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  • 101.
    Andreasson, Henrik
    et al.
    Örebro University, School of Science and Technology.
    Adolfsson, Daniel
    Örebro University, School of Science and Technology.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Incorporating Ego-motion Uncertainty Estimates in Range Data Registration2017Conference paper (Refereed)
    Abstract [en]

    Local scan registration approaches commonlyonly utilize ego-motion estimates (e.g. odometry) as aninitial pose guess in an iterative alignment procedure. Thispaper describes a new method to incorporate ego-motionestimates, including uncertainty, into the objective function of aregistration algorithm. The proposed approach is particularlysuited for feature-poor and self-similar environments,which typically present challenges to current state of theart registration algorithms. Experimental evaluation showssignificant improvements in accuracy when using data acquiredby Automatic Guided Vehicles (AGVs) in industrial productionand warehouse environments.

  • 102.
    Andreasson, Henrik
    et al.
    Örebro University, School of Science and Technology.
    Bouguerra, Abdelbaki
    Örebro University, School of Science and Technology.
    Cirillo, Marcello
    Örebro University, School of Science and Technology.
    Dimitrov, Dimitar Nikolaev
    INRIA - Grenoble, Meylan, France .
    Driankov, Dimiter
    Örebro University, School of Science and Technology.
    Karlsson, Lars
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saarinen, Jari Pekka
    Örebro University, School of Science and Technology. Aalto University, Aalto, Finland .
    Sherikov, Aleksander
    Centre de recherche Grenoble, Rhône-Alpes, Grenoble, France .
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Autonomous transport vehicles: where we are and what is missing2015In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 22, no 1, 64-75 p.Article in journal (Refereed)
    Abstract [en]

    In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.

  • 103.
    Andreasson, Henrik
    et al.
    Örebro University, School of Science and Technology.
    Bouguerra, Abdelbaki
    Örebro University, School of Science and Technology.
    Åstrand, Björn
    Högskolan i Halmstad, CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Rögnvaldsson, Thorsteinn
    Högskolan i Halmstad, CAISR Centrum för tillämpade intelligenta system (IS-lab).
    Gold-Fish SLAM: An Application of SLAM to Localize AGVs2014In: Field and Service Robotics: Results of the 8th International Conference / [ed] Yoshida, Kazuya; Tadokoro, Satoshi, Heidelberg, Germany: Springer Berlin/Heidelberg, 2014, 585-598 p.Chapter in book (Refereed)
    Abstract [en]

    The main focus of this paper is to present a case study of a SLAM solution for Automated Guided Vehicles (AGVs) operating in real-world industrial environments. The studied solution, called Gold-fish SLAM, was implemented to provide localization estimates in dynamic industrial environments, where there are static landmarks that are only rarely perceived by the AGVs. The main idea of Gold-fish SLAM is to consider the goods that enter and leave the environment as temporary landmarks that can be used in combination with the rarely seen static landmarks to compute online estimates of AGV poses. The solution is tested and verified in a factory of paper using an eight ton diesel-truck retrofitted with an AGV control system running at speeds up to 3 m/s. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs

  • 104.
    Andreasson, Henrik
    et al.
    Örebro University, School of Science and Technology.
    Saarinen, Jari
    Örebro University, School of Science and Technology.
    Cirillo, Marcello
    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.
    Drive the Drive: From Discrete Motion Plans to Smooth Drivable Trajectories2014In: Robotics, E-ISSN 2218-6581, Vol. 3, no 4, 400-416 p.Article in journal (Refereed)
    Abstract [en]

    Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy and precision, while taking into account non-holonomic vehicle constraints. In recent years, lattice-based motion planners have been successfully used to generate kinematically and kinodynamically feasible motions for non-holonomic vehicles. However, the discretized nature of these algorithms induces discontinuities in both state and control space of the obtained trajectories, resulting in a mismatch between the achieved and the target end pose of the vehicle. As endpose accuracy is critical for the successful loading and unloading of cargo in typical industrial applications, automatically planned paths have not been widely adopted in commercial AGV systems. The main contribution of this paper is a path smoothing approach, which builds on the output of a lattice-based motion planner to generate smooth drivable trajectories for non-holonomic industrial vehicles. The proposed approach is evaluated in several industrially relevant scenarios and found to be both fast (less than 2 s per vehicle trajectory) and accurate (end-point pose errors below 0.01 m in translation and 0.005 radians in orientation).

  • 105.
    Andreasson, Henrik
    et al.
    Örebro University, School of Science and Technology.
    Saarinen, Jari
    Örebro University, School of Science and Technology.
    Cirillo, Marcello
    Örebro University, School of Science and Technology. SCANIA AB, Södertälje, Sweden.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Fast, continuous state path smoothing to improve navigation accuracy2015In: IEEE International Conference on Robotics and Automation (ICRA), 2015, IEEE Computer Society, 2015, 662-669 p.Conference paper (Refereed)
    Abstract [en]

    Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy and precision, while taking into account non-holonomic vehicle constraints. In recent years, lattice-based motion planners have been successfully used to generate kinematically and kinodynamically feasible motions for non-holonomic vehicles. However, the discretized nature of these algorithms induces discontinuities in both state and control space of the obtained trajectories, resulting in a mismatch between the achieved and the target end pose of the vehicle. As endpose accuracy is critical for the successful loading and unloading of cargo in typical industrial applications, automatically planned paths have not be widely adopted in commercial AGV systems. The main contribution of this paper addresses this shortcoming by introducing a path smoothing approach, which builds on the output of a lattice-based motion planner to generate smooth drivable trajectories for non-holonomic industrial vehicles. In real world tests presented in this paper we demonstrate that the proposed approach is fast enough for online use (it computes trajectories faster than they can be driven) and highly accurate. In 100 repetitions we achieve mean end-point pose errors below 0.01 meters in translation and 0.002 radians in orientation. Even the maximum errors are very small: only 0.02 meters in translation and 0.008 radians in orientation.

  • 106.
    Andreasson, Henrik
    et al.
    Örebro University, School of Science and Technology.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Real time registration of RGB-D data using local visual features and 3D-NDT registration2012In: Proc. of International Conference on Robotics and Automation (ICRA) Workshop on Semantic Perception, Mapping and Exploration (SPME), IEEE, 2012Conference paper (Refereed)
    Abstract [en]

    Recent increased popularity of RGB-D capable sensors in robotics has resulted in a surge of related RGBD registration methods. This paper presents several RGB-D registration algorithms based on combinations between local visual feature and geometric registration. Fast and accurate transformation refinement is obtained by using a recently proposed geometric registration algorithm, based on the Three-Dimensional Normal Distributions Transform (3D-NDT). Results obtained on standard data sets have demonstrated mean translational errors on the order of 1 cm and rotational errors bellow 1 degree, at frame processing rates of about 15 Hz.

  • 107.
    Andrén, Daniel
    et al.
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Shao, Lei
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Länk, Nils Odebo
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Acimovic, Srdjan S.
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Johansson, Peter
    Örebro University, School of Science and Technology. Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Käll, Mikael
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Probing Photothermal Effects on Optically Trapped Gold Nanorods by Simultaneous Plasmon Spectroscopy and Brownian Dynamics Analysis2017In: ACS Nano, ISSN 1936-0851, E-ISSN 1936-086X, Vol. 11, no 10, 10053-10061 p.Article in journal (Refereed)
    Abstract [en]

    Plasmonic gold nanorods are prime candidates for a variety of biomedical, spectroscopy, data storage, and sensing applications. It was recently shown that gold nanorods optically trapped by a focused circularly polarized laser beam can function as extremely efficient nanoscopic rotary motors. The system holds promise for-applications ranging from nanofluidic flow control and nanorobotics to biomolecular actuation and analysis. However, to fully exploit this potential, one needs to be able to control and understand heating effects associated with laser trapping. We investigated photothermal heating of individual rotating gold nanorods by simultaneously probing their localized surface plasmon resonance spectrum and rotational Brownian dynamics over extended periods of time. The data reveal an extremely slow nanoparticle reshaping process, involving migration of the order of a few hundred atoms per minute, for moderate laser powers and a trapping wavelength close to plasmon resonance. The plasmon spectroscopy and Brownian analysis allows for separate temperature estimates based on the refractive index and the viscosity of the water surrounding a trapped nanorod. We show that both measurements yield similar effective temperatures, which correspond to the actual temperature at a distance of the order 10-15 nm from the particle surface. Our results shed light on photothermal processes on the nanoscale and will be useful in evaluating the applicability and performance of nanorod motors and optically heated nanoparticles for a variety of applications.

