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  • 251.
    Eriksson, Johan
    Örebro University, School of Science and Technology.
    Gränssnitt för AOD-simulator2016Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    : Being able to simulate an AOD process (Argon, Oxygen andDecarburization) is possible nowadays with help of software. This kind ofsoftware is used for education andresearch for development of stainless steel.

     

    Kobolde & Partners AB is a company that owns this kind of software. This project will further develop this software to enable users to simulate an AOD process with uncertainty in measurement. This allows scientist to get more knowledge how a process measurement results

  • 252.
    Eriksson, Maria
    Örebro University, School of Science and Technology.
    WEB SERVICES FÖR MOBILAPPLIKATIONER: Utveckling av säkra RESTful web services för mobilapplikationer2011Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report describes the development of a RESTful web service for mobile applications. The web service makes resources from an existing system called kompetensdatabasen ("the competence database") available. Kompetensdatabasen holds information about the capabilities of consultants and about assignments carried out at the IT consultant business Nethouse AB.

    The web service was developed according to the principles of REST and ROA (Resource Oriented Architecture) which puts focus on making resources available. The resources are made available through the HTTP protocol and the methods associated with it. This means it was designed to use the same technologies as the world wide web. Following these principles when designing the system has been of great importance.

    To make sure that the service does not leak information to competing companies or violate the Personal Data Act some kind of solution for securing the service had to be implemented. A model for authentication was produced to make the system accessible only for employees of the company.

  • 253.
    Fabrizi, Elisabetta
    et al.
    Università di Roma “La Sapienza”.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Augmenting topology-based maps with geometric information2000In: Proceedings of the 6th international conference on intelligent autonomous systems: IAS, 2000, 604-661 p.Conference paper (Refereed)
    Abstract [en]

    Topology-based maps are a new representation of the workspace of a mobile robot based on the topological notions of connectivity and adjacency. In this paper, we show how to enrich a topology-based map with geometric information useful for planning and navigation. Both the topology-based map and this geometric information are automatically extracted from sensor data.

  • 254. Fabrizi, Elisabetta
    et al.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Behavioral navigation on topology-based maps2000In: Proceedings of the 8th international symposium on robotics with applications, 2000Conference paper (Refereed)
    Abstract [en]

    In order to plan behavior-based navigation strategies, a mobile robot needs information about the connectivity of the space, and about those geometric properties that allow the selection of the adequate behavior in each area. We propose to represent this information by a topology-based map, a graph that encodes the topological structure of the free space in the environment, in which nodes represent large open spaces and arcs represent passages between them. In this paper, we show how to extract a topology-based map from a fuzzy occupancy grid using image processing techniques, and how to use this map for planning behavioral navigation. We illustrate our technique by giving an example of office navigation on a real robot

  • 255. Fabrizi, Elisabetta
    et al.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Extracting topology-based maps from gridmaps2000In: IEEE international conference on robotics and automation, ICRA '00: proceedings, 2000, 2972-2978 p.Conference paper (Refereed)
    Abstract [en]

    We propose topology-based maps as a new representation of the workspace of a mobile robot. These maps capture the structure of the free space in the environment in terms of the basic topological notions of connectivity and adjacency. Topology-based maps can be automatically extracted from an occupancy grid built from sensor data using techniques borrowed from the image processing field. Since these techniques can be soundly defined on fuzzy values, our approach is well suited to deal with the uncertainty inherent in the sensor data. Topology-based maps are fairly robust with respect to sensor noise and to small environmental changes, and have nice computational properties.

  • 256.
    Fan, Han
    et al.
    Örebro University, School of Science and Technology.
    Arain, Muhammad Asif
    Örebro University, School of Science and Technology.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Improving Gas Dispersal Simulation For Mobile Robot Olfaction: Using Robotcreatedoccupancy Maps And Remote Gas Sensors In The Simulation Loop2017In: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, IEEE conference proceedings, 2017, 17013581Conference paper (Refereed)
    Abstract [en]

    Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applications. However, in-field validation of mobile robot olfaction systems is time consuming, expensive, cumbersome and lacks repeatability. In order to address these issues, simulation tools are used. However, the available mobile robot olfaction simulations lack models for remote gas sensors, and the possibility to import geometrical representations of actual real-world environments in a convenient way. In this paper, we describe extensions to an open-source CFD-based filament gas dispersal simulator. These improvements arrow to use robot-created occupancy maps and offer remote sensing capabilities in the simulation loop. We demonstrate the novel features in an example application: we created a 3D map a complex indoor environment, and performed a gas emission monitoring task with a Tunable Diode Laser Absorption Spectroscopy based remote gas sensor in a simulated version of the environment.

  • 257.
    Fan, Han
    et al.
    Örebro University, School of Science and Technology.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Unsupervised gas discrimination in uncontrolled environments by exploiting density peaks2016In: 2016 IEEE SENSORS, Institute of Electrical and Electronics Engineers (IEEE), 2016Conference paper (Refereed)
    Abstract [en]

    Gas discrimination with Open Sampling Systems based on low-cost electro-chemical sensor arrays is of great interest in several applications, such as exploration of hazardous areas and environmental monitoring. Due to the lack of labeled training data or the high costs of obtaining them, as well as the presence of unknown interferents in the target environments, supervised learning is often not applicable and thus, unsupervised learning is an interesting alternative. In this work, we present a cluster analysis approach that can infer the number of different chemical compounds and label the measurements in a given uncontrolled environment without relying on previously acquired training data. Our approach is validated with data collected in indoor and outdoor environments by a mobile robot equipped with an array of metal oxide sensors. The results show that high classification accuracy can be achieved with a rather low sensitivity to the selection of the only functional parameter of our proposed algorithm. 

  • 258.
    Fleck, Sven
    et al.
    University of Tübingen.
    Busch, Florian
    University of Tübingen.
    Biber, Peter
    University of Tübingen.
    Strasser, Wolfgang
    University of Tübingen.
    Andreasson, Henrik
    Örebro University, Department of Technology.
    Omnidirectional 3D modeling on a mobile robot using graph cuts2005In: Proceedings of the 2005 IEEE International Converence on Robotics and Automation: ICRA - 2005, 2005, 1748-1754 p.Conference paper (Refereed)
    Abstract [en]

    For a mobile robot it is a natural task to build a 3D model of its environment. Such a model is not only useful for planning robot actions but also to provide a remote human surveillant a realistic visualization of the robot’s state with respect to the environment. Acquiring 3D models of environments is also an important task on its own with many possible applications like creating virtual interactive walkthroughs or as basis for 3D-TV.

