sense of security) have good internal consistency.

  • 5.
    Akalin, Neziha
    et al.
    Örebro University, School of Science and Technology.
    Kiselev, Andrey
    Örebro University, School of Science and Technology.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    The Relevance of Social Cues in Assistive Training with a Social Robot2018In: 10th International Conference on Social Robotics, ICSR 2018, Proceedings / [ed] Ge, S.S., Cabibihan, J.-J., Salichs, M.A., Broadbent, E., He, H., Wagner, A., Castro-González, Á., Springer, 2018, p. 462-471Conference paper (Refereed)
    Abstract [en]

    This paper examines whether social cues, such as facial expressions, can be used to adapt and tailor a robot-assisted training in order to maximize performance and comfort. Specifically, this paper serves as a basis in determining whether key facial signals, including emotions and facial actions, are common among participants during a physical and cognitive training scenario. In the experiment, participants performed basic arm exercises with a social robot as a guide. We extracted facial features from video recordings of participants and applied a recursive feature elimination algorithm to select a subset of discriminating facial features. These features are correlated with the performance of the user and the level of difficulty of the exercises. The long-term aim of this work, building upon the work presented here, is to develop an algorithm that can eventually be used in robot-assisted training to allow a robot to tailor a training program based on the physical capabilities as well as the social cues of the users.

  • 6.
    Alirezaie, Marjan
    et al.
    Örebro University, School of Science and Technology.
    Kiselev, Andrey
    Örebro University, School of Science and Technology.
    Längkvist, Martin
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    An Ontology-Based Reasoning Framework for Querying Satellite Images for Disaster Monitoring2017In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, no 11, article id 2545Article in journal (Refereed)
    Abstract [en]

    This paper presents a framework in which satellite images are classified and augmented with additional semantic information to enable queries about what can be found on the map at a particular location, but also about paths that can be taken. This is achieved by a reasoning framework based on qualitative spatial reasoning that is able to find answers to high level queries that may vary on the current situation. This framework called SemCityMap, provides the full pipeline from enriching the raw image data with rudimentary labels to the integration of a knowledge representation and reasoning methods to user interfaces for high level querying. To illustrate the utility of SemCityMap in a disaster scenario, we use an urban environment—central Stockholm—in combination with a flood simulation. We show that the system provides useful answers to high-level queries also with respect to the current flood status. Examples of such queries concern path planning for vehicles or retrieval of safe regions such as “find all regions close to schools and far from the flooded area”. The particular advantage of our approach lies in the fact that ontological information and reasoning is explicitly integrated so that queries can be formulated in a natural way using concepts on appropriate level of abstraction, including additional constraints.

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  • 7.
    Alirezaie, Marjan
    et al.
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Towards Automatic Ontology Alignment for Enriching Sensor Data Analysis2013In: Communications in Computer and Information Science, ISSN 1865-0929, E-ISSN 1865-0937, Vol. 415, p. 179-193Article in journal (Refereed)
    Abstract [en]

    In this work ontology alignment is used to align an ontology comprising high level knowledge to a structure representing the results of low-level sensor data classification. To resolve inherent uncertainties from the data driven classifier, an ontology about application domain is aligned to the classifier output and the result is recommendation system able to suggest a course of action that will resolve the uncertainty. This work is instantiated in a medical application domain where signals from an electronic nose are classified into different bacteria types. In case of misclassifications resulting from the data driven classifier, the alignment to an ontology representing traditional microbiology tests suggests a subset of tests most relevant to use. The result is a hybrid classification system (electronic nose and traditional testing) that automatically exploits domain knowledge in the identification process.

  • 8.
    Alirezaie, Marjan
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Context Recognition: Towards Automatic Query Generation2015In: Ambient Intelligence: 12th European Conference, AmI 2015, Athens, Greece, November 11-13, 2015, Proceedings, Springer, 2015, p. 205-218Conference paper (Refereed)
    Abstract [en]

    In this paper, we present an ontology-based approach in designing knowledge model for context recognition (CR) systems. The main focus in this paper is on the use of an ontology to facilitate the generation of user-based queries to the CR system. By leveraging from the ontology, users need not know about sensor details and the structure of the ontology in expressing queries related to events of interest. To validate the approach and demonstrate the flexibility of the ontology for query generation, the ontology has been integrated in two separate application domains. The first domain considers a health care system implemented for the GiraffPlus project where the query generation process is automated to request information about activities of daily living. The second application uses the same ontology for an air quality monitoring application in the home. Since these two systems are independently developed for different purposes, the ease of applying the ontology upon them can be considered as a credit for its generality.

  • 9.
    Alirezaie, Marjan
    et al.
    Örebro University, School of Science and Technology.
    Renoux, Jennifer
    Örebro University, School of Science and Technology.
    Köckemann, Uwe
    Örebro University, School of Science and Technology.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Karlsson, Lars
    Örebro University, School of Science and Technology.
    Blomqvist, Eva
    RISE SICS East, Linköping, Sweden.
    Tsiftes, Nicolas
    RISE SICS, Stockholm, Sweden.
    Voigt, Thiemo
    RISE SICS, Stockholm, Sweden.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    An Ontology-based Context-aware System for Smart Homes: E-care@home2017In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, no 7, article id 1586Article in journal (Refereed)
    Abstract [en]

    Smart home environments have a significant potential to provide for long-term monitoring of users with special needs in order to promote the possibility to age at home. Such environments are typically equipped with a number of heterogeneous sensors that monitor both health and environmental parameters. This paper presents a framework called E-care@home, consisting of an IoT infrastructure, which provides information with an unambiguous, shared meaning across IoT devices, end-users, relatives, health and care professionals and organizations. We focus on integrating measurements gathered from heterogeneous sources by using ontologies in order to enable semantic interpretation of events and context awareness. Activities are deduced using an incremental answer set solver for stream reasoning. The paper demonstrates the proposed framework using an instantiation of a smart environment that is able to perform context recognition based on the activities and the events occurring in the home.

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  • 10.
    ANGELONE, MARIA LAURA
    Örebro University, School of Science and Technology.
    AndroidOS- Robot Command Interface2011Independent thesis Advanced level (degree of Master (One Year)), 20 credits / 30 HE creditsStudent thesis
  • 11.
    Arain, Muhammad Asif
    et al.
    Örebro University, School of Science and Technology.
    Havoutis, Ioannis
    Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy.
    Semini, Claudio
    Department of Advanced Robotics,Istituto Italiano di Tecnologia, Genova, Italy.
    Buchli, Jonas
    Eidgenössische Technische Hochschule Zürich (ETH), Zurich, Schweiz.
    Caldwell, Darwin G.
    Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy.
    A comparison of search-based planners for a legged robot2013Conference paper (Refereed)
    Abstract [en]

    Path planning for multi-DoF legged robots is achallenging task due to the high dimensionality and complexityof the planning space. We present our first attempt to builda path planning framework for the hydraulic quadruped -HyQ. Our approach adopts a similar strategy to [1], whereplanning is divided into a task-space and a joint-space part.The task-space planner finds a path for the center of gravity(COG) of the robot, while then the footstep planner generates theappropriate footholds under reachability and stability criteria.Next the joint-space planner translates the task-space COGtrajectories into robot joint angles. We present a comparisonof a set of search-based planning algorithms; Dijkstra, A* andARA*, and evaluate these over a set of given terrains and anumber of varying start and end points. All test runs supportthat our approach is a simple yet robust solution. We reportcomparisons in path length, computation time, and path cost,between the aforementioned planning algorithms.