  • 108.
    Andrén, Daniel
    et al.
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Shao, Lei
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Odebo Länk, Nils
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Aćimović, Srdjan S
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Johansson, Peter
    Örebro University, School of Science and Technology. Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Käll, Mikael
    Department of Physics, Chalmers University of Technology, Göteborg, Sweden.
    Probing Photothermal Effects on Optically Trapped Gold Nanorods by Simultaneous Plasmon Spectroscopy and Brownian Dynamics Analysis2017In: ACS Nano, ISSN 1936-0851, E-ISSN 1936-086X, Vol. 11, no 10, 10053-10061 p.Article in journal (Refereed)
    Abstract [en]

    Plasmonic gold nanorods are prime candidates for a variety of biomedical, spectroscopy, data storage, and sensing applications. It was recently shown that gold nanorods optically trapped by a focused circularly polarized laser beam can function as extremely efficient nanoscopic rotary motors. The system holds promise for applications ranging from nanofluidic flow control and nanorobotics to biomolecular actuation and analysis. However, to fully exploit this potential, one needs to be able to control and understand heating effects associated with laser trapping. We investigated photothermal heating of individual rotating gold nanorods by simultaneously probing their localized surface plasmon resonance spectrum and rotational Brownian dynamics over extended periods of time. The data reveal an extremely slow nanoparticle reshaping process, involving migration of the order of a few hundred atoms per minute, for moderate laser powers and a trapping wavelength close to plasmon resonance. The plasmon spectroscopy and Brownian analysis allows for separate temperature estimates based on the refractive index and the viscosity of the water surrounding a trapped nanorod. We show that both measurements yield similar effective temperatures, which correspond to the actual temperature at a distance of the order 10-15 nm from the particle surface. Our results shed light on photothermal processes on the nanoscale and will be useful in evaluating the applicability and performance of nanorod motors and optically heated nanoparticles for a variety of applications.

  • 109.
    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
  • 110.
    Angelstam, Per
    et al.
    Örebro University, School of Science and Technology.
    Andersson, Kjell
    Isacson, Maths
    Gavrilov, Dmitri V.
    Axelsson, Robert
    Bäckstrom, Mattias
    Örebro University, School of Science and Technology.
    Degerman, Erik
    Elbakidze, Marine
    Kazakova-Apkarimova, Elena Yu.
    Sartz, Lotta
    Örebro University, School of Science and Technology.
    Sadbom, Stefan
    Törnblom, Johan
    Örebro University, School of Science and Technology.
    Learning about the history of landscape use for the future: consequences for ecological and social systems in Swedish Bergslagen2013In: Ambio, ISSN 0044-7447, E-ISSN 1654-7209, Vol. 42, no 2, 146-159 p.Article in journal (Refereed)
    Abstract [en]

    Barriers and bridges to implement policies about sustainable development and sustainability commonly depend on the past development of social-ecological systems. Production of metals required integration of use of ore, streams for energy, and wood for bioenergy and construction, as well as of multiple societal actors. Focusing on the Swedish Bergslagen region as a case study we (1) describe the phases of natural resource use triggered by metallurgy, (2) the location and spatial extent of 22 definitions of Bergslagen divided into four zones as a proxy of cumulative pressure on landscapes, and (3) analyze the consequences for natural capital and society. We found clear gradients in industrial activity, stream alteration, and amount of natural forest from the core to the periphery of Bergslagen. Additionally, the legacy of top-down governance is linked to today's poorly diversified business sector and thus municipal vulnerability. Comparing the Bergslagen case study with other similar regions in Russia and Germany, we discuss the usefulness of multiple case studies.

  • 111.
    Angergård, Ida
    Örebro University, School of Science and Technology.
    Ungdomars val av mat relaterat till deras uppfattning om hälsa och miljö2015Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Food, environment and human health is one consistent theme for this essay that aims to show on the positive opportunities whit educating young people in the environmental impacts of personal foodchoice. Personal choice of food makes a difference to the environment but those environmental friendly choices can also have a positive effect on the health of the individual. Some of the reasons why certain food is preferred before others is brought up in the background. Interviews have been done with four adolescents in the age group 13-15 years studying in two different schools. The results show that the adolescents in this study would like to eat food that is good for the environment but generally miss information about what food that is.

  • 112.
    Antegård, Kristian
    et al.
    Örebro University, School of Science and Technology.
    Mucic, Fuad
    Örebro University, School of Science and Technology.
    CE-märkning av lyftredskap. Processen, användningsområden och dokumentation.2014Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The report is a thesis carried out at BAE Systems Bofors AB in Karlskoga. This report is about exploring and to give suggestions for improvement of the production process and CE-marking of lifting tools. The report also discusses documentation management and documentation requirements for CE marking. What is true at the CE Marking of lifting tools designed for military purposes. The report provides a basic understanding of what purposes CE-marking has and why it is done. Through research and interviews conducted at the company a map of the process for creating and CE marking of lifting tools was created. Using the same method an investigation of the dossier was done. After an analysis of the problem and what emerged during the interviews, the results of the current situation were summarized. One proposed solution was developed that contains suggestions for improvement of the process, suggestions for documentation that should be available and suggestions where documentation should be stored.

  • 113.
    Arain, Muhammad Asif
    et al.
    Örebro University, School of Science and Technology.
    Cirillo, Marcello
    Örebro University, School of Science and Technology. Scania AB, Granparksvagen 10, SE-15187 Södertälje, Sweden.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots2015In: 2015 IEEE International Conference on Robotics and Automation (ICRA), Washington, USA: IEEE Computer Society, 2015, 3428-3434 p.Conference paper (Refereed)
    Abstract [en]

    The problem of gas detection is relevant to manyreal-world applications, such as leak detection in industrialsettings and surveillance. In this paper we address the problemof gas detection in large areas with a mobile robotic platformequipped with a remote gas sensor. We propose a novelmethod based on convex relaxation for quickly finding anexploration plan that guarantees a complete coverage of theenvironment. Our method proves to be highly efficient in termsof computational requirements and to provide nearly-optimalsolutions. We validate our approach both in simulation andin real environments, thus demonstrating its applicability toreal-world problems.

  • 114.
    Arain, Muhammad Asif
    et al.
    Örebro University, School of Science and Technology.
    Fan, Han
    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 Tomography With Mobile Robots: An Evaluation of Sensing Geometries in Complex Environments2017In: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, 2017, 7968895Conference paper (Refereed)
    Abstract [en]

    An accurate model of gas emissions is of high importance in several real-world applications related to monitoring and surveillance. Gas tomography is a non-intrusive optical method to estimate the spatial distribution of gas concentrations using remote sensors. The choice of sensing geometry, which is the arrangement of sensing positions to perform gas tomography, directly affects the reconstruction quality of the obtained gas distribution maps. In this paper, we present an investigation of criteria that allow to determine suitable sensing geometries for gas tomography. We consider an actuated remote gas sensor installed on a mobile robot, and evaluated a large number of sensing configurations. Experiments in complex settings were conducted using a state-of-the-art CFD-based filament gas dispersal simulator. Our quantitative comparison yields preferred sensing geometries for sensor planning, which allows to better reconstruct gas distributions.

  • 115.
    Arain, Muhammad Asif
    et al.
    Örebro University, School of Science and Technology.
    Havoutis, Ioannis
    Istituto Italiano di Tecnologia, Italy.
    Semini, Claudio
    Istituto Italiano di Tecnologia, Italy.
    Buchli, Jonas
    ETH Zurich.
    Caldwell, Darwin G.
    Istituto Italiano di Tecnologia, 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.