    In this paper we present our method to acquire a 3D model using a mobile robot that is equipped with a laser scanner and a panoramic camera. The method is based on calculating dense depth maps for panoramic images using pairs of panoramic images taken from different positions using stereo matching. Traditional 2D-SLAM using laser-scan-matching is used to determine the needed camera poses. To receive high-quality results we use a high-quality stereo matching algorithm – the graph cut method. We describe the necessary modifications to handle panoramic images and specialized post-processing methods.

  • 259.
    Fodor, George
    et al.
    ABB Industrial Systems AB, Västerås, Sweden.
    Grantner, Janos L.
    Western Michigan University, Department of Electrical and Computer Engineering, Kalamazoo, USA.
    Driankov, Dimiter
    Linköping University, Linköping, Sweden.
    Modeling the real-time recovery of complex control systems: A fuzzy approach1997In: 1997 IEEE International Conference on Systems, Man, and Cybernetics: Computational Cybernetics and Simulation (Volume:3), New York, USA: IEEE conference proceedings, 1997, 2163-2168 p.Conference paper (Refereed)
    Abstract [en]

    This paper presents an approach to complex system recovery based on a fuzzy specification method. The method can be applied when controllers of different types and makes are connected in a common control architecture. The method allows a controller B to trigger a recovery operation on a controller A when B has the recovery specification of A. The approach has important potential applications in industry, e.g. as a possible complement to PLC standards such as IEC1131, and to the design of hybrid and complex control systems

  • 260.
    Frennert, Susanne Anna
    et al.
    Department of Design Sciences, Certec, Lund University, Lund, Sweden .
    Forsberg, Anette Susanne
    Örebro University, School of Health and Medical Sciences, Örebro University, Sweden.
    Östlund, Britt
    Department of Design Sciences, Lund University, Lund, Sweden .
    Elderly People's Perceptions of a Telehealthcare System: Relative Advantage, Compatibility, Complexity and Observability2013In: Journal of technology in human services, ISSN 1522-8835, E-ISSN 1522-8991, Vol. 31, no 3, 218-237 p.Article in journal (Refereed)
    Abstract [en]

    The use of telehealthcare systems to promote independent living for elderly people is growing. The results presented in this article, derived from an initial user lab test of a telecare system-GiraffPlus-indicate that the crucial factor for adoption of telehealthcare systems is not usability but the system's ability to support autonomy in everyday life. Eleven users tested the usability and reported what they perceived as possible benefits of having such a system at home. To support autonomy, customization is crucial for the system to be perceived as meaningful for the individual. Our analysis confirms previous research. © 2013 Copyright Taylor and Francis Group, LLC.

  • 261. Galindo, Cipriano
    et al.
    Fernandez-Madrigal, Juan-Antonio
    Gonzalez, Javier
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Buschka, Par
    Life-long optimization of the symbolic model of indoor environments for a mobile robot2007In: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, ISSN 1083-4419, E-ISSN 1941-0492, Vol. 37, no 5, 1290-1304 p.Article in journal (Refereed)
    Abstract [en]

    The use of a symbolic model of the spatial environment becomes crucial for a mobile robot. that is intended to operate optimally and intelligently in indoor scenarios. Constructing such a model involves important problems that are not solved completely at present. One is called anchoring, which implies to maintain a correct dynamic correspondence between the real world and the symbols in the model. The other problem is adaptation: among the numerous possible models that could be constructed for representing a given environment, optimization involves the selection of one that improves as much as possible the operations of the robot. To cope with both problems, in this paper, we propose a framework that allows an indoor mobile robot to learn automatically a symbolic model of its environment and to optimize it over time with respect to changes in both the environment and the robot operational needs through an evolutionary algorithm. For coping efficiently with the large amounts of information that the real world provides, we use abstraction, which also helps in improving task planning. Our experiments demonstrate that the proposed framework is suitable for providing an indoor mobile robot with a good symbolic model and adaptation capabilities.

  • 262.
    Galindo, Cipriano
    et al.
    Dept. of System Engineering and Automation, University of Malaga, Spain.
    Fernández-Madrigal, Juan-Antonio
    Dept. of System Engineering and Automation, University of Malaga, Spain.
    González, Javier
    Dept. of System Engineering and Automation, University of Malaga, Spain.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Robot Task Planning Using Semantic Maps2008In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, no 11, 955-966 p.Article in journal (Refereed)
    Abstract [en]

    Task planning for mobile robots usually relies solely on spatial information and on shallow domain knowledge, like labels attached to objects and places. Although spatial information is necessary for performing basic robot operations (navigation and localization), the use of deeper domain knowledge is pivotal to endow a robot with higher degrees of autonomy and intelligence. In this paper, we focus on semantic knowledge, and show how this type of knowledge can be profitably used for robot task planning. We start by defining a specific type of semantic maps, which integrate hierarchical spatial information and semantic knowledge. We then proceed to describe how these semantic maps can improve task planning in two ways: extending the capabilities of the planner by reasoning about semantic information, and improving the planning efficiency in large domains. We show several experiments that demonstrate the effectiveness of our solutions in a domain involving robot navigation in a domestic environment.

  • 263. Galindo, Cipriano
    et al.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Coradeschi, Silvia
    Örebro University, Department of Technology.
    Buschka, Pär
    Örebro University, Department of Technology.
    Fernández-Madrigal, J. A.
    González, J.
    Multi-hierarchical semantic maps for mobile robotics2005In: 2005 IEEE/RSJ international conference on intelligent robots and systems (IROS 2005), 2005, 2278-2283 p.Conference paper (Other academic)
    Abstract [en]

    The success of mobile robots, and particularly of those interfacing with humans in daily environments (e.g., assistant robots), relies on the ability to manipulate information beyond simple spatial relations. We are interested in semantic information, which gives meaning to spatial information like images or geometric maps. We present a multi-hierarchical approach to enable a mobile robot to acquire semantic information from its sensors, and to use it for navigation tasks. In our approach, the link between spatial and semantic information is established via anchoring. We show experiments on a real mobile robot that demonstrate its ability to use and infer new semantic information from its environment, improving its operation.

  • 264.
    Gao, Shang
    et al.
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Krogstie, John
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Siau, Keng
    Department of Management, University of Nebraska-Lincoln, Lincoln, NE, USA.
    Developing an instrument to measure the adoption of mobile services2011In: International Journal of Mobile Information Systems, ISSN 1574-017X, E-ISSN 1875-905X, Vol. 7, no 1, 45-67 p.Article in journal (Refereed)
    Abstract [en]

    Currently, there is no standard instrument for measuring user adoption of mobile services. Based on the mobile service acceptance model, this paper reports on the development of a survey instrument designed to measure user perception on mobile services acceptance. A survey instrument was developed by using some existing scales from prior instruments and by creating additional items which might appear to fit the construct definitions. In addition, a pilot study was conducted by distributing the survey to 25 users of a mobile service called Mobile Student Information Systems. As a result, a survey instrument containing 22 items were retained. Furthermore, the results showed that the reliabilities of all the scales in the survey instrument were above the target acceptance level.