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    Arain_RoMoCo13
  • 12.
    Arain, Muhammad Asif
    et al.
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    The Right Direction to Smell: Efficient Sensor Planning Strategies for Robot Assisted Gas Tomography2016In: 2016 IEEE International Conference on Robotics and Automation (ICRA), New York, USA: IEEE Robotics and Automation Society, 2016, p. 4275-4281Conference paper (Refereed)
    Abstract [en]

    Creating an accurate model of gas emissions is an important task in monitoring and surveillance applications. A promising solution for a range of real-world applications are gas-sensitive mobile robots with spectroscopy-based remote sensors that are used to create a tomographic reconstruction of the gas distribution. The quality of these reconstructions depends crucially on the chosen sensing geometry. In this paper we address the problem of sensor planning by investigating sensing geometries that minimize reconstruction errors, and then formulate an optimization algorithm that chooses sensing configurations accordingly. The algorithm decouples sensor planning for single high concentration regions (hotspots) and subsequently fuses the individual solutions to a global solution consisting of sensing poses and the shortest path between them. The proposed algorithm compares favorably to a template matching technique in a simple simulation and in a real-world experiment. In the latter, we also compare the proposed sensor planning strategy to the sensing strategy of a human expert and find indications that the quality of the reconstructed map is higher with the proposed algorithm.

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    Arain_etal_ICRA-2016
  • 13.
    Arunachalam, Ajay
    et al.
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    Sornil, Ohm
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    A broadcast based random query gossip algorithm for resource search in non-DHT mobile Peer-to-Peer networks2017In: Diànnǎo xuékān (Journal of Computers), ISSN 1991-1599, Vol. 28, no 1, p. 209-223Article in journal (Refereed)
    Abstract [en]

    This paper presents a resource discovery scheme for decentralized non-DHT Mobile Peer-to-Peer (MP2P) networks. In a mobile environment, the energy of mobile device is very critical. The aim of the proposed technique is to reduce the network overhead, lower battery power consumption and minimize query delay while improving the chance to resolve the query at every successive stage. Peer-to-Peer applications have gained a lot of attention in past years due to its decentralized nature. Resource searching algorithms are one of the major focuses of P2P network. Mobile Ad hoc Network (MANET) with its changing topology further poses additional challenges and thus increasing the search effort. Methods like flooding, random walk and probabilistic forwarding techniques are good candidates to run over such dynamic network. In this work, we study the flooding, random walk and gossip based resource discovery protocols on a P2P Mobile Ad hoc Network. We observed that the classic gossip algorithm does not work well under MANET as in the case of a wired network. We focus to improve the algorithm to suit and work better under such dynamic network scenario. The proposed system presents a light weight resource discovery design to suit the mobility requirement of ad hoc networks to optimize the search performance while at the same time minimize the extra usage of mobile and network resources. For quick and energy efficient search scheme, we explore a novel addressed jumping approach. Our algorithm is entirely distributed, and hence will scale well even to the growing size of the network. The efficiency of our proposed algorithm is validated through extensive NS-2 simulations. The results show that our proposed scheme gives better performance than the widely used techniques. We also validate through statistical hypothesis testing of simulation data.

  • 14.
    Arunachalam, Ajay
    et al.
    Department of Computer Science, School of Applied Statistics, National Institute of Development Administration, Bangkok, Thailand.
    Sornil, Ohm
    Department of Computer Science, School of Applied Statistics, National Institute of Development Administration, Bangkok, Thailand.
    Reducing Routing Overhead in random walk protocol under MP2P Network2016In: International Journal of Electrical and Computer Engineering, ISSN 2088-8708, Vol. 6, no 6, p. 3121-3130Article in journal (Refereed)
    Abstract [en]

    Due to network dynamics in self-organizing networks the resource discovery effort increases. To discover objects in unstructured peer-to-peer network, peers rely on traditional methods like flooding, random walk and probabilistic forwarding methods. With inadequate knowledge of paths, the peers have to flood the query message which creates incredible network traffic and overhead. Many of the previous works based on random walk were done in wired network. In this context random walk was better than flooding. But under MANETs random walk approach behaved differently increasing the overhead, due to frequent link failures incurred by mobility. Decentralized applications based on peer-to-peer computing are best candidates to run over such dynamic network. Issues of P2P service discovery in wired networks have been well addressed in several earlier works. This article evaluates the performance of random walk based resource discovery protocol over P2P Mobile Adhoc Network (MP2P) and suggests an improved scheme to suit MANET. Our version reduces the network overhead, lowers the battery power consumption, minimizes the query delay while providing equally good success rate. The protocol is validated through extensive NS-2 simulations. It is clear from the results that our proposed scheme is an alternative to the existing ones for such highly dynamic mobile network scenario.

  • 15.
    Banaee, Hadi
    et al.
    Örebro University, School of Science and Technology.
    Ahmed, Mobyen Uddin
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Towards NLG for Physiological Data Monitoring with Body Area Networks2013In: 14th European Workshop on Natural Language Generation, 2013, p. 193-197Conference paper (Refereed)
    Abstract [en]

    This position paper presents an on-goingwork on a natural language generationframework that is particularly tailored fornatural language generation from bodyarea networks. We present an overview ofthe main challenges when considering thistype of sensor devices used for at homemonitoring of health parameters. The paperpresents the first steps towards the implementationof a system which collectsinformation from heart rate and respirationusing a wearable sensor.

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  • 16.
    Bandaru, Vamsi Krishna
    et al.
    Örebro University, School of Science and Technology.
    Balasubramanian, Rajasekaran
    Örebro University, School of Science and Technology.
    OBJECT RECOGNITION USINGDIALOGUES AND SEMANTICANCHORING2013Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This report explains in detail the implemented system containing a robot and a sensor

    network that is deployed in a test apartment in an elderly residence area. The report

    focuses on the creation and maintenance (anchoring) of the connection between the

    semantic information present in the dialog with perceived actual physical objects in the

    home. Semantic knowledge about concepts and their correlations are retrieved from online

    resources and ontologies, e.g. Word-Net and sensors information are provided by

    cameras distributed in the apartment.