  • 116.
    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, 4275-4281 p.Conference 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.

  • 117.
    Arain, Muhammad Asif
    et al.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Cirillo, Marcello
    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.
    Global coverage measurement planning strategies for mobile robots equipped with a remote gas sensor2015In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 15, no 3, 6845-6871 p.Article in journal (Refereed)
    Abstract [en]

    The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. In this paper, we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot. To demonstrate the applicability of our method to real-world environments, we performed a large number of experimental trials, both on randomly generated maps and on the map of a real environment. Our approach proves to be highly efficient in terms of computational requirements and to provide nearly-optimal solutions.

  • 118.
    Argyriou, Marios
    et al.
    DTU Compute, Technical University of Denmark, Lyngby, Denmark.
    Dragoni, Nicola
    Örebro University, School of Science and Technology. DTU Compute, Technical University of Denmark, Lyngby, Denmark.
    Spognardi, Angelo
    DTU Compute, Technical University of Denmark, Lyngby, Denmark; Dipartimento Informatica, Sapienza Università di Roma, Rome, Italy.
    Security Flows in OAuth 2.0 Framework: A Case Study2017In: Computer safety, reliability, and security: SAFECOMP 2017 Workshops, ASSURE, DECSoS, SASSUR, TELERISE, and TIPS, Trento, Italy, September 12, 2017, Proceedings / [ed] Tonetta S., Schoitsch E., Bitsch F., Springer, 2017Conference paper (Refereed)
    Abstract [en]

    The burst in smartphone use, handy design in laptops and tablets as well as other smart products, like cars with the ability to drive you around, manifests the exponential growth of network usage and the demand of accessing remote data on a large variety of services. However, users notoriously struggle to maintain distinct accounts for every single service that they use. The solution to this problem is the use of a Single Sign On (SSO) framework, with a unified single account to authenticate user’s identity throughout the different services. In April 2007, AOL introduced OpenAuth framework. After several revisions and despite its wide adoption, OpenAuth 2.0 has still several flaws that need to be fixed in several implementations. In this paper, we present a thorough review about both benefits of this single token authentication mechanism and its open flaws.

  • 119.
    Arnesson, Robin
    Örebro University, School of Science and Technology.
    POS-terminal XGD K3702013Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This thesis comprises the implementation of the basic functionality in a POS-terminal (Point OfSale) and the design of a client-server system in which the terminal acts as a client. The thesis wasdeveloped as an assignment from IBSP Labs AB where the goal was to create a system for wirelesspayments using POS-terminal XGD K370. The assignment was mainly comprised of thedevelopment of two programs; the application in the terminal which serves as an interface to thecustomer, and the back end program that processes incoming transactions from the terminal. Thisthesis presents the implementation of these programs and depicts the theory associated with themethods and tools used in the implementation.

  • 120.
    Arvidsson, Mattias
    Örebro University, School of Science and Technology.
    Introduktion till Markovkedjor2012Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
  • 121.
    Asaad Sharif Elemara, Hadil
    Örebro University, School of Science and Technology.
    GRUNDLÄGGNINGSMETODER-VAL AV GRUNDLÄGGNINGSMETOD FÖR SMÅHUS I ÖREBRO LÄN2012Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Foundations support entire houses and are required to be adequately well-built to carry a building’s

    mass for many years without facing problems due to environmental impacts such as moisture and

    frost. This work covers three basic types of foundations; concrete slab, crawl space and block

    foundation. The aim of this work is to investigate the construction methods of the foundations

    mentioned above, which are used within the construction of single-family homes in the city of

    Örebro, Sweden. Additionally, the basis of selection of these foundations by various construction

    companies in respect to risk of moisture-related problems is examined.

    Information about the foundations is collected from scholarly literature as well as qualitative

    interviews with seven construction companies’ experts. Ultimately, this study found that concrete

    slab with underlying insulation is more commonly used within the construction of single-family

    homes in Örebro than the other alternatives. Operators find that this foundation has many

    advantages in comparison with the other foundation techniques.

  • 122.
    Asadi, Sahar
    Örebro University, School of Science and Technology.
    Towards Dense Air Quality Monitoring: Time-Dependent Statistical Gas Distribution Modelling and Sensor Planning2017Doctoral thesis, monograph (Other academic)
    Abstract [en]

    This thesis addresses the problem of gas distribution modelling for gas monitoring and gas detection. The presented research is particularly focused on the methods that are suitable for uncontrolled environments. In such environments, gas source locations and the physical properties of the environment, such as humidity and temperature may be unknown or only sparse noisy local measurements are available. Example applications include air pollution monitoring, leakage detection, and search and rescue operations.

    This thesis addresses how to efficiently obtain and compute predictive models that accurately represent spatio-temporal gas distribution.

    Most statistical gas distribution modelling methods assume that gas dispersion can be modelled as a time-constant random process. While this assumption may hold in some situations, it is necessary to model variations over time in order to enable applications of gas distribution modelling for a wider range of realistic scenarios.

    This thesis proposes two time-dependent gas distribution modelling methods. In the first method, a temporal (sub-)sampling strategy is introduced. In the second method, a time-dependent gas distribution modelling approach is presented, which introduces a recency weight that relates measurement to prediction time. These contributions are presented and evaluated as an extension of a previously proposed method called Kernel DM+V using several simulation and real-world experiments. The results of comparing the proposed time-dependent gas distribution modelling approaches to the time-independent version Kernel DM+V indicate a consistent improvement in the prediction of unseen measurements, particularly in dynamic scenarios under the condition that there is a sufficient spatial coverage. Dynamic scenarios are often defined as environments where strong fluctuations and gas plume development are present.

    For mobile robot olfaction, we are interested in sampling strategies that provide accurate gas distribution models given a small number of samples in a limited time span. Correspondingly, this thesis addresses the problem of selecting the most informative locations to acquire the next samples.

    As a further contribution, this thesis proposes a novel adaptive sensor planning method. This method is based on a modified artificial potential field, which selects the next sampling location based on the currently predicted gas distribution and the spatial distribution of previously collected samples. In particular, three objectives are used that direct the sensor towards areas of (1) high predictive mean and (2) high predictive variance, while (3) maximising the coverage area. The relative weight of these objectives corresponds to a trade-off between exploration and exploitation in the sampling strategy. This thesis discusses the weights or importance factors and evaluates the performance of the proposed sampling strategy. The results of the simulation experiments indicate an improved quality of the gas distribution models when using the proposed sensor planning method compared to commonly used methods, such as random sampling and sampling along a predefined sweeping trajectory. In this thesis, we show that applying a locality constraint on the proposed sampling method decreases the travelling distance, which makes the proposed sensor planning approach suitable for real-world applications where limited resources and time are available. As a real-world use-case, we applied the proposed sensor planning approach on a micro-drone in outdoor experiments.

    Finally, this thesis discusses the potential of using gas distribution modelling and sensor planning in large-scale outdoor real-world applications. We integrated the proposed methods in a framework for decision-making in hazardous inncidents where gas leakage is involved and applied the gas distribution modelling in two real-world use-cases. Our investigation indicates that the proposed sensor planning and gas distribution modelling approaches can be used to inform experts both about the gas plume and the distribution of gas in order to improve the assessment of an incident.

