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  • 51.
    Alirezaie, Marjan
    et al.
    Örebro University, School of Science and Technology.
    Renoux, Jennifer
    Örebro University, School of Science and Technology.
    Köckemann, Uwe
    Örebro University, School of Science and Technology.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Karlsson, Lars
    Örebro University, School of Science and Technology.
    Blomqvist, Eva
    Tsiftes, Nicolas
    Voigt, Thiemo
    RISE SICS.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    An Ontology-based Context-aware System for Smart Homes: E-care@home2017In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, no 7, 1586Article in journal (Refereed)
    Abstract [en]

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

  • 52.
    Allard, Bert
    Örebro University, School of Science and Technology.
    Alunskiffer – avfall eller råvara?: vittring och lakbarhet vid naturligt pH-intervall2014Conference paper (Other academic)
  • 53.
    Allard, Bert
    Örebro University, School of Science and Technology.
    Passive barriers as a tool to treat environmental pollution2012In: / [ed] Mattiasson B, 2012, 50-51 p.Conference paper (Refereed)
  • 54.
    Allard, Bert
    Örebro University, School of Science and Technology.
    Sustainable Business Mälardalen: sustainable environmental technology in a global arena2012Conference paper (Other academic)
  • 55.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology.
    Andrusikiewicz, Waclaw
    Bäckström, Mattias
    Örebro University, School of Science and Technology.
    Bilstad, Torleiv
    Cala, Marek
    Cholewa, Marcin
    Drielsma, Johannes
    Galos, Krzysztof
    Gehör, Seppo
    Karu, Veiko
    Kotarska, Izabela
    Koch, Lutz
    Kreisel, Stefan
    Kuiala, Kauko
    Kulczycka, Joanna
    Ostrega, Anna
    Repo, Hanna
    Sädbom, Stefan
    Szcech, Anna
    Szlugaj, Jaroslaw
    Szmigielski, Piotr
    Swierczynski, Wieslaw
    Uberman, Ryszard
    Valgma, Ingo
    Wrzosek, Krzysztof
    Mining waste management in the Baltic Sea Region: Min-Novation project2013Book (Refereed)
  • 56.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology.
    Borchadt, D.
    Burri, P.
    Grigelis, A.
    Growitsch, C.
    Kalaydjian, F.
    Mair, R.
    Maisonnier, G.
    Pawlowski, L.
    Reichetseder, P.
    Swennen, R.
    Norton, M.
    Shale gas extraction: issues of particular relevance to the European Union2014Report (Other academic)
  • 57.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology.
    Bäckström, Mattias
    Örebro University, School of Science and Technology.
    Cala, Marek
    Ostreca, A.
    Reclamation and revitalisation of waste dumps or land after waste recovery2013In: Mining waste management in the Baltic Sea Region: Min-Novation project / [ed] Marek Cała, Krakow: Wydawnictwa AGH , 2013, 195-236 p.Chapter in book (Refereed)
  • 58.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology.
    Bäckström, Mattias
    Örebro University, School of Science and Technology.
    Karlsson, Stefan
    Örebro University, School of Science and Technology.
    Grawunder, Anja
    Institute of Geoscience, Friedrich Schiller University, Jena, Germany .
    Neutralisation of an acidic pit lake by alkaline waste products2014In: Environmental science and pollution research international, ISSN 0944-1344, E-ISSN 1614-7499, Vol. 21, no 11, 6930-6938 p.Article in journal (Refereed)
    Abstract [en]

    A former open pit where black shale (alum shale) was excavated during 1942-1965 has been water filled since 1966. The water chemistry was dominated by calcium and sulphate and had a pH of 3.2-3.4 until 1997-1998, when pH was gradually increasing. This was due to the intrusion of leachates from alkaline cement waste deposited close to the lake. A stable pH of around 7.5 was obtained after 6-7 years. The chemistry of the pit lake has changed due to the neutralisation. Concentrations of some dissolved metals, notably zinc and nickel, have gone down, as a result of adsorption/co-precipitation on solid phases (most likely iron and aluminium hydroxides), while other metals, notably uranium and molybdenum, are present at elevated levels. Uranium concentration is reaching a minimum of around pH 6.5 and is increasing at higher pH, which may indicate a formation of neutral and anionic uranyl carbonate species at high pH (and total carbonate levels around 1 mM). Weathering of the water-exposed shale is still in progress.