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  • 17.
    Bouguerra, Abdelbaki
    Örebro University, Department of Technology.
    A reactive approach for object finding in real world environments2006In: Intelligent Autonomous Systems 9 / [ed] Tamio Arai, Rolf Pfeifer, Tucker Balch, Hiroshi Yokoi, 2006, p. 391-398Conference paper (Other academic)
    Abstract [en]

    In this paper we propose an approach to handle requests of finding objects in real world environments by mobile robots. The proposed approach checks candidate objects based on the likelihood they constitute an answer to the requests in a reactive way. As a result, run-time perceived objects are handled “on the fly” without extra cost. We present the theoretical concepts of the proposed approach, and describe the experiments we run to validate it.

  • 18.
    Canelhas, Daniel Ricão
    et al.
    Univrses AB, Strängnäs, Sweden.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry2018In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),, IEEE Computer Society, 2018, p. 6337-6343Conference paper (Refereed)
    Abstract [en]

    Voxel volumes are simple to implement and lend themselves to many of the tools and algorithms available for 2D images. However, the additional dimension of voxels may be costly to manage in memory when mapping large spaces at high resolutions. While lowering the resolution and using interpolation is common work-around, in the literature we often find that authors either use trilinear interpolation or nearest neighbors and rarely any of the intermediate options. This paper presents a survey of geometric interpolation methods for voxel-based map representations. In particular we study the truncated signed distance field (TSDF) and the impact of using fewer than 8 samples to perform interpolation within a depth-camera pose tracking and mapping scenario. We find that lowering the number of samples fetched to perform the interpolation results in performance similar to the commonly used trilinear interpolation method, but leads to higher framerates. We also report that lower bit-depth generally leads to performance degradation, though not as much as may be expected, with voxels containing as few as 3 bits sometimes resulting in adequate estimation of camera trajectories.

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    A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry
  • 19.
    Chakraborty, Subham
    et al.
    Innopolis University, Universitetskaya, Innopolis, Russia.
    Thapaliya, Ananga
    Innopolis University, Universitetskaya, Innopolis, Russia.
    Above the Clouds: A Brief Study2019In: Software Technology: Methods and Tools / [ed] Manuel MazzaraJean-Michel BruelBertrand MeyerAlexander Petrenko, Springer, 2019, Vol. 11771, p. 326-333Conference paper (Refereed)
    Abstract [en]

    Cloud Computing is a versatile technology that can support a broad-spectrum of applications. The low cost of cloud computing and its dynamic scaling renders it an innovation driver for small companies, particularly in the developing world. Cloud deployed enterprise resource planning (ERP), supply chain management applications (SCM), customer relationship management (CRM) applications, medical applications, business applications and mobile applications have potential to reach millions of users. In this paper, we explore the different concepts involved in cloud computing and we also examine clouds from technical aspects. We highlight some of the opportunities in cloud computing underlining the importance of clouds showing why that technology must succeed and we have provided additional cloud computing problems that businesses may need to address. Finally, we discuss some of the issues that this area should deal with.

  • 20. Galindo, Cipriano
    et al.
    González, Javier
    Fernández-Madrigal, Juan-Antonio
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Robots that change their world: inferring goals from semantic knowledge2011In: Proceedings of the 5th European Conference on Mobile Robots, ECMR 2011 / [ed] Achim J. Lilienthal, Tom Duckett, 2011, p. 1-6Conference paper (Refereed)
  • 21.
    Giaretta, Alberto
    et al.
    Örebro University, School of Science and Technology.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU Compute, Technical University of Denmark, Lyngby, Denmark.
    Massacci, Fabio
    Department of Information Science and Engineering, University of Trento, Trento, Italy.
    IoT Security Configurability with Security-by-Contract2019In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 19, no 19, article id E4121Article in journal (Refereed)
    Abstract [en]

    Cybersecurity is one of the biggest challenges in the Internet of Things (IoT) domain, as well as one of its most embarrassing failures. As a matter of fact, nowadays IoT devices still exhibit various shortcomings. For example, they lack secure default configurations and sufficient security configurability. They also lack rich behavioural descriptions, failing to list provided and required services. To answer this problem, we envision a future where IoT devices carry behavioural contracts and Fog nodes store network policies. One requirement is that contract consistency must be easy to prove. Moreover, contracts must be easy to verify against network policies. In this paper, we propose to combine the security-by-contract (S × C) paradigm with Fog computing to secure IoT devices. Following our previous work, first we formally define the pillars of our proposal. Then, by means of a running case study, we show that we can model communication flows and prevent information leaks. Last, we show that our contribution enables a holistic approach to IoT security, and that it can also prevent unexpected chains of events.

  • 22.
    Grantner, Janos L.
    et al.
    Western Michigan University, Dept. of Electrical and Computer Engineering, USA.
    Fodor, George. A.
    ABB Automation Products AB, Västerås, Sweden; Western Michigan University, Dept. of Electrical and Computer Engineering, USA.
    Driankov, Dimiter
    Department of Information and Computer Science, University of Linköping, Linköping, Sweden.
    The virtual fuzzy state machine approach: a domain-independent fault detection and recovery method for object-based control systems1999In: Proceedings of the 18th International Conference of the North American  Fuzzy Information Processing Society (NAFIPS), IEEE conference proceedings, 1999, p. 158-162Conference paper (Refereed)
    Abstract [en]

    The current trend of using object based design for real time control systems has the implication that traditional state based fault detection and recovery methods cannot be used directly. This problem is even more difficult for domain independent fault detection and recovery since most such methods are based on a formal analysis of the global state set. The paper presents a domain independent fault isolation, detection and recovery method for object based control systems based on constraints of the object architecture. Variations of the control behavior from normal cases are detected using a fuzzy state machine approach

  • 23.
    Gupta, Puneet Kumar
    et al.
    Independent Accessible Media Professional, Meerut, India.
    Mathew Martin, Poothullil John
    Department of Outreach & Extension Services, Ali Yavar Jung National Institute for the Hearing Handicapped, Mumbai, India.
    Comprehension of basic mathematics among children with hearing impairment using multimedia in accesible and non-accesible format a comparative study2013In: 2013 IEEE 63rd Annual Conference International Council for Educational Media (ICEM), IEEE conference proceedings, 2013, p. 1-11Conference paper (Refereed)
    Abstract [en]

    Teaching mathematics has been a complex issue for educators as well as learners. Same is the condition for the hearing impaired learners. Multimedia can be a big facilitator in order to render simpler and effective learning methods in the field of teaching mathematics to the hearing impaired students. The guidelines of United Nations Convention of Rights of Persons with Disabilities (UNCRPD, 2007), makes provision for creation of information in accessible format.