  • 265.
    Gao, Shang
    et al.
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Krogstie, John
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Zang, Zhe
    Zhongnan University of Economics and Law, Wuhan, China.
    The Effect of Flow Experience and Social Norms on the Adoption of Mobile Games in China2016In: International Journal of Mobile Human Computer Interaction, ISSN 1942-390X, E-ISSN 1942-3918, Vol. 8, no 1, 83-102 p.Article in journal (Refereed)
    Abstract [en]

    This research examines the potential factors which influence users' intention to play mobile games. Through the employment of structural equation modeling technology, a research model extending the technology acceptance model (TAM) with flow experience and social norms is proposed. This research model was empirically evaluated using survey data collected from 565 users in the largest city in central China. And eleven research hypotheses were proposed. Eight hypotheses were positively supported on a significant level, while three hypotheses were rejected in this study. The result indicated that attitude and flow experience explained about 66% of users' intention to play mobile games. It was found that social norms did not have a direct effect on the intention to play a mobile game. However, it affected the attitude directly. In addition, flow experience, perceived ease of use and perceived usefulness all had direct effects on users' attitudes toward playing a mobile game. The research findings demonstrated that flow experience play an important role in the adoption of mobile games.

  • 266.
    Gao, Shang
    et al.
    School of Business Administration, Zhongnan University of Economics and Law, China.
    Rusu, Lazar
    Stockholm University, Stockholm, Sweden .
    Modern techniques for successful IT project management2015Book (Other academic)
  • 267.
    Garipov, Emil
    et al.
    Technical University of Sofia, Bulgaria.
    Stoilkov, Teodor
    Technical University of Sofia, Bulgaria.
    Kalaykov, Ivan
    Örebro University, Department of Natural Sciences.
    Multiple regressive model adaptive control2008In: New developments in robotics automation and control / [ed] Aleksandar Lazinica, Rijeka, Croatia: InTech , 2008, 59-84 p.Chapter in book (Refereed)
  • 268. Gasós, Jorge
    et al.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Integrating fuzzy geometric maps and topological maps for robot navigation1999Conference paper (Refereed)
    Abstract [en]

    Autonomous mobile robots need to use spatial information about the environment in order to effectively plan and execute navigation tasks. This information can be represented at different level of abstractions, ranging from detailed geometric maps to coarse topological maps. Each level is adequate for some sub-tasks, but not for others. In this paper, we propose to use hybrid maps, patchworks of local metric maps connected into a topological network. Our hybrid maps are peculiar in that they use fuzzy sets to represent the uncertainty that affects metric information. We show how a robot can build hybrid maps from sensor data, and how it can use them in autonomous indoor navigation. We also report experiments performed on a real mobile robot that demonstrate the robustness of our approach with respect to inaccuracies in the map and noise in the sensor data.

  • 269.
    Gasós, Jorge
    et al.
    Université Libre de Bruxelles.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Using fuzzy sets to represent uncertain spatial knowledge in autonomous robots1999In: Spatial Cognition and Computation, ISSN 1387-5868, E-ISSN 1573-9252, Vol. 1, no 3, 205-226 p.Article in journal (Refereed)
    Abstract [en]

    Autonomous mobile robots need the capability to reason from and about spatial knowledge. Due to limitations in the prior information and in the perceptual apparatus, this knowledge is inevitably affected by uncertainty. In this paper, we discuss some techniques employed in the field of autonomous robotics to represent and use uncertain spatial knowledge. We focus on techniques which use fuzzy sets to account for the different facets of uncertainty involved in spatial knowledge. These facets include the false measurements induced by bad observation conditions; the inherent noise in odometric position estimation; and the vagueness introduced by the use of linguistic descriptions. To make the discussion more concrete, we illustrate some of these techniques showing samples from our work on mobile robots.

  • 270.
    Gerdin, Johan
    et al.
    Örebro University, School of Science and Technology.
    Heikkinen, Aki
    Örebro University, School of Science and Technology. Örebro University, School of Science and Technology.
    CAMPUS NAVIGATOR: Mobilapplikation för navigering på Campus2009Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The project exited on creating an application for mobile telephones where the user can orient himself on university campuses, in this case at Örebro University. The aim was to give up the now so the popular GPS system for navigation and to create an entirely new application that shows a video instead of just a point on a map. The application addresses to new students which need to get familiarized in the new environment. It will facilitate for the user to find a given lecture room or a meeting place. In the report, the development of the application is described and drawn conclusions can be read.

  • 271.
    Giaretta, Alberto
    et al.
    Department of Mathematics, University of Padua, Padua, Italy.
    Balasubramaniam, Sasitharan
    Department of Electronic and Communication EngineeringNano Communication Centre, Tampere University of Technology, Tampere, Finland.
    Conti, Mauro
    Department of Mathematics, University of Padua, Padua, Italy.
    Security Vulnerabilities and Countermeasures for Target Localization in Bio-NanoThings Communication Networks2016In: IEEE Transactions on Information Forensics and Security, ISSN 1556-6013, E-ISSN 1556-6021, Vol. 11, no 4, 665-676 p.Article in journal (Refereed)
    Abstract [en]

    The emergence of molecular communication has provided an avenue for developing biological nanonetworks. Synthetic biology is a platform that enables reprogramming cells, which we refer to as Bio-NanoThings, that can be assembled to create nanonetworks. In this paper, we focus on specific Bio-NanoThings, i.e, bacteria, where engineering their ability to emit or sense molecules can result in functionalities, such as cooperative target localization. Although this opens opportunities, e.g., for novel healthcare applications of the future, this can also lead to new problems, such as a new form of bioterrorism. In this paper, we investigate the disruptions that malicious Bio-NanoThings (M-BNTs) can create for molecular nanonetworks. In particular, we introduce two types of attacks: blackhole and sentry attacks. In blackhole attack M-BNTs emit attractant chemicals to draw-in the legitimate Bio-NanoThings (L-BNTs) from searching for their target, while in the sentry attack, the M-BNTs emit repellents to disperse the L-BNTs from reaching their target. We also present a countermeasure that L-BNTs can take to be resilient to the attacks, where we consider two forms of decision processes that includes Bayes' rule as well as a simple threshold approach. We run a thorough set of simulations to assess the effectiveness of the proposed attacks as well as the proposed countermeasure. Our results show that the attacks can significantly hinder the regular behavior of Bio-NanoThings, while the countermeasures are effective for protecting against such attacks.