  • 123.
    Asadi, Sahar
    et al.
    Örebro University, School of Science and Technology.
    Badica, Costin
    University of Craiova.
    Comes, Tina
    Karslruhe Institute of Technology.
    Conrado, Claudine
    Thales Research and Technology, Delft.
    Evers, Vanessa
    University of Amsterdam.
    Groen, Frans
    University of Amsterdam.
    Illie, Sorin
    University of Craiova.
    Steen Jensen, Jan
    DEMA, Denmark.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Milan, Bianca
    DCMR, Delft.
    Neidhart, Thomas
    Space Applications Services, Zaventem, Belgium,.
    Nieuwenhuis, Kees
    Thales Research and Technology, Delft.
    Pashami, Sepideh
    Örebro University, School of Science and Technology.
    Pavlin, Gregor
    Thales Research and Technology, Delft.
    Pehrsson, Jan
    Prolog Development Center, Denmark.
    Pinchuk, Rani
    Space Applications and Services.
    Scafes, Mihnea
    University of Craiova.
    Schou-Jensen, Leo
    DCMR, Denmark.
    Schultmann, Frank
    Karslruhe Institute of Technology.
    Wijngaards, Niek
    Thales Research and Technology, Delft, the Netherlands.
    ICT solutions supporting collaborative information acquisition, situation assessment and decision making in contemporary environmental management problems: the DIADEM approach2011In: Proceedings of the 25th EnviroInfo Conference "Environmental Informatics", 2011, 920-931 p.Conference paper (Refereed)
    Abstract [en]

    This paper presents a framework of ICT solutions developed in the EU research project DIADEM that supports environmental management with an enhanced capacity to assess population exposure and health risks, to alert relevant groups and to organize efficient response. The emphasis is on advanced solutions which are economically feasible and maximally exploit the existing communication, computing and sensing resources. This approach enables efficient situation assessment in complex environmental management problems by exploiting relevant information obtained from citizens via the standard communication infrastructure as well as heterogeneous data acquired through dedicated sensing systems. This is achieved through a combination of (i) advanced approaches to gas detection and gas distribution modelling, (ii) a novel service-oriented approach supporting seamless integration of human-based and automated reasoning processes in large-scale collaborative sense making processes and (iii) solutions combining Multi-Criteria Decision Analysis, Scenario-Based Reasoning and advanced human-machine interfaces. This paper presents the basic principles of the DIADEM solutions, explains how different techniques are combined to a coherent decision support system and briefly discusses evaluation principles and activities in the DIADEM project.

  • 124.
    Asadi, Sahar
    et al.
    Örebro University, School of Science and Technology.
    Fan, Han
    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.
    Time-dependent gas distribution modelling2017In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 96, 157-170 p.Article in journal (Refereed)
    Abstract [en]

    Artificial olfaction can help to address pressing environmental problems due to unwanted gas emissions. Sensor networks and mobile robots equipped with gas sensors can be used for e.g. air pollution monitoring. Key in this context is the ability to derive truthful models of gas distribution from a set of sparse measurements. Most statistical gas distribution modelling methods assume that gas dispersion is a time constant random process. While this assumption approximately holds in some situations, it is necessary to model variations over time in order to enable applications of gas distribution modelling in a wider range of realistic scenarios. Time-invariant approaches cannot model well evolving gas plumes, for example, or major changes in gas dispersion due to a sudden change of the environmental conditions. This paper presents two approaches to gas distribution modelling, which introduce a time-dependency and a relation to a time-scale in generating the gas distribution model either by sub-sampling or by introducing a recency weight that relates measurement and prediction time. We evaluated these approaches in experiments performed in two real environments as well as on several simulated experiments. As expected, the comparison of different sub-sampling strategies revealed that more recent measurements are more informative to derive an estimate of the current gas distribution as long as a sufficient spatial coverage is given. Next, we compared a time-dependent gas distribution modelling approach (TD Kernel DM+V), which includes a recency weight, to the state-of-the-art gas distribution modelling approach (Kernel DM+V), which does not consider sampling times. The results indicate a consistent improvement in the prediction of unseen measurements, particularly in dynamic scenarios. Furthermore, this paper discusses the impact of meta-parameters in model selection and compares the performance of time-dependent GDM in different plume conditions. Finally, we investigated how to set the target time for which the model is created. The results indicate that TD Kernel DM+V performs best when the target time is set to the maximum sampling time in the test set.

  • 125.
    Asadi, Sahar
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Approaches to Time-Dependent Gas Distribution Modelling2015In: 2015 European Conference on Mobile Robots (ECMR), New York: IEEE conference proceedings , 2015, 7324215Conference paper (Refereed)
    Abstract [en]

    Mobile robot olfaction solutions for gas distribution modelling offer a number of advantages, among them autonomous monitoring in different environments, mobility to select sampling locations, and ability to cooperate with other systems. However, most data-driven, statistical gas distribution modelling approaches assume that the gas distribution is generated by a time-invariant random process. Such time-invariant approaches cannot model well developing plumes or fundamental changes in the gas distribution. In this paper, we discuss approaches that explicitly consider the measurement time, either by sub-sampling according to a given time-scale or by introducing a recency weight that relates measurement and prediction time. We evaluate the performance of these time-dependent approaches in simulation and in real-world experiments using mobile robots. The results demonstrate that in dynamic scenarios improved gas distribution models can be obtained with time-dependent approaches.

  • 126.
    Asadi, Sahar
    et al.
    Örebro University, School of Science and Technology.
    Reggente, Matteo
    Örebro University, School of Science and Technology.
    Stachniss, Cyrill
    University of Freiburg.
    Plagemann, Christian
    Stanford University.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Statistical gas distribution modeling using kernel methods2011In: Intelligent systems for machine olfaction: tools and methodologies / [ed] E. L. Hines and M. S. Leeson, IGI Global, 2011, 1, 153-179 p.Chapter in book (Refereed)
    Abstract [en]

    Gas distribution models can provide comprehensive information about a large number of gas concentration measurements, highlighting, for example, areas of unusual gas accumulation. They can also help to locate gas sources and to plan where future measurements should be carried out. Current physical modeling methods, however, are computationally expensive and not applicable for real world scenarios with real-time and high resolution demands. This chapter reviews kernel methodsthat statistically model gas distribution. Gas measurements are treated as randomvariables, and the gas distribution is predicted at unseen locations either using akernel density estimation or a kernel regression approach. The resulting statistical 

    apmodelsdo not make strong assumptions about the functional form of the gas distribution,such as the number or locations of gas sources, for example. The majorfocus of this chapter is on two-dimensional models that provide estimates for themeans and predictive variances of the distribution. Furthermore, three extensionsto the presented kernel density estimation algorithm are described, which allow toinclude wind information, to extend the model to three dimensions, and to reflecttime-dependent changes of the random process that generates the gas distributionmeasurements. All methods are discussed based on experimental validation usingreal sensor data.

  • 127.
    Asnafi, Nader
    Örebro University, School of Science and Technology.
    3D Printing / Additative Manufacturing from Product Creator and Tool Maker Perspectives in the Automotive Industry2016Conference paper (Other academic)
  • 128.
    Asnafi, Nader
    Örebro University, School of Science and Technology.
    Improved Lightweight Manufacturing Flexibility by Stamping of Selectively Laser Heat Treated Boron Steel Sheet2016Conference paper (Other academic)
  • 129.
    Asnafi, Nader
    Örebro University, School of Science and Technology.
    Innovative Lead Time and Cost Efficient Tools and Dies for Lightweight Autobody Components2016Conference paper (Other academic)
  • 130.
    Asnafi, Nader
    et al.
    Örebro University, School of Science and Technology.
    Andersson, Roger
    Persson, Martin
    Liljengren, Magnus
    Comparison of Lightweight Solutions: Low Cost Production Process for High Strength Boron Steel Components2016Conference paper (Other academic)
  • 131.
    Asnake, Solomon
    Örebro University, School of Science and Technology.
    Interaction of brominated flame retardants with the chicken and zebrafish androgen receptors2015Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    The survival of organisms depends on their ability to use different signaling pathways to adapt to the environment. The endocrine system consists of glands that release hormones to the blood stream. Male reproductive functions are regulated by androgens through interactions with the androgen receptor (AR). AR has been characterized in chicken and zebrafish where they use testosterone and 11-ketotestosterone as their primary androgens, respectively. AR function has been disturbed by different endocrine disrupting compounds (EDCs) present in the environment causing detrimental effects on avian and fish species. Brominated flame retardants (BFRs) are a group of EDCs that are ubiquitous in the environment. Molecular modeling techniques using computer simulations such as docking and molecular dynamics are a useful tool in the identification of EDCs. The capacity to test thousands of compounds at once has helped in the early identification of EDCs that interact with AR. Two groups of BFRs, the 1,2-dibromo-4- cyclohexane diastereomers (TBECH) and the compounds synthesized from 2, 4, 6-tribromophenol, allyl 2,4,6-tribromophenyl ether (ATE), 2-bromoallyl 2,4,6- tribromophenyl ether (BATE) and 2,3-dibromopropyl 2,4,6-tribromophenyl ether (DPTE) interact and alter AR activity in human in vitro studies. As models for avian and fish species, chicken and zebrafish were used to test these BFRs. TBECH diastereomers were able to bind to the AR, estrogen receptors and thyroid receptors in the chicken and to the AR in zebrafish. ATE, BATE and DPTE were also able to interact with the chicken AR and zebrafish AR. Activation studies using cell lines showed that TBECH diastereomers acted as agonists to the cAR and zAR while ATE, BATE and DPTE acted as antagonists. The BFRs also altered multiple signaling pathways such as the apoptotic, antiapoptotic, immune, drug metabolizing and DNA methylation systems and in vivo studies resulted in physiological effects on zebrafish.