    However there are no research studies to establish that teaching mathematics through the accessible format of multimedia would increase comprehension levels in children with hearing impairment. According to Mary Ellen Foster (2003) in her study on visual comprehension found that ‘Intuitively, one way of determining the usefulness of any presentation of data is by measuring the ease with which tasks involving that data can be performed using that presentation’.

    It may be noted that children with hearing impairment use visual techniques in their thought process, therefore accessible format of multimedia will enhance their comprehension levels. Accessible format includes techniques such as captioning, sign language and audio Description.

    This can be very helpful in processing information by hearing impaired children. The study investigated the effects of multimedia in accessible format, through the use of captioning and Indian sign language (ISL), on hearing impaired children. Hearing impaired viewers watched twice, the short multimedia with and without accessibility formats respectively. Their reactions were recorded on a questionnaire developed for the purpose of the study.

    Forty nine students participated in this study from two deaf schools of Mumbai,India. Analysis of the data showed that there was difference in the effects of accessible and non accessible formats of on the Hearing Impaired viewers.

    The study also showed that accessible formats increase the comprehension of the subject of the multimedia and use of ISL and captioning helped hearing impaired students to understand concepts better. The hearing impaired persons correlated watching the ISL interpreter with understanding the concept of the topic of multimedia. Placement of the ISL interpreter in the screen was also covered under the study.

  • 24.
    Ishida, Hiroshi
    et al.
    Tokyo University of Agriculture and Technology, Tokyo, Japan.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Matsukura, Haruka
    Tokyo University of Agriculture and Technology, Tokyo, Japan.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Using Chemical Sensors as 'Noses' for Mobile Robots2016In: Essentials of Machine Olfaction and Taste / [ed] Takamichi Nakamoto, Singapore: John Wiley & Sons, 2016, p. 219-246Chapter in book (Refereed)
    Abstract [en]

    Gas sensors detect the presence of gaseous chemical compounds in air. They are often used in the form of gas alarms for detecting dangerous or hazardous gases. However, a limited number of stationary gas alarms may not be always sufficient to cover a large industrial facility. Human workers having a portable gas detector in their hand needs to be sent to thoroughly check gas leaks in the areas not covered by stationary gas alarms. However, making repetitive measurements with a gas detector at a number of different locations is laborious. Moreover, the places where the gas concentration level needs to be checked are often potentially dangerous for human workers. If a portable gas detector is mounted on a mobile robot, the task of patrolling in an industrial facility for checking a gas leak can be automated. Robots are good at doing repetitive tasks, and can be sent into harsh environments.

  • 25.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Behavior modeling from learning agents: sensitivity to objective function details2012In: Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012): volume 3 / [ed] Conitzer,Winikoff, Padgham, and van der Hoek, Richland SC: The International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), 2012, p. 1335-1336Conference paper (Refereed)
    Abstract [en]

    The process of finding the appropriate agent behavior is a cumbersome task – no matter whether it is for agent-based software or simulation models. Machine Learning can help by generating partial or preliminary versions of the agent low-level behavior. However, for actually being useful for the human modeler the results should be interpretable, which may require some post-processing step after the actual behavior learning. In this contribution we test the sensitivity of the resulting, interpretable behavior program with respect to parameters and components of the function that describes the intended behavior.

  • 26.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    How to design agent-based simulation models using agent learning2012In: Winter Simulation Conference Proceedings, Institute of Electrical and Electronics Engineers (IEEE), 2012, p. 1-10Conference paper (Refereed)
    Abstract [en]

    The question of what is the best way to develop an agent-based simulation model becomes more important as this paradigm is more and more used. Clearly, general model development processes can be used, but these do not solve the major problems of actually deciding about the agents' structure and behavior. In this contribution we introduce the MABLe methodology for analyzing and designing agent simulation models that relies on adaptive agents, where the agent helps the modeler by proposing a suitable behavior program. We test our methodology in a pedestrian evacuation scenario. Results demonstrate the agents can learn and report back to the modeler a behavior that is interestingly better than a hand-made model.

    Download full text (pdf)
    WCS2012 Design by Learning
  • 27.
    Kajtazi, Miranda
    et al.
    Lund University, Lund, Sweden.
    Haftor, Darek
    Institutionen för datavetenskap, fysik och matematik (DFM), Linnéuniversitetet, Växjö, Sweden.
    Information Inadequacy: Instances that Causes the Lack of Needed Information2012In: The 5th Workshop on Information Logistics and Knowledge Supply (ILOG2012), at the 11th International Conference on Perspectives in Business Informatics Research (BIR2012): Nizhny Novgorod, Russia, September 24-26, 2012. Proceedings: “Satellite Workshops & Doctoral Consortium.”, Springer, 2012, p. 7-17Conference paper (Refereed)
  • 28.
    Klügl, Franziska
    et al.
    Örebro University, School of Science and Technology.
    Bernon, Carole
    Paul Sabatier University, Toulouse, France.
    Self-Adaptive Agents for Debugging Multi-Agent Simulations2011In: Proc. of the 3rd ADAPTIVE 2011: The Third International Conference on Adaptive and Self-Adaptive Systems and Applications / [ed] J. Fox and A. Rausch, Xpert Publishing Services, 2011, p. 79-84Conference paper (Refereed)
    Abstract [en]

    In this contribution, we propose an adaptation-drivenmethodology for the technical design and implementation of multi-agent simulations that is inspired by the concept of "living design". The simulated agents are capable of evaluatingtheir behavior and self-adapt for improving the overall model.For this aim, the modeler describes critical, non valid situations in the life of an agent, or the complete agent system, and explicitly specifies repair knowledge for these situations.

    Download full text (pdf)
    ADAPTIVE2011_KluglBernon
  • 29.
    Klügl, Franziska
    et al.
    Örebro University, School of Science and Technology.
    Karlsson, Lars
    Örebro University, School of Science and Technology.
    Towards Pattern-Oriented Design of Agent-Based Simulation Models2009In: MULTI-AGENT SYSTEM TECHNOLOGIES, PROCEEDINGS / [ed] Braubach, L; VanderHoek, W; Petta, P; Pokahr, A, Berlin, Germany: Springer, 2009, p. 41-53Conference paper (Refereed)
    Abstract [en]

    The formalization and use of experiences in good model design would make an important contribution to increasing the efficiency of modeling as well as to supporting the knowledge transfer from experienced modelers to modeling novices. We propose to address this problem by providing a set of model design patterns inspired by patterns in Software Engineering for capturing the reusable essence of a solution to specific partial modeling problem. This contribution provides a First step formulating the vision and indicating how patterns and which types of patterns can play a role in agent-based model design.