  • 272.
    Gil Camacho, Carlos
    Örebro University, School of Science and Technology.
    Part Detection in Oneline-Reconstructed 3D Models.2016Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This thesis introduces a system to identify objects into a 3D reconstructed

    model. In particular, this is applied to automatize the inspection of an engine

    of a truck by detecting some parts in an online reconstructed 3D model. In this

    way, the work shows how the use of the augmented reality and the computer

    vision can be applied into a real application to automatize a task of inspection.

    To do this, the system employs the Signed Distance Function for the 3D representation

    which has been proven in other research as an efficient method for

    3D reconstruction of environments. Then, some of the common processes for

    the recognition of shapes are applied to identify the pose of a specific part of

    the 3D model.

    This thesis explains the steps to achieve this task. The model is built using

    an industrial robot arm with a depth camera attached to the end effector. This

    allows taking snapshots from different viewpoints that are fused in a same

    frame to reconstruct the 3D model. The path for the robot is generated by

    applying translations to the initial pose of the end effector. Once the model

    is generated, the identification of the part is carried out. The reconstructed

    model and the model to be detected are analysed by detecting keypoints and

    features descriptors. These features can be computed together to obtain several

    instances over the target model, in this case the engine. Last, these instances

    can be filtered by the application of some constrains to get the true pose of the

    object over the scene.

    Last, some results are presented. The models were generated from a real

    engine truck. Then, these models were analysed to detect the oil filters by using

    different keypoint detectors. The results show that the quality of the recognition

    is good for almost all of the cases but it still presents some failures for some

    of the detectors. Keypoints too distinctive are more prune to produce wrong

    registrations due to the differences between the target and the scene. At the

    same time, more constrains make the detection more robust but also make the

    system less flexible.

  • 273.
    Gonzàlez Monroy, Javier
    et al.
    University of Málaga.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Blanco, Jose Luis
    University of Almería.
    Gonzàlez Jimenez, Javier
    University of Málaga.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Probabilistic gas quantification with MOX sensors in open sampling systems: a gaussian process approach2013In: Sensors and actuators. B, Chemical, ISSN 0925-4005, E-ISSN 1873-3077, Vol. 188, 298-312 p.Article in journal (Refereed)
    Abstract [en]

    Gas quantification based on the response of an array of metal oxide (MOX) gas sensors in an Open Sampling System is a complex problem due to the highly dynamic characteristic of turbulent airflow and the slow dynamics of the MOX sensors. However, many gas related applications require to determine the gas concentration the sensors are being exposed to. Due to the chaotic nature that dominates gas dispersal, in most cases it is desirable to provide, together with an estimate of the mean concentration, an estimate of the uncertainty of the prediction. This work presents a probabilistic approach for gas quantification with an array of MOX gas sensors based on Gaussian Processes, estimating for every measurement of the sensors a posterior distribution of the concentration, from which confidence intervals can be obtained. The proposed approach has been tested with an experimental setup where an array of MOX sensors and a Photo Ionization Detector (PID), used to obtain ground truth concentration, are placed downwind with respect to the gas source. Our approach has been implemented and compared with standard gas quantification methods, demonstrating the advantages when estimating gas concentrations.

  • 274.
    Goyal, Rohit
    et al.
    Technical University of Denmark, Denmark.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. Embedded Systems Engineering, Department of Applied Mathematics and Computer Science, Technical University of Denmark, Kgs. Lyngby, Denmark.
    Why Hackers Love eHealth Applications2016Conference paper (Refereed)
    Abstract [en]

    The tsunami of Internet-of-Things and mobile applications for healthcare is giving hackers an easy way to burrow deeper into our lives as never before. In this paper we argue that this security disaster is mainly due to a lack of consideration by the healthcare IT industry in security and privacy issues. By means of a representative healthcare mobile app, we analyse the main vulnerabilities that eHealth applications should deal with in order to protect user data and related privacy.

  • 275.
    Goyal, Rohit
    et al.
    DTU Compute, Kongens Lyngby, Denmark.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU Compute, Kongens Lyngby, Denmark.
    Spognardi, Angelo
    DTU Compute, Kongens Lyngby, Denmark.
    Mind The Tracker You Wear: A Security Analysis of Wearable Health Trackers2016In: Proceedings of the 31st Annual ACM Symposium on Applied Computing, Association for Computing Machinery (ACM), 2016, 131-136 p.Conference paper (Refereed)
    Abstract [en]

    Wearable tracking devices have gained widespread usage and popularity because of the valuable services they offer, monitoring human's health parameters and, in general, assisting persons to take a better care of themselves. Nevertheless, the security risks associated with such devices can represent a concern among consumers, because of the sensitive information these devices deal with, like sleeping patterns, eating habits, heart rate and so on. In this paper, we analyse the key security and privacy features of two entry level health trackers from leading vendors (Jawbone and Fitbit), exploring possible attack vectors and vulnerabilities at several system levels. The results of the analysis show how these devices are vulnerable to several attacks (perpetrated with consumer-level devices equipped with just bluetooth and Wi-Fi) that can compromise users' data privacy and security, and eventually call the tracker vendors to raise the stakes against such attacks.

  • 276.
    Goyal, Rohit
    et al.
    DTU Compute, Technical University of Denmark.
    Spognardi, Angelo
    DTU Compute, Technical University of Denmark.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU Compute, Technical University of Denmark.
    Marios, Argyriou
    DTU Compute, Technical University of Denmark.
    SafeDroid: A Distributed Malware Detection Service for Android2016In: 2016 IEEE 9th International Conference on Service-Oriented Computing and Applications (SOCA), New York: Institute of Electrical and Electronics Engineers (IEEE), 2016, 59-66 p.Conference paper (Refereed)
    Abstract [en]

    Android platform has become a primary target for malware. In this paper we present SafeDroid, an open source distributed service to detect malicious apps on Android by combining static analysis and machine learning techniques. It is composed by three micro-services, working together, combining static analysis and machine learning techniques. SafeDroid has been designed as a user friendly service, providing detailed feedback in case of malware detection. The detection service is optimized to be lightweight and easily updated. The feature set on which the micro-service of detection relies on on has been selected and optimized in order to focus only on the most distinguishing characteristics of the Android apps. We present a prototype to show the effectiveness of the detection mechanism service and the feasibility of the approach.

  • 277.
    Grahn, Tomas
    Örebro University, School of Science and Technology. Örebro University, Försvarshögskolan.
    Utökning av funktionaliteten hos och tillägg av en ny typ av test till ett automattestsystem för Ethernet-switchar2009Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report documents my work on a 10 week project performed at Westermo Research and Development AB in Västerås, Sweden, during the spring of 2009. The project consisted of extending the functionality of an automated test system for Westermo's Ethernet switches as well as designing and implementing a new type of test case for said test system. The report is addressed towards readers with knowledge of Ethernet and computer networks, TCP/IP, programming and software testing.