    List of papers
    1. 1,2-dibromo-4-(1,2 dibromoethyl) cyclohexane (TBECH)-mediated steroid hormone receptor activation and gene regulation in chicken LMH cells
    Open this publication in new window or tab >>1,2-dibromo-4-(1,2 dibromoethyl) cyclohexane (TBECH)-mediated steroid hormone receptor activation and gene regulation in chicken LMH cells
    Show others...
    2014 (English)In: Environmental Toxicology and Chemistry, ISSN 0730-7268, E-ISSN 1552-8618, Vol. 33, no 4, 891-899 p.Article in journal (Refereed) Published
    Abstract [en]

    The incorporation of brominated flame retardants into industrial and household appliances has increased their occurrence in the environment, resulting in deleterious effects on wildlife. With the increasing restraints on available compounds, there has been a shift to using brominated flame retardants that has seen the production of alternative brominated flame retardants such as 1,2-dibromo-4-(1,2 dibromoethyl) cyclohexane (TBECH), which has been detected in the environment. In previous in silico and in vitro studies the authors have shown that TBECH can activate both the human androgen receptor (hAR) and the zebrafish AR (zAR) suggesting that it is a potential endocrine disruptor. The present study was aimed at determining the interaction of TBECH with the chicken AR (cAR). In the present study, TBECH bound to cAR, but in vitro activation assay studies using the chicken LMH cell line showed it had a potency of only 15% compared with testosterone. Sequence difference between ARs from different species may contribute to the different responses to TBECH. Further quantitative reverse-transcriptase polymerase chain reaction (qRT-PCR) analysis showed that TBECH interacted with and altered the expression of both thyroid receptors and estrogen receptors. In addition, the qRT-PCR analysis showed that TBECH altered the transcription pattern of genes involved in inflammatory, apoptotic, proliferative, DNA methylation, and drug-metabolizing pathways. This demonstrates that TBECH, apart from activating cAR, can also influence multiple biological pathways in the chicken.

    Place, publisher, year, edition, pages
    Hoboken: Wiley-Blackwell, 2014
    Keyword
    Endocrine disruptor, Diastereomer, Enantiomer, Quantitative polymerase chain reaction (qPCR), Gene regulation
    National Category
    Environmental Sciences
    Research subject
    Enviromental Science; Biology
    Identifiers
    urn:nbn:se:oru:diva-34941 (URN)10.1002/etc.2509 (DOI)000333538700020 ()2-s2.0-84897431931 (Scopus ID)
    Funder
    Swedish Research Council
    Note

    Funding Agency:

    Örebro University

    Available from: 2014-05-05 Created: 2014-05-05 Last updated: 2017-12-05Bibliographically approved
    2. The brominated flame retardant TBECH activates the zebrafish (Danio rerio) androgen receptor, alters gene transcription and causes developmental disturbances
    Open this publication in new window or tab >>The brominated flame retardant TBECH activates the zebrafish (Danio rerio) androgen receptor, alters gene transcription and causes developmental disturbances
    2013 (English)In: Aquatic Toxicology, ISSN 0166-445X, E-ISSN 1879-1514, Vol. 142, 63-72 p.Article in journal (Refereed) Published
    Abstract [en]

    Tetrabromoethylcyclohexane (TBECH) is a brominated flame retardant that has been shown to be a potent agonist to the human androgen receptor (AR). However, while it is present in the environment, it is not known if it interacts with AR from aquatic species. The present study was therefore aimed at improving our understanding of how TBECH affects aquatic animals using zebrafish as a model organism. In silica modeling demonstrated that TBECH diastereomers bind to the zebrafish androgen receptor (zAR) and in vitro and in vivo data showed that TBECH has androgenic properties. Deleterious effects of TBECH were studied on embryonic and juvenile zebrafish and qRT-PCR analysis in vitro and in vivo was performed to determine TBECH effects on gene regulation. TBECH was found to delay hatching at 1 mu M and 10 mu M doses while morphological abnormalities and juvenile mortality was observed at 10 mu M. The qRT-PCR analysis showed alterations of multiple genes involved in chondrogenesis (cartilage development), metabolism and stress response. Thus, TBECH induces androgenic activity and has negative effects on zebrafish physiology and therefore its impact on the environment should be carefully monitored. (C) 2013 Elsevier B.V. All rights reserved.

    Keyword
    Androgens, Endocrine, Endocrine disruptor, Gene regulation
    National Category
    Biological Sciences
    Identifiers
    urn:nbn:se:oru:diva-32902 (URN)10.1016/j.aquatox.2013.07.018 (DOI)000328093900007 ()23958786 (PubMedID)
    Funder
    Knowledge Foundation
    Available from: 2014-01-02 Created: 2014-01-02 Last updated: 2017-12-06Bibliographically approved
    3. The brominated flame retardants TBP-AE and TBP-DBPE antagonize the chicken androgen receptor and alter gene expression in chicken LMH cells
    Open this publication in new window or tab >>The brominated flame retardants TBP-AE and TBP-DBPE antagonize the chicken androgen receptor and alter gene expression in chicken LMH cells
    (English)Manuscript (preprint) (Other academic)
    Keyword
    EDC, Avian, signaling pathways, ATE, BATE, DPTE, TBECH
    National Category
    Biological Sciences
    Identifiers
    urn:nbn:se:oru:diva-43909 (URN)
    Available from: 2015-03-27 Created: 2015-03-27 Last updated: 2017-10-17Bibliographically approved
    4. In silico and biological analysis of anti-androgen activity of the brominated flame retardants ATE, BATE and DPTE in zebrafish
    Open this publication in new window or tab >>In silico and biological analysis of anti-androgen activity of the brominated flame retardants ATE, BATE and DPTE in zebrafish
    Show others...
    (English)Manuscript (preprint) (Other academic)
    Keyword
    Brominated flame retardants, stereoidgenesis, gene regulation, hatch, teratogenesis
    National Category
    Biological Sciences
    Identifiers
    urn:nbn:se:oru:diva-43911 (URN)
    Available from: 2015-03-27 Created: 2015-03-27 Last updated: 2017-10-17Bibliographically approved
  • 132.
    Asnake, Solomon
    et al.
    Örebro University, School of Science and Technology.
    Pradhan, Ajay
    Örebro University, School of Science and Technology.
    Banjop-Kharlyngdoh, Joubert
    Örebro University, School of Science and Technology.
    Modig, Carina
    Örebro University, School of Science and Technology.
    Olsson, Per-Erik
    Örebro University, School of Science and Technology.
    1,2-dibromo-4-(1,2 dibromoethyl) cyclohexane (TBECH)-mediated steroid hormone receptor activation and gene regulation in chicken LMH cells2014In: Environmental Toxicology and Chemistry, ISSN 0730-7268, E-ISSN 1552-8618, Vol. 33, no 4, 891-899 p.Article in journal (Refereed)
    Abstract [en]

    The incorporation of brominated flame retardants into industrial and household appliances has increased their occurrence in the environment, resulting in deleterious effects on wildlife. With the increasing restraints on available compounds, there has been a shift to using brominated flame retardants that has seen the production of alternative brominated flame retardants such as 1,2-dibromo-4-(1,2 dibromoethyl) cyclohexane (TBECH), which has been detected in the environment. In previous in silico and in vitro studies the authors have shown that TBECH can activate both the human androgen receptor (hAR) and the zebrafish AR (zAR) suggesting that it is a potential endocrine disruptor. The present study was aimed at determining the interaction of TBECH with the chicken AR (cAR). In the present study, TBECH bound to cAR, but in vitro activation assay studies using the chicken LMH cell line showed it had a potency of only 15% compared with testosterone. Sequence difference between ARs from different species may contribute to the different responses to TBECH. Further quantitative reverse-transcriptase polymerase chain reaction (qRT-PCR) analysis showed that TBECH interacted with and altered the expression of both thyroid receptors and estrogen receptors. In addition, the qRT-PCR analysis showed that TBECH altered the transcription pattern of genes involved in inflammatory, apoptotic, proliferative, DNA methylation, and drug-metabolizing pathways. This demonstrates that TBECH, apart from activating cAR, can also influence multiple biological pathways in the chicken.