  • 30.
    Klügl, Franziska
    et al.
    Örebro University, School of Science and Technology.
    Ossowski, SaschaUniversity Rey Juan Carlos, Madrid, Spain.
    Multiagent system technologies: 9th German Conference, MATES 2011, Berlin, Germany, October 6-7, 2011. Proceedings2011Conference proceedings (editor) (Refereed)
    Abstract [en]

    This book constitutes the proceedings of the 9th German Conference on Multiagent System Technologies held in Berlin, Germany, in October 2011. The 12 revised full papers presented together with 6 short parers were carefully reviewed and selected from 50 submissions. Providing an interdisciplinary forum for researchers, users, and developers to present and discuss latest advances in research work as well as prototyped or fielded systems of intelligent agents and multi-agent systems, the papers cover the whole range of this sector and promote its theory and applications.

  • 31.
    Klügl, Franziska
    et al.
    Örebro University, School of Science and Technology.
    Rindsfüser, Guido
    Emch&Berger AG, Bern, Switzerland.
    Agent-based route (and mode) choice simulation in real-world networks2011In: 2011 IEEE/WIC/ACM International Conference on  Web Intelligence and Intelligent Agent Technology (WI-IAT) / [ed] Jomi F. Hübner, Jean-Marc Petit, Einoshin Suzuki, IEEE, 2011, p. 22-29Conference paper (Refereed)
    Abstract [en]

    Mode and route choice are central elements of traffic simulations. Traditionally they form two subsequent steps in the four-step process where first, the simulated population distributes among available transportation modes and then their movement is assigned to the roads respectively other networks. However, these two phases are better dealt with simultaneously as choices are highly depending on each other. In this paper, we are suggesting an agent-based combined route and mode choice model that is not only able to resemble traditional simulations, but provides the means for new applications. As the simulated agents are active and situated while moving through the network, they are able to react to unforeseen events such as the closing of a link. Thus we can reproduce the self-organized re-distribution of travelers to new routes depending on when/where they are notified about the problem. We illustrate the feasibility and usefulness of our agent-based mode and route choice simulation using a real-world network of a small-size Swiss town.

  • 32.
    Krug, Robert
    et al.
    Örebro University, School of Science and Technology.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Grasp Envelopes for Constraint-based Robot Motion Planning and Control2015In: Robotics: Science and Systems Conference: Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation, 2015Conference paper (Refereed)
    Abstract [en]

    We suggest a grasp represen-tation in form of a set of enveloping spatial constraints. Our representation transforms the grasp synthesisproblem (i. e., the question of where to position the graspingdevice) from finding a suitable discrete manipulator wrist pose to finding a suitable pose manifold. Also the correspondingmotion planning and execution problem is relaxed – insteadof transitioning the wrist to a discrete pose, it is enough tomove it anywhere within the grasp envelope which allows toexploit kinematic redundancy.

    Download full text (pdf)
    fulltext
  • 33.
    Kucner, Tomasz
    et al.
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Tell me about dynamics!: Mapping velocity fields from sparse samples with Semi-Wrapped Gaussian Mixture Models2016In: Robotics: Science and Systems Conference (RSS 2016), 2016Conference paper (Refereed)
    Abstract [en]

    Autonomous mobile robots often require informa-tion about the environment beyond merely the shape of thework-space. In this work we present a probabilistic method formappingdynamics, in the sense of learning and representingstatistics about the flow of discrete objects (e.g., vehicles, people)as well as continuous media (e.g., air flow). We also demonstratethe capabilities of the proposed method with two use cases. Onerelates to motion planning in populated environments, whereinformation about the flow of people can help robots to followsocial norms and to learn implicit traffic rules by observingthe movements of other agents. The second use case relates toMobile Robot Olfaction (MRO), where information about windflow is crucial for most tasks, including e.g. gas detection, gasdistribution mapping and gas source localisation. We representthe underlying velocity field as a set of Semi-Wrapped GaussianMixture Models (SWGMM) representing the learnt local PDF ofvelocities. To estimate the parameters of the PDF we employ aformulation of Expectation Maximisation (EM) algorithm specificfor SWGMM. We also describe a data augmentation methodwhich allows to build a dense dynamic map based on a sparseset of measurements. In case only a small set of observations isavailable we employ a hierarchical sampling method to generatevirtual observations from existing mixtures.

    Download full text (pdf)
    fulltext
  • 34.
    Liao, Qianfang
    et al.
    Örebro University, School of Science and Technology.
    Sun, Da
    Örebro University, School of Science and Technology.
    Andreasson, Henrik
    Örebro University, School of Science and Technology.
    Point Set Registration for 3D Range Scans Using Fuzzy Cluster-based Metric and Efficient Global OptimizationIn: IEEE Transaction on Pattern Analysis and Machine Intelligence, ISSN 0162-8828, E-ISSN 1939-3539Article in journal (Refereed)
    Abstract [en]

    This study presents a new point set registration method to align 3D range scans. In our method, fuzzy clusters are utilized to represent a scan, and the registration of two given scans is realized by minimizing a fuzzy weighted sum of the distances between their fuzzy cluster centers. This fuzzy cluster-based metric has a broad basin of convergence and is robust to noise. Moreover, this metric provides analytic gradients, allowing standard gradient-based algorithms to be applied for optimization. Based on this metric, the outlier issues are addressed. In addition, for the first time in rigid point set registration, a registration quality assessment in the absence of ground truth is provided. Furthermore, given specified rotation and translation spaces, we derive the upper and lower bounds of the fuzzy cluster-based metric and develop a branch-and-bound (BnB)-based optimization scheme, which can globally minimize the metric regardless of the initialization. This optimization scheme is performed in an efficient coarse-to-fine fashion: First, fuzzy clustering is applied to describe each of the two given scans by a small number of fuzzy clusters. Then, a global search, which integrates BnB and gradient-based algorithms, is implemented to achieve a coarse alignment for the two scans. During the global search, the registration quality assessment offers a beneficial stop criterion to detect whether a good result is obtained. Afterwards, a relatively large number of points of the two scans are directly taken as the fuzzy cluster centers, and then, the coarse solution is refined to be an exact alignment using the gradient-based local convergence. Compared to existing counterparts, this optimization scheme makes a large improvementin terms of robustness and efficiency by virtue of the fuzzy cluster-based metric and the registration quality assessment. In the experiments, the registration results of several 3D range scan pairs demonstrate the accuracy and effectiveness of the proposed method, as well as its superiority to state-of-the-art registration approaches.