  • 278.
    Grantner, Janos L.
    et al.
    Western Michigan University, Department of Electrical and Computer, Kalamazoo, USA .
    Fodor, George
    ABB Industrial Systems AB, ISY/AMC, Västerås; Western Michigan University, Department of Electrical and Computer, Kalamazoo, USA .
    Driankov, Dimiter
    University of Linköping, Department of Information and Computer Science, Linköping.
    Using fuzzy logic for bounded recovery of autonomous agents1997In: 1997 Annual Meeting of the North American Fuzzy Information Processing Society: NAFIPS, New York, USA: IEEE conference proceedings, 1997, 317-322 p.Conference paper (Refereed)
    Abstract [en]

    The solution to the problem of application-independent fault recovery of autonomous agents requires a specification method for the agent's capacity to act outside of its normal operational limits. This paper presents a recovery method based upon the theory of a fuzzy finite state machine. A fuzzy specification is given for the bounds within which an autonomous agent is capable to recover after an unexpected situation has occurred in its environment. It has been shown that the three main components of the recovery problem: fault detection, fault recovery, and the properties of the actuator/sensor gear of an autonomous agent are interrelated. The suggested method can be implemented either by an application-independent software algorithm, or by fuzzy logic hardware

  • 279.
    Grantner, J.L.
    et al.
    Western Michigan University, Kalamazoo, USA.
    Fodor, George
    George Fodor, Al3B Industrial Systems AB, ISY/AMC, Västerås.
    Driankov, Dimiter
    University of Linköping, Linköping.
    Hybrid fuzzy-Boolean automata for ontological controllers1998In: The 1998 IEEE International Conference on Fuzzy Systems Proceedings: IEEE World Congress on Computational Intelligence  (Volume:1), New York, USA: IEEE conference proceedings, 1998, 400-404 p.Conference paper (Refereed)
    Abstract [en]

    This paper introduces a hybrid fuzzy-Boolean finite state machine (HFB FSM) model for ontological control. Ontological control is a novel type supervisory control that deals with the problems of error detection and recovery in complex control systems. The HFB FSM is used as a specification method for the problem of recovery when an autonomous control system encounters unexpected changes in its environment. The method allows a controller B (the ontological controller) to trigger a recovery operation on controller A when B has the recovery specification of A. The approach has important potential applications in industry

  • 280.
    Gritti, Marco
    et al.
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    A self-configuration mechanism for software components distributed in an ecology of robots2008In: Intelligent Autonomous Systems 10 / [ed] W. Burgard, R. Dillmann, C. Plagemann, N. Vahrenkamp, Amsterdam: IOS press , 2008, 100-109 p.Conference paper (Refereed)
    Abstract [en]

    Distributed heterogeneous robotic systems are often organized in component-based software architectures. The strong added value of these systems comes from their potential ability to dynamically self-configure the interactions of their components, in order to adapt to new tasks and unforeseen situations. However, no satisfactory solutions exist to the problem of automatic self-configuration. We propose a self-configuration mechanism where a special component generates, establishes and monitors the system configurations. We illustrate our approach on a distributed robotic system, and show an experiment in which the configuration component dynamically changes the configuration in response to a component failure.

  • 281.
    Grosinger, Jasmin
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Making Robots Proactive through Equilibrium Maintenance2016In: 25th International Joint Conference on Artificial Intelligence, 2016Conference paper (Refereed)
  • 282.
    Grosinger, Jasmin
    et al.
    Vienna Uni. of Technology, Vienna, Austria.
    Vetere, Frank
    University of Melbourne, Melbourne, Australia.
    Fitzpatrick, Geraldine
    Vienna University of Technology, Vienna, Austria.
    Agile Life: addressing knowledge and social motivations for active aging2012In: Proceedings of the 24th Australian Computer-Human Interaction Conference, ACM Press, 2012, 162-165 p.Conference paper (Refereed)
    Abstract [en]

    Despite the inter-relationship between physical, cognitive and social factors for older people, the frequency of physical activity typically decreases with age. In this paper, we focus on two specific issues related to physical activity and older people - overcoming the knowledgebarrier and promoting social motivation. We develop a tablet-based prototype called Agile Life that provides ‘Physical Activity Information Chunks’ (PAICs) and also promotes awareness of friends’ activities and opportunities to join in. The results of a user study, including a think-aloud walkthrough and an adapted technology probe, suggest that the social engagement with friends is a strong motivator but that the content of information chunks need to be carefully tailored to the participant. We provide suggestions for further developing an activity application for this age group.

  • 283.
    Guarino, Donatella
    et al.
    CNR, CNR, ICAR, Palermo, Italy.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Monitoring the state of a ubiquitous robotic system: A fuzzy logic approach2007In: 2007 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-4, 2007, 1902-1907 p.Conference paper (Refereed)
    Abstract [en]

    A trend is emerging in the fields of ambient intelligence (AmI) and autonomous robotics, which points in the direction of a merger between these two fields. The inclusion of robotic devices in AmI system, sometimes named ubiquitous robotics, makes one of the hard problems in this field even harder: how can we provide a comfortable, natural interface between the everyday user and a complex system which consists of a large multitude of highly heterogeneous devices? In this paper, we address a specific, important aspect of this problem: to monitor the state of the ubiquitous system by the user of the system. The solution that we propose is based on two mechanisms: an expression-based semantics to represent in a uniform way the status of heterogeneous devices; and a common interface point to aggregate the information from all devices into a summary status presented to the user. For both mechanisms, we propose to use the tools of fuzzy logic. We justify this choice by arguments grounded in the semantics and formal properties of fuzzy logic. We also illustrate our approach on a specific type of ubiquitous robotic system called Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology.

  • 284.
    Guarino, Donatella
    et al.
    ICAR-CNR, National Council of Research, Palermo, Italy.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Using Fuzzy Logic to Monitor the State of an Ubiquitous Robotic System2008In: Journal of Uncertain Systems, ISSN 1752-8909, Vol. 2, no 2, 123-132 p.Article in journal (Refereed)
    Abstract [en]

    A trend is emerging in the fields of ambient intelligence (AmI) and autonomous robotics, which points in the direction of a merger between these two fields. The inclusion of robotic devices in AmI system, sometimes named ubiquitous robotics, makes one of the hard problems in this field even harder: how can we provide a comfortable, natural interface between the everyday user and a complex system which consists of a large multitude of highly heterogeneous devices? In this paper, we address a specific, important aspect of this problem: to enable the user of an ubiquitous robotic system to monitor the state of this system in a natural way. The solution that we propose is based on two mechanisms: an expression-based semantics to represent in a uniform way the status of heterogeneous devices; and a common interface point to aggregate the information from all devices into a summary status presented to the user. For both mechanisms, we propose to use the tools of fuzzy logic. We justify this choice by arguments grounded in the semantics and formal properties of fuzzy logic. We also illustrate our approach on a specific type of ubiquitous robotic system called Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology.