  • 133.
    Asnake, Solomon
    et al.
    Örebro University, School of Science and Technology.
    Pradhan, Ajay
    Biology, The Life Science Center, School of Science and Technology, Örebro University, Örebro, Sweden.
    Kharlyngdoh, Joubert Banjop
    Örebro University, School of Science and Technology.
    Modig, Carina
    Örebro University, School of Science and Technology.
    Olsson, Per-Erik
    Örebro University, School of Science and Technology.
    The brominated flame retardants TBP-AE and TBP-DBPE antagonize the chicken androgen receptor and act as potential endocrine disrupters in chicken LMH cells2015In: Toxicology in Vitro, ISSN 0887-2333, E-ISSN 1879-3177, Vol. 29, no 8, 1993-2000 p.Article in journal (Refereed)
    Abstract [en]

    Increased exposure of birds to endocrine disrupting compounds has resulted in developmental and reproductive dysfunctions. We have recently identified the flame retardants, ally1-2,4,6-tribromophenyl ether (TBP-AE), 2-3-dibromopropy1-2,4,6-tribromophenyl ether (TBP-DBPE) and the TBP-DBPE metabolite 2-bromoallyI-2,4,6-tribromophenyl ether (TBP-BAE) as antagonists to both the human androgen receptor (AR) and the zebrafish AR. In the present study, we aimed at determining whether these compounds also interact with the chicken AR. In silico modeling studies showed that TBP-AE, TBP-BAE and TBP-DBPE were able to dock into to the chicken AR ligand-binding pocket. In vitro transfection assays revealed that all three brominated compounds acted as chicken AR antagonists, inhibiting testosterone induced AR activation. In addition, qRT-PCR studies confirmed that they act as AR antagonists and demonstrated that they also alter gene expression patterns of apoptotic, anti-apoptotic, drug metabolizing and amino acid transporter genes. These studies, using chicken LMH cells, suggest that TBP-AE, TBP-BAE and TBP-DBPE are potential endocrine disrupters in chicken.

  • 134.
    Asnake, Solomon
    et al.
    Örebro University, School of Science and Technology.
    Pradhan, Ajay
    Örebro University, School of Science and Technology.
    Kharlyngdoh, Joubert Banjop
    Örebro University, School of Science and Technology.
    Olsson, Per-Erik
    Örebro University, School of Science and Technology.
    The brominated flame retardants TBP-AE and TBP-DBPE antagonize the chicken androgen receptor and alter gene expression in chicken LMH cellsManuscript (preprint) (Other academic)
  • 135.
    Atterling, Lise-Lotte
    Örebro University, School of Science and Technology.
    TAK-mätning slipmaskiner2014Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Today's Suzuki Garphyttan AB (SG) part of the Suzuki Metal Industry Group. Which is a Japanese company. SG is a world leader in the manufacturing of advanced spring wire used for various automotive applications. The core business of SG is the manufacturing and sales of valve spring wire, flat wire and profiled wire, oil quenched wire, spring wire, and stainless steel spring wire.  SG has its own manufacturing of valve springs for trucks in the Springshop. It´s located within the SG factory area. Springshop implements an improvement with the intention to changes todays functional production to line production. The customers require quality certifications and some customers have themselves wound up its quality control on for spring. The quality control and quality guarantee is then responsible for spring production. This means even higher quality and reliability of the manufacturers. Springshop improvement work to restructure from even higher quality and reliability of the manufacturers.  From the OEE-analysis of grinders machine available data and information on the reasons for include machine downtime. Through the analysis of the measurement results are obtained for the continued improvement of the grinding machine increase utilization and thus secure future production volumes.  The project undertaken was OEE-analysis of grinding machines and it has worked out well. The results that come up have led to what has previously been indications to low utilization now has been measured and documented.  Recommendation to SG is to work with preventive maintenance to have a uneven get a smoother production, a custom orders to the grinders operator are allocated to plots the day before. Order shall be within a reasonable production capacity and with the utmost focus on quality.

  • 136.
    Au Musse, Ayan
    Örebro University, School of Science and Technology.
    Characterization of the metabolic changes in chicken liver due to exposure of perfluorooctane sulfonate (PFOS) during the embryo development2017Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Perfluoroalkyl substances (PFASs) are anthropogenic compounds that have been classed as persistent organic pollutants (POPs) and are found in both commercial and industrial products. PFASs have been detected in different environmental matrices and have been found to bioaccumulate in all trophic levels. The adverse effects that are associated with PFAS exposure include reduced body weight, increased liver weight, hepatocellular hypertrophy, a decrease in serum cholesterol and triglycerides. This project aims to characterize the metabolic changes in lipid metabolism in the liver after exposure to one of the well-studied PFASs, the perfluorooctane sulfonate (PFOS), during the embryo development using the domestic chicken as a model organism.

    The characterization of the metabolic changes was done by conducting both quantitative lipidomic analysis and semi-quantitative global profiling on extracted lipids from liver homogenates from a former related project looking at fatty acid profiles. The extracted lipids were analyzed using UHPLC/Q-TOF-MS. In the quantitative analysis, the PFOS-treated groups (0.1 ug/g and 1.0 ug/g)exhibited higher lipid concentrations when compared with the solvent control group (5% DMSO) and the untreated group leading to the conclusion that PFOS exposure disrupts the lipid metabolism. When comparing the lipid concentrations between the two PFOS-treated groups (0.1 ug/g and 1.0 ug/g), the majority of the lipids exhibited higher lipid concentrations in the 1.0 ug/g PFOS-treated groups leading to the conclusion that the effect PFOS has on the lipid metabolism is dose dependent. In the global profiling analysis, 63 lipids showed significant differences when comparing the solvent control group with samples either treated with 0.1 ug/g PFOS or 1.0 ug/g PFOS.

  • 137.
    Ax, Erika
    et al.
    Department of Public Health and Caring Sciences, Clinical Nutrition and Metabolism, Uppsala University, Uppsala, Sweden.
    Lampa, Erik
    Department of Medical Sciences, Occupational and Environmental Medicine, Uppsala University, Uppsala, Sweden.
    Lind, Lars
    Department of Medical Sciences, Cardiovascular Epidemiology, Uppsala University, Uppsala, Sweden.
    Salihovic, Samira
    Department of Medical Sciences, Cardiovascular Epidemiology, Uppsala University, Uppsala, Sweden.
    van Bavel, Bert
    Örebro University, School of Science and Technology. MTM Research Centre, Örebro University, Örebro, Sweden.
    Cederholm, Tommy
    Department of Public Health and Caring Sciences, Clinical Nutrition and Metabolism, Uppsala University, Uppsala, Sweden.
    Sjögren, Per
    Department of Public Health and Caring Sciences, Clinical Nutrition and Metabolism, Uppsala University, Uppsala, Sweden.
    Lind, P. Monica
    Department of Medical Sciences, Occupational and Environmental Medicine, Uppsala University, Uppsala, Sweden.
    Circulating levels of environmental contaminants are associated with dietary patterns in older adults2015In: Environment International, ISSN 0160-4120, E-ISSN 1873-6750, Vol. 75, 93-102 p.Article in journal (Refereed)
    Abstract [en]

    Background: Food intake contributes substantially to our exposure to environmental contaminants. Still, little is known about our dietary habits' contribution to exposure variability.