    Download full text (pdf)
    Point Set Registration for 3D Range Scans Using Fuzzy Cluster-based Metric and Efficient Global Optimization
  • 35.
    Lopez-Paredes, Adolfo
    et al.
    INSISOC, Universidad de Valladolid, Escuela de Ingenierias Industriales Paseo del Cauce, Valladolid, Spain.
    Edmonds, Bruce
    Centre for Policy Modelling, Manchester Metropolitan University, Manchester, United Kingdom.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Special issue: Agent based simulation of complex social systems2012In: Simulation (San Diego, Calif.), ISSN 0037-5497, E-ISSN 1741-3133, Vol. 88, no 1, p. 4-6Article in journal (Refereed)
  • 36.
    Lowry, Stephanie
    Örebro University, School of Science and Technology.
    Similarity criteria: evaluating perceptual change for visual localization2019In: 2019 European Conference on Mobile Robots (ECMR), IEEE, 2019, article id 8870962Conference paper (Refereed)
    Abstract [en]

    Visual localization systems may operate in environments that exhibit considerable perceptual change. This paper proposes a method of evaluating the degree of appearance change using a similarity criteria based on comparing the subspaces spanned by the principal components of the observed image descriptors. We propose two criteria - θmin measures the minimum angle between subspaces and Stotal measures the total similarity between the subspaces. These criteria are introspective - they evaluate the performance of the image descriptor using nothing more than the image descriptor itself. Furthermore, we demonstrate that these similarity criteria reflect the ability of the image descriptor to perform visual localization successfully, thus allowing a measure of quality control on the localization output.

    Download full text (pdf)
    Similarity criteria: Evaluating perceptual change for visual localization
  • 37.
    Lunardini, Francesca
    et al.
    Politecnico Di Milano, Milan, Italy.
    Luperto, Matteo
    University of Milan, Milan, Italy.
    Romeo, Marta
    University of Manchester, Manchester, UK.
    Renoux, Jennifer
    Örebro University, School of Science and Technology.
    Basilico, Nicola
    University of Milan, Milan, Italy.
    Krpič, Andrej
    Smart Com, Ljubljana, Slovenia.
    Borghese, Nunzio Alberto
    University of Milan, Milan, Italy.
    Ferrante, Simona
    Politecnico di Milano, Milan, Italy.
    The MOVECARE project: Home-based monitoring of frailty2019In: 2019 IEEE EMBS International Conference on Biomedical & Health Informatics (BHI): Proceedings, IEEE, 2019, article id 8834482Conference paper (Refereed)
    Abstract [en]

    Concerning frailty, the use of home-based technology able to continuously and transparently monitor the independent elder may represent a useful tool to support the traditional geriatric assessment in the identification of elderly people at risk of frailty, with the final aim of guiding the development of early preventive interventions. To this aim, the European MoveCare project develops an ICT platform to support the independent living of the elder at home. Here, we describe how home-based monitoring of frailty is addressed within MoveCare, specifically for the five Fried criteria. The platform leverages a net of heterogeneous sensors a service robot, and the use of gamification to achieve ecological monitoring of frailty through quantitative measurements transparently recorded during common daily-life activities. The indicators collected over time are fed to the reasoning entity of the platform to provide informal caregivers with relevant information on the elder's status.

  • 38.
    Memedi, Mevludin
    et al.
    School of Technology and Business Studies, Computer Engineering, Dalarna University, Falun, Sweden.
    Aghanavesi, Somayeh
    School of Technology and Business Studies, Computer Engineering, Dalarna University, Falun, Sweden.
    Westin, Jerker
    School of Technology and Business Studies, Computer Engineering, Dalarna University, Falun, Sweden.
    A method for measuring Parkinson's disease related temporal irregularity in spiral drawings2016In: 2016 IEEE International Conference on Biomedical and Health Informatics, New York: Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 410-413Conference paper (Refereed)
    Abstract [en]

    The objective of this paper was to develop and evaluate clinimetric properties of a method for measuring Parkinson's disease (PD)-related temporal irregularities using digital spiral analysis. In total, 108 (98 patients in different stages of PD and 10 healthy elderly subjects) performed repeated spiral drawing tasks in their home environments using a touch screen device. A score was developed for representing the amount of temporal irregularity during spiral drawing tasks, using Approximate Entropy (ApEn) technique. In addition, two previously published spiral scoring methods were adapted and their scores were analyzed. The mean temporal irregularity score differed significantly between healthy elderly subjects and advanced PD patients (P<0.005). The ApEn-based method had a better responsiveness and test-retest reliability when compared to the other two methods. In contrast to the other methods, the mean scores of the ApEn-based method improved significantly during a 3 year clinical study, indicating a possible impact of pathological basal ganglia oscillations in temporal control during spiral drawing tasks. In conclusion, the ApEn-based method could be used for differentiating between patients in different stages of PD and healthy subjects. The responsiveness and test-retest reliability were good for the ApEn-based method indicating that this method is useful for measuring upper limb temporal irregularity at a micro-level.

  • 39.
    NAKHOSTIN, SINA
    Örebro University, School of Science and Technology.
    Toward Simulation of Violin Sound Based on BowingGestures2012Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This Master’s thesis work presents an algorithmic approach for automatic synthesis

    of the violin’s instrumental gesture controls. Focusing on

    ” Détaché”,

    as a sustained bow motion technique, this work aims to give an instrumental

    gesture model generator (a physical performer model) to learn an appropriate

    representative function based on a group of already available contours that

    belong to different performances of the same bowing technique. Contours are

    main physical parameters of bowing which can be used as inputs of a physical

    sound model, i.e virtual violin, in order to produce the expected sound. During

    this work the primary physical parameters are under study, In particular

    bow

    transversal velocity

    (v), bow pressing force(f) and bow-bridge distance(d).

    The result of this work then can be generalized to cover the other bowing

    techniques, in particular sustained techniques like different derivatives of

    legato. B-splines were used in order to devise a parametric, flexible and robust

    model which is capable in capturing subtle variations in the time continuum

    of input parameters. A series of test experiments has been conducted in order

    to evaluate the learned model, where people with strong background in music

    and a considerable proficiency in playing musical instruments were asked to

    evaluate the sounds produced by the synthetic model.

    The results of evaluation were to high extent satisfactory, indicating that

    the quality of the sound produced as the result of artificial gestures (outputs of

    performer model) were close enough to the sound produced by the gestures of

    experienced violin players.

    i

  • 40.
    Nemati, Farhang
    et al.
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    Behnam, Moris
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    Nolte, Thomas
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    An Investigation of Synchronization under Multiprocessors Hierarchical Scheduling2009In: Proceedings of the Work-In-Progress (WIP) session of the 21st Euromicro Conference on Real-Time Systems (ECRTS'09), 2009Conference paper (Refereed)
    Abstract [en]

    In the multi-core and multiprocessor research community, considerable work has been done on real-time multiprocessor scheduling algorithms where it is assumed the tasks are independent. However in practice a typical real-time system includes tasks that share resources. On the other hand, synchronization in the multiprocessor context has not received enough attention.