  • 285.
    Gummus, Fredrik
    Örebro University, School of Science and Technology.
    Utveckling av bokningssystem för Moridge AB2016Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report describes the development of a new booking system for the company Moridge AB. The booking system is composed of a driver section where drivers can handle their bookings and work schedule as well as an administration section for the management of all drivers and statistics showing customers and drivers bookings. The report goes through the entire development process from system requirements to design planning to the final finished system, and a concluding discussion.

     

    The booking system is a web application for mobile devices developed with ASP.NET MVC Razor and jQuery Mobile. The system consists of a secure login system with a connection to a database using Entity Framework and booking management via Google Calendar API.

     

    The project placed great importance on user experience design (UX) and security. The user interfaces were developed with contemporary technologies and user experience were controlled by user test. Safety is ensured by the use of a powerful cryptographic algorithm for password management and authentication through ASP.NET Identity and Forms Authentication, which limit access to only authorized users.

  • 286.
    Guo, Hong
    et al.
    Anhui University, Hefei, China.
    Gao, Shang
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway .
    Krogstie, John
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway .
    Trætteberg, Hallvard
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway .
    Wang, Alf Inge
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway .
    An evaluation of ontology based domain analysis for model driven development2015In: International Journal on Semantic Web and Information Systems, ISSN 1552-6283, E-ISSN 1552-6291, Vol. 11, no 4, 41-63 p.Article in journal (Refereed)
    Abstract [en]

    Although Domain Analysis DA is important for Model Driven Development MDD, traditional DA methods are demanding and not practical in many situations. When computer games are developed, game design problem domain is usually decided in a gradual way within iterations where software prototypes are constructed and playtest are performed. In such a case, it is not practical to fit a heavyweight DA in the highly iterative process. Researchers indicated that vocabularies were expected to automate game design. Such vocabularies can be reused in another form in DA tasks. In this research, the authors developed an ontology and a DA procedure based on it. To evaluate them, theoretical analysis, case studies, and a user acceptance survey were used. The results indicated that the ontology met the general requirement as a domain vocabulary, and it enhanced the DA process in an expected way. Most of external potential users 46 in total considered the ontology useful and easy to use.

  • 287.
    Gustafsson, Patrik
    et al.
    Örebro University, School of Science and Technology.
    Lindholm, Jonas
    Örebro University, School of Science and Technology.
    Sales and Product Configurator: A Comparative Study2010Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Today companies in the manufacturing industries need to do everything possible to stay ahead in their market, in order to make a profit. This means that they have to slim the organization and every employee has to be more efficient. In other words the companies have to accomplish more with less people.

    One way to rationalize the sales process is by using a sales and product configurator which is a software tool for handling products and its various variants by using rules and constraints in the configuration process.

    In this paper a background on why configurators are needed is presented, along with some theory behind the configurator software.

    Logica – a business and technology service company – gave us the task to make a comparative study of OTS (of the shelf) sales and product configurators, due to the increasing interest from the market.

    Originally the study should have been done on configuration software but this could not be arranged. Instead information was gathered from the Internet, literature, scientific journals, and proceedings from international conferences in order to make a comparative study.

    Interviews with persons from two Swedish companies, Tacton Systems AB and In-process AB, which develop and sell configurators, were also conducted to get this information.

    The report accounts for the result of the answers and their value.

  • 288.
    Hacker, Benjamin Alexander
    et al.
    Kyoto University, Japan.
    Wankerl, Thomas
    Kyoto University, Japan.
    Kiselev, Andrey
    Kyoto University, Japan.
    Huang, Hung-Hsuan
    Kyoto University, Japan.
    Schlichter, Johann
    Technische Universität München, Germany.
    Abdikeev, Niyaz
    Plekhanov University, Moscow.
    Nishida, Toyoaki
    Kyoto University, Japan.
    Incorporating intentional and emotional behaviors into a Virtual Human for Better Customer-Engineer-Interaction2009Conference paper (Refereed)
    Abstract [en]

    Providing customer support for technical products means an essential effort for enterprises to satisfy the customer's needs and to challenge rivals in business. This paper introduces a virtual human framework for a better customer engineer interaction. We put emphasis on a preferably natural conversation achieved by continuously analyzing behaviors and emotions of the human user, suggesting his or her intentions and diversification of active and passive intentional behaviors. The underlying architecture is an extension to the generic embodied conversational agent framework which was developed to ease the integration of heterogeneous components into an embodied conversational agent system. These extensions are mainly influenced by SAIBA's architecture for a multimodal behavior generation framework. Although the system has only been accomplished to about 50% partial results show that our approach has the potential to create a more natural like conversational situation.

  • 289.
    Haider, Zulqarnain
    Örebro University, School of Science and Technology.
    Rich 2D Mapping2014Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Fire fighting operations, sometimes, can put the life of fire fighters in threat. For example

    an environment with potential fire risk and with the presence of gas bottles can

    cause an explosion, besides other dangers, and certainly put the life of both the victims

    and fire fighters at risk. Recent advancements in the field of robotics enabled to

    develop a robotic system which can assist the fire fighters to avoid any human injury

    and property damage. The live update of the map displayed on the operator’s screen,

    while teleoperating the robot for search process, can help to properly plan the rescue

    operation. This thesis details the implementation of a rich 2D mapping system for

    FUMO2 a fire fighting assistant robot developed by AB Realisator. Rich 2D mapping

    system produces an occupancy grid map, having the geometry and temperature of the

    environment with position of fire extinguishers, by fusing different sensor modalities.

    By rich we mean any type of additional information on top of the standard, geometric

    only, 2D maps. A sensor fusion method is proposed to integrate the distance measurements

    reported by a laser range finder, temperature readings acquired by a thermal IR

    camera and the position of fire extinguishers delivered by visible spectrum camera

    based object detector. The object detector detects the object in real time and is developed

    utilizing the technique of cascade of boosted classifiers using MB-LBP features.

    The proposed system is implemented on both FUMO2 a fire fighting assistant robot

    and in Gazebo simulator for testing and evaluation.

  • 290.
    Hallengren, Viktor
    et al.
    Örebro University, School of Science and Technology.
    Granath, Måns
    Örebro University, School of Science and Technology.
    Virtuellt klassrum i virtuell verklighet2016Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This project was created from the desire to provide a virtual training environment for teachers-intraining to practice and improve their non-verbal communication with students. The project worked by capturing the user’s movements and rendering the virtual agent’s to a screen in front of the user. Standing in front of a static screen to hold a lecture might however not feel entirely realistic. This report covers the implementation of a head-mounted display, specifically the Oculus Rift, to create a virtual reality as well as the extension of the virtual agent’s behavior and new ways to interact with the virtual agent’s. It also covers the results of an experiment where the new functionality was evaluated. The experiment was done by allowing 18 persons to test the system in both the old and new configurations and fill in questionnaires afterwards.