    Objective: The aim of this study was to assess circulating levels of environmental contaminants in relation to predefined dietary patterns in an elderly Swedish population.

    Methods: Dietary data and serum concentrations of environmental contaminants were obtained from 844 70-year-old Swedish subjects (50% women) in the Prospective Investigation of the Vasculature in Uppsala Seniors (PIVUS) study. Dietary data from 7-day food records was used to assess adherence to a Mediterranean-like diet, a low carbohydrate-high protein diet and the WHO dietary recommendations. Circulating levels of 6 polychlorinated biphenyl markers, 3 organochlorine pesticides, 1 dioxin and 1 polybrominated diphenyl ether, the metals cadmium, lead, mercury and aluminum and serum levels of bisphenol A and 4 phthalate metabolites were investigated in relation to dietary patterns in multivariate linear regression models.

    Results: A Mediterranean-like diet was positively associated with levels of several polychlorinated biphenyls (118, 126, 153, and 209), trans-nonachlor and mercury. A low carbohydrate-high protein diet was positively associated with polychlorinated biphenyls 118 and 153, trans-nonachlor, hexachlorobenzene and p, p'-dichlorodiphenyldichloroethylene, mercury and lead. The WHO recommended diet was negatively related to levels of dioxin and lead, and borderline positively to polychlorinated biphenyl 118 and trans-nonachlor.

    Conclusion: Dietary patterns were associated in diverse manners with circulating levels of environmental contaminants in this elderly Swedish population. Following the WHO dietary recommendations seems to be associated with a lower burden of environmental contaminants.

  • 138.
    Ax, Erika
    et al.
    Uppsala Univeristy, Sweden.
    Salihovic, Samira
    Örebro University, School of Science and Technology.
    Lind, P. Monica
    Occupational & Environmental Medicine UU, Sweden.
    van Bavel, Bert
    Örebro University, School of Science and Technology.
    Lind, Lars
    Acute & Internal Medicine, UU, Sweden.
    Lampa, Erik
    Occupational & Environmental Medicine UU, Sweden.
    Sjögren, Per
    Clinical Nutrition & Metabolism, UU, Sweden.
    Circulating levels of environmental contaminants are associated with dietary pattern2012In: Toxicology Letters, ISSN 0378-4274, E-ISSN 1879-3169, Vol. 211, no Supplement, S101-S101 p.Article in journal (Refereed)
  • 139.
    Aydin, Ayhan
    Örebro University, School of Science and Technology.
    Påverkas smaken på höns av foder, genmaterial och tillagningsmetoder?2014Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [sv]

    Få produkter i Sverige innehåller idag höns däremot ökar konsumtionen av ägg. Den ojämna balansen mellan ökad äggproduktion och minskad konsumtion av höna tycks vara en uppåtgående trend. Höns som livsmedel har utgått i det ordinarie sortimentet hos de stora livsmedelskedjorna. Livsmedelsproducenter har slutat använda höns på grund av ”kvalitetsbrister” som att de har fått skört skelett. I och med det kan benflisor komma med i köttet. Huvudsakligen är hönsen avlade för att producera mycket ägg - ett om dagen, i stora grupper. Dessa djur är anpassade för storskalig produktion med många djur på en liten yta. Den separering som skett mellan slaktkycklingar och värphöns med början på 1920-talet kan varit en del av förklaringen med minskad hönskötts konsumtion. Hos äldre djur finns det mer bindväv och fettansamling. Den ökade mängden bindväv gör att konsistensen på köttet uppfattas segare men också saftigare, då fett ansamlas där. Substanserna som finns i fettvävnaden, ger upphov till den karaktäristiska smaken och aromen som finns i köttet. Det blir tydligare vid upphettning. När ett djur blir äldre ökar mängden bindväv och dess tvärbindningar, som både stabiliserar men även blir mer värmetåliga. Desto mer ett djuret rör på sig, blir de röda muskelfibrerna aktiva och bildar en grövre struktur. Åldern tillsammans med rörelse kan också skapa ett mer smakrikt kött men även ett segare kött av större fibrer i bindväven som behöver längre tillagningstid.

    I denna studie undersöktes smak samt textur av foder och genmaterial med två olika tillagningsmetoder, kokning samt sous-vide. En panel utvärderade det utifrån 13 variabler. Där det fanns en tydligast signifikans var skillnaden mellan lår och bröst. Att dela upp höns i bröst och lår/vingar gör att förutsättningarna för en mer exakt tillagning ökar. De variabler som hade en signifikans när en PCA-analys gjordes var: textur: saftighet, fethet; smak: härsken; doft: umami, härsket. När t-test utfördes blev det signifikans på saftighet, fethet, smak av härsket och doften av umami. Variablerna som tydligast skilde sig åt mellan bröst och lår var texturerna, saftighet och fethet. Det var ingen signifikant skillnad mellan genotyperna, tillagning eller foder.

  • 140.
    Babu Surreddi, Kumar
    et al.
    Dalarna University, Falun, Sweden.
    Oikonomou, Christos
    Uddeholms AB, Sweden.
    Karlsson, Patrik
    Örebro University, School of Science and Technology.
    Olsson, Mikael
    Dalarna University, Falun, Sweden.
    Pejryd, Lars
    Örebro University, School of Science and Technology.
    In-situ Micro-tensile Testing of Additive Manufactured Maraging Steels in the SEM: Influence of Build Orientation, Thickness and Roughness on the Resulting Mechanical Properties2017Conference paper (Refereed)
    Abstract [en]

    Selective laser melting (SLM) is frequently used additive manufacturing technique capable of producing various complex parts including thin-wall sections. However the surface roughness is a limiting factor in thin sections produced by SLM process when strength is the main criterion. In this study, the influence of build orientation, thickness and roughness on the resulting mechanical properties of as-built test samples was investigated. Various thin sheets of EN 1.2709 maraging steel built in horizontal and vertical orientations produced by SLM were investigated using in-situ micro-tensile testing in a scanning electron microscope. The mechanical strength and deformation mechanisms were analyzed and explained based on thickness and build orientation. Increased ductility was observed in thicker samples as well as in the horizontal build samples. The results illustrate the potential of the in-situ test technique and aspects important to consider in design guidelines for thin AM structures.

  • 141. Bacciu, D.
    et al.
    Broxvall, Mathias
    Örebro University, School of Science and Technology.
    Coleman, S.
    Dragone, M.
    Gallicchio, C.
    Gennaro, C.
    Guzmán, R.
    Lopez, R.
    Lozano-Peiteado, H.
    Ray, A.
    Renteria, A.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Vairo, C.
    Self-sustaining learning for robotic ecologies2012Conference paper (Refereed)
    Abstract [en]

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

  • 142.
    Bacciu, Davide
    et al.
    Dipartimento di Informatica, Università di Pisa, Italy.
    Gallicchio, Claudio
    Dipartimento di Informatica, Università di Pisa, Italy.
    Micheli, Alessio
    Dipartimento di Informatica, Università di Pisa, Italy.
    Di Rocco, Maurizio
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Learning context-aware mobile robot navigation in home environments2014In: IISA 2014: The 5th International Conference on Information, Intelligence, Systems and Applications, New York: Institute of Electrical and Electronics Engineers (IEEE), 2014, 57-62 p., 6878733Conference paper (Refereed)
    Abstract [en]

    We present an approach to make planning adaptive in order to enable context-aware mobile robot navigation. We integrate a model-based planner with a distributed learning system based on reservoir computing, to yield personalized planning and resource allocations that account for user preferences and environmental changes. We demonstrate our approach in a real robot ecology, and show that the learning system can effectively exploit historical data about navigation performance to modify the models in the planner, without any prior information oncerning the phenomenon being modeled. The plans produced by the adapted CL fail more rarely than the ones generated by a non-adaptive planner. The distributed learning system handles the new learning task autonomously, and is able to automatically identify the sensorial information most relevant for the task, thus reducing the communication and computational overhead of the predictive task.