    In this paper we propose an extension to multiprocessor hierarchical scheduling to support resource sharing. We extend the scheduling framework with an existing synchronization protocol for global scheduling in multi-core systems.

  • 41.
    Nemati, Farhang
    et al.
    Mälardalen Real-Time Research Centre, Mälardalen University, Sweden.
    Inam, Rafia
    Mälardalen Real-Time Research Centre, Mälardalen University, Sweden.
    Nolte, Thomas
    Mälardalen Real-Time Research Centre, Mälardalen University, Sweden.
    Sjödin, Mikael
    M ̈alardalen Real-Time Research Centre, Mälardalen University, Sweden.
    Towards Resource Sharing by Message Passing among Real-Time Components on Multi-cores2011In: IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2011 / [ed] Mammeri, Z, IEEE, 2011Conference paper (Refereed)
    Abstract [en]

    In this paper we propose a message passing synchronization protocol for resource sharing among real-time applications on multi-core platforms where each application is allocated on a cluster of cores. In this protocol the resources that are only used within an application (local resources) are handled by shared memory synchronization while the resources shared cross applications (global resources) are accessed by means of message passing. In our protocol the global resources are safely accessed without requiring to lock the resources explicitly. The goal is to avoid resource locking using shared memory, since accessing shared memory in multi-cores is very time consuming, whereas message passing has the potential to be much more efficient in systems with deep memory hierarchies.

  • 42.
    Nemati, Farhang
    et al.
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    Nolte, Thomas
    Mälardalen Real-Time Research Centre, Mälardalen University, Västerås, Sweden.
    Resource Hold Times under Multiprocessor Static-Priority Global Scheduling2011In: 2011 IEEE 17th International Conference on Embedded and Real-Time Computing Systems and Applications. Volume 1: Proceedings, IEEE Computer Society , 2011, p. 197-206Conference paper (Refereed)
    Abstract [en]

    Recently there has been a lot of interest in coexisting of multiple independently-developed real-time applications on a shared open platform. On the other hand, emerging of multi-core platforms and the performance and possibilities they offer has attracted a lot of attention in multiprocessor real-time analysis, protocols and techniques. Co-executing independently- developedreal-time applications on a shared multiprocessor system, where each application executes on a dedicated sub set of processors, requires to overcome the problem of handling mutually exclusive shared resources among those applications. To handle resource sharing, it is important to determine the Resource Hold Time (RHT), i.e., the maximum duration of time that an application locks a shared resource.

    In this paper, we study resource hold times under multiprocessor static-priority global scheduling. We present how to compute RHT's for each resource in an application. We also show how to decrease the RHT's without compromising the schedulability of the application. We show that decreasing all RHT's for all shared resources is a multiobjective optimization problem and there can exist multiple Paretooptimal solutions.

  • 43.
    NOZARI, GOLNAZ
    Örebro University, School of Science and Technology.
    Category-based Object PoseEstimation with Pose OrientedSEmi-global Feature Histograms2012Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    In this thesis we propose a novel, fast and accurate 3D descriptor for use in

    pose estimation of objects. To achieve this, we develop algorithm to identify

    the pose of any instance of a particular object category without having its exact

    model. Our aim is to estimate the object pose given only information about

    its category. To achieve this, we focus on the impact of the choice of the reference

    frame on the performance of a 3D descriptor. We propose a method that

    estimates a reference coordinate system using a single viewpoint of the object

    scene. We use an additional reference vector in order to define our reference

    coordinate system uniquely. The main idea is to use the information retrieved

    from a perception system collecting real world data. This information is neglected

    in most of the state-of-the-art pose estimation methods. In this work,

    we use the information which is given by the support plane that the objects

    are lying on. Based on the reference coordinate system, we define the Pose Oriented

    SEmi-global Feature Histogram (POSEFH) as an efficient 3D semi-global

    descriptor which encodes the geometrical properties of the object surface. We

    perform extensive qualitative and quantitative evaluation of our method on the

    subset of the RGB-D Stereo Object Category database which is collected by the

    7-joint Armar III robotic head with foveal and peripheral stereo cameras We

    compare it with the state-of-the-art 3D descriptors, the Viewpoint Featrue Histogram

    (VFH) and the Clustered Viewpoint Feature Histogram (CVFH). Our

    method works for incomplete 3D pointclouds of objects. The results show a

    significant improvement in the accuracy of one degree-of-freedom orientation

    estimation while dealing with partial and real noisy data.

    i

  • 44.
    Palm, Rainer
    et al.
    Siemens AG Corporate Technology Information and Communications, Munich, Germany.
    Driankov, Dimiter
    University of Linköping, Linköping, Sweden.
    Fuzzy switched hybrid systems: modeling and identification1998In: Proceedings of the 1998 IEEE Intelligent Control (ISIC)/CIRA/ISAS Joint Conference, Gaithersburg, MD, September 14-17, 1998, IEEE conference proceedings, 1998, p. 130-135Conference paper (Refereed)
    Abstract [en]

    The combination of hybrid systems and fuzzy multiple model systems is described. Further, a hierarchical identification of the resulting fuzzy switched hybrid system is outlined. The behavior of the discrete component is identified by black box fuzzy clustering and subsequent parameter identification taking into account some prior-knowledge about the discrete states. The identification of the continuous models for each discrete state is done based on local linear fuzzy models

  • 45.
    Rahayem, Mohamed
    et al.
    Örebro University, School of Science and Technology.
    Werghi, Naoufel
    Electrical and Computer Engineering Department, Khalifa University, Sharjah, United Arab Emirates.
    Kjellander, Johan
    Örebro University, School of Science and Technology.
    Best ellipse and cylinder parameters estimation from laser profile scan sections2012In: Optics and lasers in engineering, ISSN 0143-8166, E-ISSN 1873-0302, Vol. 50, no 9, p. 1242-1259Article in journal (Refereed)
    Abstract [en]

    Industrial applications like robot-aided welding, automated inspection, and 3D measurements require 3D points to be captured from the surfaces of objects and processed to calculate the information-of-interest. The lack of research focused on fitting ellipses to 3D laser profile data, and the intrinsic features that distinguish it from 2D digital images, motivated us to conduct a comparative study involving the most popular ellipse-fitting methods. After describing our laser profile scanning system, and a survey of ellipse-fitting methods, we compare, using extensive experiments performed with synthetic and real data, the fitting algorithms in terms of stability and accuracy with respect to a variety of factors. The estimate obtained with the best method is used to initialize a robust non-linear iterative ellipse fitting method. Finally, we describe a novel method for the construction of cylindrical surfaces from estimated elliptical sections.