  • 291.
    Hamander, Jonathan
    Örebro University, School of Science and Technology.
    Uppgradering av stabilitetsberäkningsprogrammet NYSTAB2011Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This is a report founded on a project by Atlas Copco called NYSTAB.  The application Nystab is a calculation program that can calculate the stability of the rockdrill-rigs made by Atlas Copco. The original version of Nystab is stored in a database from 1997 and the code is made in an old version of Visual Basic. My assignment was to develop the application in to a newer programming environment and make it last better in the upcoming years. The software I decided to use to accomplish this project is C# .NET in Visual Studio and Microsoft Access 2010. All the code is written in C# with some insertions from ADO.NET which helped me to easier connect the code with the database.

    The coding part was split into two pieces; the first was to develop the application scale done with Windows Forms, the second was to write the code for calculations in the application. This report will cover some methods of how you can connect the database to an application and why Microsoft Access was the best alternative for database in this project. The report also shows the difference between VB and C# to get an overview on why  people today often chose to develop their applications in C#. Exceptions is a big part of the handling of errors or search for errors in the application and the report shows concrete examples on how you use exceptions in different situations and why.

  • 292.
    HASSANZADEH, Aidin
    Örebro University, School of Science and Technology.
    Mobile Robot Wind Mapping2014Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Statistical gas distribution mapping has recently become a prominent research area in

    the robotics community. Gas distribution mapping using mobile robots aims for building

    map of gas dispersion in an unknown environment using the sampled gas concentrations

    accompanied by the corresponding atmospheric variables. In this context, wind is considered

    as one of the main driving forces and recently exploited as an environmental

    bias in the the modelling process. However, the existing approaches utilizing the wind

    data are based on very simple averaging window methods which do not take the specic

    spatio-temporal wind variations into account appropriately.

    In the current thesis work, under the heading of statistical wind modelling, the various

    aspects of the existing approaches to model both temporal and spatial wind variations

    are studied. Accordingly, in the undertaking of

    Mobile Robot Wind Mapping (MRWM)

    task, three individual methods for statistically

    wind speed modelling, wind direction

    modelling

    and spatial wind mapping are proposed and implemented.

    Particularly, wind speed is modelled in form of a Gaussian distribution where the valid

    averaging scale is dened using an online adaptive approach, namely

    Time-Dependent

    Memory Method (TDMM)

    . The wind direction is modelled by means of the mixturemodel

    of Von-Mises distribution and for the spatial mapping of modelled wind data, a

    recursive approach based on Linear Kalman lter is utilized. The proposed approaches

    for statistically wind speed and direction modelling are applied to and evaluated by

    real wind data, collected specically for this project. The wind mapping algorithm is

    implemented and tested using simulated data.

  • 293.
    Hedlund, Victor
    et al.
    Örebro University, School of Science and Technology.
    Sevon, Max
    Örebro University, School of Science and Technology.
    Skapandet av en visuell programmeringslösning för Appivo-plattformen2016Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report describes the development of a visual programming solution for the Appivo platform.

     

    The visual programming solution, connected to Appivo’s APIs, is a tool to help Appivo’s users (who may have little-to-no prior experience of programming) with defining the logic needed to program web and mobile applications.

     

    The report also describes the various design choices made in order to make the block-based visual language more user-friendly, many of which could also apply to other similar visual languages.

     

    The report will further explain how the visual language is automatically generated during the Appivo platform’s build process. The automatic generation is done based on annotations in Appivo’s source code, annotations that define the look and behaviour of the generated blocks. The annotations were introduced with the aim of reducing the workload needed to keep the visual language compatible with Appivo’s APIs.

  • 294.
    Hellberg, Ann-Sofie
    Örebro University, Örebro University School of Business.
    A Storytelling Approach for Electronic Government Research2016In: 2016 49th Hawaii International Conference on System Sciences (HICSS), IEEE Computer Society, 2016, 2657-2666 p.Conference paper (Refereed)
    Abstract [en]

    Electronic government has a history of repeating projects that previously proved difficult to implement. One possible reason for this is that we do not learn enough from past experiences. Lessons are not widely shared and we do not always get the "full story". Only a narrow group have the ability to understand and access research findings. The use of a storytelling approach could make electronic government research more comprehensible, and accessible. It could also be used as an analytical tool to bridge theory and practice. However, storytelling approaches are currently not used within this research field. In this paper, I present an analysis of the value of using storytelling to show how including multiple voices, examining myths, and writing stories could play an important role in dealing with electronic government challenges.

  • 295.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Kucner, Tomasz Piotr
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Neumann, Patrick P.
    Bundesanstalt für Materialforschung und -prüfung, Berlin, Germany.
    Fan, Han
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots2017In: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 2, no 2, 1117-1123 p.Article in journal (Refereed)
    Abstract [en]

    For mobile robots that operate in complex, uncontrolled environments, estimating air flow models can be of great importance. Aerial robots use air flow models to plan optimal navigation paths and to avoid turbulence-ridden areas. Search and rescue platforms use air flow models to infer the location of gas leaks. Environmental monitoring robots enrich pollution distribution maps by integrating the information conveyed by an air flow model. In this paper, we present an air flow modelling<?brk?> algorithm that uses wind data collected at a sparse number of locations to estimate joint probability distributions over wind speed and direction at given query locations. The algorithm uses a novel extrapolation approach that models the air flow as a linear combination of laminar and turbulent components. We evaluated the prediction capabilities of our algorithm with data collected with an aerial robot during several exploration runs. The results show that our algorithm has a high degree of stability with respect to parameter selection while outperforming conventional extrapolation approaches. In addition, we applied our proposed approach in an industrial application, where the characterization of a ventilation system is supported by a ground mobile robot. We compared multiple air flow maps recorded over several months by estimating stability maps using the Kullback&ndash;Leibler divergence between the distributions. The results show that, despite local differences, similar air flow patterns prevail over time. Moreover, we corroborated the validity of our results with knowledge from human experts.