  • 143.
    Baduel, Christine
    et al.
    Queensland Alliance for Environmental Health Sciences (QAEHS), The University of Queensland, Coopers Plains QLD, Australia.
    Mueller, Jochen F.
    Queensland Alliance for Environmental Health Sciences (QAEHS), The University of Queensland, Coopers Plains QLD, Australia.
    Rotander, Anna
    Örebro University, School of Science and Technology. Queensland Alliance for Environmental Health Sciences (QAEHS), The University of Queensland, Coopers Plains QLD, Australia.
    Corfield, John
    Brisbane Airport Corporation PTY Limited, Brisbane QLD, Australia.
    Gomez-Ramos, Maria-Jose
    Queensland Alliance for Environmental Health Sciences (QAEHS), The University of Queensland, Coopers Plains QLD, Australia; Agrifood Campus of International Excellence (CeiA3), Department of Chemistry and Physics, University of Almeria, European Union Reference Laboratory for Pesticide Residues in Fruit and Vegetables, Almería, Spain.
    Discovery of novel per- and polyfluoroalkyl substances (PFASs) at a fire fighting training ground and preliminary investigation of their fate and mobility2017In: Chemosphere, ISSN 0045-6535, E-ISSN 1879-1298, Vol. 185, 1030-1038 p.Article in journal (Refereed)
    Abstract [en]

    Aqueous film forming foams (AFFFs) have been released at fire training facilities for several decades resulting in the contamination of soil and groundwater by per- and polyfluoroalkyl substances (PFASs). AFFF compositions are proprietary and may contain a broad range of PFASs for which the chemical structures and degradation products are not known. In this study, high resolution quadrupole-time-of flight tandem mass spectrometry (LC-QTOF-MS/MS) in combination with data processing using filtering strategies was applied to characterize and elucidate the PFASs present in concrete extracts collected at a fire training ground after the historical use of various AFFF formulations. Twelve different fluorochemical classes, representing more than 60 chemicals, were detected and identified in the concrete extracts. Novel PFASs homologues, unmonitored before in environmental samples such as chlorinated PFSAs, ketone PFSAs, dichlorinated PFSAs and perfluoroalkane sulphonamides (FASAs) were detected in soil samples collected in the vicinity of the fire training ground. Their detection in the soil cores (from 0 to 2 m) give an insight on the potential mobility of these newly identified PFASs.

  • 144. Bahadori, Shahram
    et al.
    Cesta, Amedeo
    Grisetti, Giorgio
    Iocchi, Luca
    Leone, Riccardo G.
    Nardi, Daniele
    Oddi, Angelo
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Rasconi, Riccardo
    RoboCare: pervasive intelligence for the domestic care of the elderly2004In: Intelligenza Artificiale, ISSN 1724-8035, Vol. 1, no 1, 16-21 p.Article in journal (Refereed)
  • 145. Bahr, Adam
    et al.
    Ellström, Magnus
    Akselsson, Cecilia
    Ekblad, Alf
    Örebro University, School of Science and Technology.
    Mikusinska, Anna
    Örebro University, School of Science and Technology.
    Wallander, Håkan
    Growth of ectomycorrhizal fungal mycelium along a Norway spruce forest nitrogen deposition gradient and its effect on nitrogen leakage2013In: Soil Biology and Biochemistry, ISSN 0038-0717, E-ISSN 1879-3428, Vol. 59, 38-48 p.Article in journal (Refereed)
    Abstract [en]

    Almost all boreal and temperate forest tree species live in symbiosis with ectomycorrhizal fungi (EMF); the trees transfer carbon (C) to the fungi in exchange for nutrients and water. Several studies have shown that experimental application of inorganic nitrogen (N) represses production of EMF extramatrical mycelia (EMM), but studies along N deposition gradients are underrepresented. Other environmental variables than N may influence EMM production and in this study we included 29 thoroughly monitored Norway spruce stands from a large geographical region in Sweden in order to evaluate the importance of N deposition on EMM growth and N leaching in a broader context. It was concluded that N deposition was the most important factor controlling EMM production and that the amounts typically deposited in boreal and boreo-nemoral regions can be sufficient to reduce EMM growth. Other factors, such as phosphorus status and pH, were also correlated with EMM production and should be considered when predicting EMM growth and N leaching. We also showed that EMM production substantially contributed to the C sequestration (320 kg ha(-1) yr(-1)), suggesting that it should be included in C cycle modelling. Furthermore, EMF are probably important for the N retention capacity since high N leaching coincided with low EMM growth. However, it was not possible to differentiate between the effects of EMF and the direct effect of N deposition on N leaching in the present study.

  • 146.
    Balcha, Ermias Sissay
    Örebro University, School of Science and Technology.
    C10X Polymorphism in the CARD8 gene is Associated with Bacteremia2012Independent thesis Advanced level (degree of Master (Two Years)), 30 credits / 45 HE creditsStudent thesis
  • 147.
    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.
    A framework for automatic text generation of trends in physiological time series data2013In: IEEE International Conference on Systems, Man, and Cybernetics, 13-16 Oct. 2013, Manchester, IEEE conference proceedings, 2013, 3876-3881 p.Conference paper (Refereed)
    Abstract [en]

    Health monitoring systems using wearable sensorshave rapidly grown in the biomedical community. The mainchallenges in physiological data monitoring are to analyse largevolumes of health measurements and to represent the acquiredinformation. Natural language generation is an effective methodto create summaries for both clinicians and patients as it candescribe useful information extracted from sensor data in textualformat. This paper presents a framework of a natural languagegeneration system that provides a text-based representation ofthe extracted numeric information from physiological sensorsignals. More specifically, a new partial trend detection algorithmis introduced to capture the particular changes and events ofhealth parameters. The extracted information is then representedconsidering linguistic characterisation of numeric features. Ex-perimental analysis was performed using a wearable sensor and demonstrates a possible output in natural language text.

  • 148.
    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.
    Data mining for wearable sensors in health monitoring systems: a review of recent trends and challenges2013In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 13, no 12, 17472-17500 p.Article in journal (Refereed)
    Abstract [en]

    The past few years have witnessed an increase in the development of wearable sensors for health monitoring systems. This increase has been due to several factors such as development in sensor technology as well as directed efforts on political and stakeholder levels to promote projects which address the need for providing new methods for care given increasing challenges with an aging population. An important aspect of study in such system is how the data is treated and processed. This paper provides a recent review of the latest methods and algorithms used to analyze data from wearable sensors used for physiological monitoring of vital signs in healthcare services. In particular, the paper outlines the more common data mining tasks that have been applied such as anomaly detection, prediction and decision making when considering in particular continuous time series measurements. Moreover, the paper further details the suitability of particular data mining and machine learning methods used to process the physiological data and provides an overview of the properties of the data sets used in experimental validation. Finally, based on this literature review, a number of key challenges have been outlined for data mining methods in health monitoring systems

  • 149.
    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.
    Descriptive Modelling of Clinical Conditions with Data-driven Rule Mining in Physiological Data2015In: Proceedings of the 8th International conference of Health Informatics (HEALTHINF 2015), SciTePress, 2015Conference paper (Refereed)
    Abstract [en]

    This paper presents an approach to automatically mine rules in time series data representing physiologicalparameters in clinical conditions. The approach is fully data driven, where prototypical patterns are mined foreach physiological time series data. The generated rules based on the prototypical patterns are then describedin a textual representation which captures trends in each physiological parameter and their relation to the otherphysiological data. In this paper, a method for measuring similarity of rule sets is introduced in order tovalidate the uniqueness of rule sets. This method is evaluated on physiological records from clinical classesin the MIMIC online database such as angina, sepsis, respiratory failure, etc.. The results show that the rulemining technique is able to acquire a distinctive model for each clinical condition, and represent the generatedrules in a human understandable textual representation

  • 150.
    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 Monitoringwith Body Area Networks2013In: 14th European Workshop on Natural Language Generation, 2013, 193-197 p.Conference 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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