  • 46.
    Sadikov, Aleksander
    et al.
    Faculty of Computer and Information Science, University of Ljubljana, Ljubljana, Slovenia.
    Groznik, Vida
    Faculty of Computer and Information Science, University of Ljubljana, Ljubljana, Slovenia.
    Možina, Martin
    Faculty of Computer and Information Science, University of Ljubljana, Ljubljana, Slovenia.
    Žabkar, Jure
    Faculty of Computer and Information Science, University of Ljubljana, Ljubljana, Slovenia.
    Nyholm, Dag
    Department of Neuroscience, Neurology, Uppsala University, Uppsala, Sweden.
    Memedi, Mevludin
    Örebro University, Örebro University School of Business. Computer Engineering, Dalarna University, Borlänge, Sweden.
    Georgiev, Dejan
    Department of Neurology, Ljubljana University Medical Centre, Ljubljana, Slovenia.
    Feasibility of spirography features for objective assessment of motor function in Parkinson's disease2017In: Artificial Intelligence in Medicine, ISSN 0933-3657, E-ISSN 1873-2860, Vol. 81, p. 54-62Article in journal (Refereed)
    Abstract [en]

    Objective: Parkinson's disease (PD) is currently incurable, however proper treatment can ease the symptoms and significantly improve the quality of life of patients. Since PD is a chronic disease, its efficient monitoring and management is very important. The objective of this paper was to investigate the feasibility of using the features and methodology of a spirography application, originally designed to detect early Parkinson's disease (PD) motoric symptoms, for automatically assessing motor symptoms of advanced PD patients experiencing motor fluctuations. More specifically, the aim was to objectively assess motor symptoms related to bradykinesias (slowness of movements occurring as a result of under-medication) and dyskinesias (involuntary movements occurring as a result of over-medication).

    Materials and methods: This work combined spirography data and clinical assessments from a longitudinal clinical study in Sweden with the features and pre-processing methodology of a Slovenian spirography application. The study involved 65 advanced PD patients and over 30,000 spiral-drawing measurements over the course of three years. Machine learning methods were used to learn to predict the “cause” (bradykinesia or dyskinesia) of upper limb motor dysfunctions as assessed by a clinician who observed animated spirals in a web interface. The classification model was also tested for comprehensibility. For this purpose a visualisation technique was used to present visual clues to clinicians as to which parts of the spiral drawing (or its animation) are important for the given classification.

    Results: Using the machine learning methods with feature descriptions and pre-processing from the Slovenian application resulted in 86% classification accuracy and over 0.90 AUC. The clinicians also rated the computer's visual explanations of its classifications as at least meaningful if not necessarily helpful in over 90% of the cases.

    Conclusions: The relatively high classication accuracy and AUC demonstrates the usefulness of this approach for objective monitoring of PD patients. The positive evaluation of computer's explanations suggests the potential use of this methodology in a decision support setting.

  • 47.
    Scandurra, Isabella
    et al.
    Department of information technology, Uppsala university, Uppsala, Sweden.
    Hägglund, Maria
    Persson, Anne
    Skövde University, Skövde, Sweden.
    Åhlfeldt, Rose-Mharie
    Informatics, Skövde University, Skövde, Sweden.
    Disturbing or Facilitating? On the Usability of Swedish eHealth Systems 20132014In: E-Health – For Continuity of Care: Proceedings of MIE2014 / [ed] Christian Lovis, Brigitte Séroussi, Arie Hasman; Louise Pape-Haugaard; Osman Saka; Stig Kjær Andersen, Amsterdam: IOS Press, 2014, Vol. 205, p. 221-225Conference paper (Refereed)
    Abstract [en]

    As many evaluations show, healthcare organizations do not accomplish the intended effects of their eHealth systems due to inadequate usability. On behalf of the Swedish Ministry of Health and Social Affairs, the usability of current eHealth systems in Swedish healthcare have been analysed from the perspective of healthcare and social service professionals. The objective of the study was to report on current problems, potential solutions as well as to relate these to research in relevant areas. Using a participatory approach, seven workshops were held where researchers within health informatics collaborated with staff from different care providers, representatives of the national associations of health and social care professionals and the national eHealth system vendor organization. This paper presents a foundation for further development of eHealth systems, condensed into 10 issues that the Swedish health and social care professionals find imperative to improve. The study emphasizes that the development of eHealth systems is always a matter of organizational and process development and must be integrated into the care practice improvement process. Further, based on the findings, some identified challenges are discussed.

  • 48.
    Silva-Lopez, Lia Susana del Carmen
    et al.
    Örebro University, School of Science and Technology.
    Ullberg, Jonas
    Örebro University, School of Science and Technology.
    Karlsson, Lars
    Örebro University, School of Science and Technology.
    On combining a context recognition system and a configuration planner for personalised ambient assisted living2013In: Communications in Computer and Information Science / [ed] Juan Carlos Augusto, Reiner Wichert, Rem Collier, David Keyson, Ali Salah, and Ah-Hwee Tan, Örebro: Örebro universitet , 2013Conference paper (Refereed)
    Download full text (pdf)
    AmI2013-lcsz-jug-lkn
  • 49.
    Wetter-Edman, Katarina
    et al.
    HDK, Academy of Design and Crafts, Göteborg, Sweden.
    Malmberg, Lisa
    Linköping University, Linköping, Sweden.
    Experience and expertise: key issues for developing innovation capabilities through service design2016In: Service design geographies: Proceedings of the ServDes.2016 Conference / [ed] Nicola Morelli, Amalia de Götzen, Francesco Grani, Linköping: Linköping University Electronic Press , 2016, p. 516-521Conference paper (Refereed)
    Abstract [en]

    Public organisations need to rethink the ways they innovate and improve their services. Service design has become a means to achieve innovation capabilities through service design projects with the purpose of both enhancing innovation capabilities, and creating new service. Based on observations, interviews and project documentations this exploratory paper reflects on the role and articulation of design expertise, how and if it may be transferred through design projects. Further, the relation between learning by doing and learning through expert examples is discussed through a pragmatist lens.

  • 50.
    Åkerberg, Johan
    et al.
    ABB AB Corporate Research, Västerås, Sweden.
    Gidlund, Mikael
    ABB AB Corporate Research, Västerås, Sweden.
    Lennvall, Tomas
    ABB AB Corporate Research, Västerås, Sweden.
    Landernäs, Krister
    ABB AB Corporate Research, Västerås, Sweden.
    Björkman, Mats
    School of Innovation, Design, and Technology, Mälardalen University, Västerås, Sweden.
    Design Challenges and Objectives in Industrial Wireless Sensor Networks2013In: Industrial wireless sensor networks: applications, protocols, and standards / [ed] V. Çağrı Güngör and Gerhard P. Hancke, Boca Raton: Taylor & Francis , 2013, p. 79-100Chapter in book (Other academic)
1 - 50 of 50
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