  • 296.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Neumann, Patrick P.
    BAM Federal Institute for Materials Research and Testing, Berlin, Germany.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Mobile robots for localizing gas emission sources on landfill sites: is bio-inspiration the way to go?2012In: Frontiers in Neuroengineering, ISSN 1662-6443, Vol. 4, no 20, 1-12 p.Article in journal (Refereed)
    Abstract [en]

    Roboticists often take inspiration from animals for designing sensors, actuators, or algorithms that control the behavior of robots. Bio-inspiration is motivated with the uncanny ability of animals to solve complex tasks like recognizing and manipulating objects, walking on uneven terrains, or navigating to the source of an odor plume. In particular the task of tracking an odor plume up to its source has nearly exclusively been addressed using biologically inspired algorithms and robots have been developed, for example, to mimic the behavior of moths, dung beetles, or lobsters. In this paper we argue that biomimetic approaches to gas source localization are of limited use, primarily because animals differ fundamentally in their sensing and actuation capabilities from state-of-the-art gas-sensitive mobile robots. To support our claim, we compare actuation and chemical sensing available to mobile robots to the corresponding capabilities of moths. We further characterize airflow and chemosensor measurements obtained with three different robot platforms (two wheeled robots and one flying micro-drone) in four prototypical environments and show that the assumption of a constant and unidirectional airflow, which is the basis of many gas source localization approaches, is usually far from being valid. This analysis should help to identify how underlying principles, which govern the gas source tracking behavior of animals, can be usefully translated into gas source localization approaches that fully take into account the capabilities of mobile robots. We also describe the requirements for a reference application, monitoring of gas emissions at landfill sites with mobile robots, and discuss an engineered gas source localization approach based on statistics as an alternative to biologically inspired algorithms.

  • 297.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Ferrari, Silvia
    Sibley School of Mechanical and Aerospace Engineering, Cornell University, NY, USA.
    Albertson, John
    School of Civil and Environmental Engineering, Cornell University, NY, USA.
    Integrated Simulation of Gas Dispersion and Mobile Sensing Systems2015In: Workshop on Realistic, Rapid and Repeatable Robot Simulation, 2015Conference paper (Refereed)
    Abstract [en]

    Accidental or intentional releases of contaminants into the atmosphere pose risks to human health, the environment, the economy, and national security. In some cases there may be a single release from an unknown source, while in other cases there are fugitive emissions from multiple sources. The need to locate and characterize the sources efficiently - whether it be the urgent need to evacuate or the systematic need to cover broad geographical regions with limited resources - is shared among all cases. Efforts have begun to identify leaks with gas analyzers mounted on Mobile Robot Olfaction (MRO) systems, road vehicles, and networks of fixed sensors, such as may be based in urban environments. To test and compare approaches for gas-sensitive robots a truthful gas dispersion simulator is needed. In this paper, we present a unified framework to simulate gas dispersion and to evaluate mobile robotics and gas sensing technologies using ROS. This framework is also key to developing and testing optimization and planning algorithms for determining sensor placement and sensor motion, as well as for fusing and connecting the sensor measurements to the leak locations.

  • 298.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Creating true gas concentration maps in presence of multiple heterogeneous gas sources2012In: Sensors, 2012 IEEE, Institute of Electrical and Electronics Engineers (IEEE), 2012, 554-557 p.Conference paper (Refereed)
    Abstract [en]

    Gas distribution mapping is a crucial task in emission monitoring and search and rescue applications. A common assumption made by state-of-the art mapping algorithms is that only one type of gaseous substance is present in the environment. For real world applications, this assumption can become very restrictive. In this paper we present an algorithm that creates gas concentration maps in a scenario where multiple heterogeneous gas sources are present. First, using an array of metal oxide (MOX) sensors and a pattern recognition algorithm, the chemical compound is identified. Then, for each chemical compound a gas concentration map using the readings of a Photo Ionization Detector (PID) is created. The proposed approach has been validated in experiments with the sensors mounted on a mobile robot which performed a predefined trajectory in a room where two gas sources emitting respectively ethanol and 2-propanol have been placed.

  • 299.
    Hernandez Bennetts, Victor Manuel
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology. Univ Örebro, AASS Res Ctr, Örebro, Sweden.
    Khaliq, Ali Abdul
    Örebro University, School of Science and Technology. Univ Örebro, AASS Res Ctr, Örebro, Sweden.
    Pomareda Sese, Victor
    Institute of Bioengineering of Catalonia, Spain.
    Trincavelli, Marco
    Örebro University, School of Science and Technology. Univ Örebro, AASS Res Ctr, Örebro, Sweden.
    Towards Real-World Gas Distribution Mapping and Leak Localization Using a Mobile Robot with 3D and Remote Gas Sensing Capabilities2013In: 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE conference proceedings, 2013, 2335-2340 p.Conference paper (Refereed)
    Abstract [en]

    Due to its environmental, economical and safety implications, methane leak detection is a crucial task to address in the biogas production industry. In this paper, we introduce Gasbot, a robotic platform that aims to automatize methane emission monitoring in landfills and biogas production sites. The distinctive characteristic of the Gasbot platform is the use of a Tunable Laser Absorption Spectroscopy (TDLAS) sensor. This sensor provides integral concentration measurements over the path of the laser beam. Existing gas distribution mapping algorithms can only handle local measurements obtained from traditional in-situ chemical sensors. In this paper we also describe an algorithm to generate 3D methane concentration maps from integral concentration and depth measurements. The Gasbot platform has been tested in two different scenarios: an underground corridor, where a pipeline leak was simulated and in a decommissioned landfill site, where an artificial methane emission source was introduced.

  • 300.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Fan, Han
    Örebro University, School of Science and Technology.
    Kucner, Tomasz Piotr
    Örebro University, School of Science and Technology.
    Andersson, Lena
    Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden.
    Johansson, Anders
    Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden.
    Towards occupational health improvement in foundries through dense dust and pollution monitoring using a complementary approach with mobile and stationary sensing nodes2016In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2016, 131-136 p., 7759045Conference paper (Refereed)
    Abstract [en]

    In industrial environments, such as metallurgic facilities, human operators are exposed to harsh conditions where ambient air is often polluted with quartz, dust, lead debris and toxic fumes. Constant exposure to respirable particles can cause irreversible health damages and thus it is of high interest for occupational health experts to monitor the air quality on a regular basis. However, current monitoring procedures are carried out sparsely, with data collected in single day campaigns limited to few measurement locations. In this paper we explore the use and present first experimental results of a novel heterogeneous approach that uses a mobile robot and a network of low cost sensing nodes. The proposed system aims to address the spatial and temporal limitations of current monitoring techniques. The mobile robot, along with standard localization and mapping algorithms, allows to produce short term, spatially dense representations of the environment where dust, gas, ambient temperature and airflow information can be modelled. The sensing nodes on the other hand, can collect temporally dense (and usually spatially sparse) information during long periods of time, allowing in this way to register for example, daily variations in the pollution levels. Using data collected with the proposed system in an steel foundry, we show that a heterogeneous approach provides dense spatio-temporal information that can be used to improve the working conditions in industrial facilities.

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