  • 59.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology.
    Bäckström, Mattias
    Örebro University, School of Science and Technology.
    Karlsson, Stefan
    Örebro University, School of Science and Technology.
    Sartz, Lotta
    Örebro University, School of Science and Technology. Bergskraft Bergslagen AB.
    Sjöberg, Viktor
    Örebro University, School of Science and Technology.
    Sädbom, Stefan
    Bergskraft, Bergslagen.
    Control of metal releases from historic sulphidic mine waste: Experience from the test site at the Ljusnarsberg mine field, Sweden (Project Bergskraft Bergslagen)2010In: Proc. EU Mine Drainage Research Exchange Conf. PADRE, June 11, Freiberg, Germany, 2010, 1 p- p.Conference paper (Refereed)
  • 60.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology.
    Bäckström, Mattias
    Örebro University, School of Science and Technology.
    Karlsson, Stefan
    Örebro University, School of Science and Technology.
    Sartz, Lotta
    Örebro University, School of Science and Technology. Bergskraft Bergslagen AB.
    Sädbom, Stefan
    Bergskraft Bergslagen.
    Strategy for treatment of historic sulphidic mine waste: Experiences from the Ljusnarsberg Mine Field, Sweden2009In: Proc. 12th EuCheMS International Conference on Chemistry and the Environment, June 14-17, Stockholm, 2009, 197- p.Conference paper (Refereed)
  • 61.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology.
    Grandin, Anna
    Örebro University, School of Science and Technology.
    Karlsson, Stefan
    Örebro University, School of Science and Technology.
    Sjöberg, Viktor
    Örebro University, School of Science and Technology.
    Black shale: a biogeochemical archive2014In: Sedimentary Pore Space Cementation: Role of Microbes / [ed] Kothe E, Büchel G, 2014, 6- p.Conference paper (Refereed)
  • 62.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology. Remedy by Sweden AB, Eskilstuna, Sweden; Mälardalen Univ., Västerås, Sweden.
    Hedlund, Jonas
    Structor Miljöteknik AB, Eskilstuna, Sweden.
    Carlsson, Peter
    Remedy by Sweden AB, Eskilstuna, Sweden; Structor Miljöteknik AB, Eskilstuna, Sweden.
    Eriksson, Ingvar
    Remedy by Sweden AB, Eskilstuna, Sweden; Structor Miljöteknik AB, Eskilstuna, Sweden.
    Sjöberg, Viktor
    Örebro University, School of Science and Technology.
    Karlsson, Stefan
    Örebro University, School of Science and Technology. Remedy by Sweden AB, Eskilstuna, Sweden.
    Metal mobility or metal concentration as the basis for remediation strategy: a case study2014Conference paper (Refereed)
  • 63.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Karlsson, Stefan
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Greis, Christina
    Örebro University, Department of Natural Sciences.
    Pettersson, Håkan
    Linköpng Univ.
    Düker, Anders
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Redistribution of Pu, Am, Cs and Np in salt marsh sediment: Wigtown Merse, Irish Sea2009In: 8th International Conference on Methods and Applications of Radioanalytical Chemistry (MARC VIII) / [ed] Rolf Zeisler, Kenan Ünlü, Susan Heller-Zeisler, Melville, N.Y.: American Institute of Physics (AIP), 2009, 1-24 p.Conference paper (Refereed)
  • 64.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology.
    Karlsson, Stefan
    Örebro University, School of Science and Technology.
    Sjöberg, Viktor
    Örebro University, School of Science and Technology.
    Metal loads or metal concentrations as the basis for risk assessment of a polluted site: a case study2013In: Sardinia 2013: executive summaries : proceedings of the fourteenth International Waste Management and Landfill Symposium / [ed] Raffaello Cossu, Pinjing He, Peter Kjeldsen, Yasushi Matsufuji, Debra Reinhart, Rainer Stegmann, Cagliari: CISA , 2013Conference paper (Refereed)
  • 65.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology. Remedy by Sweden AB, Eskilstuna, Sweden; Mälardalen Univ., Västerås, Sweden.
    Martell, Ulrika
    Structor Miljöteknik AB, Eskilstuna, Sweden.
    Andersson, Matilda
    Structor Miljöteknik AB, Eskilstuna, Sweden.
    Nordén, Anna
    Structor Miljöteknik AB, Eskilstuna, Sweden.
    Karlsson, Stefan
    Örebro University, School of Science and Technology. Remedy by Sweden AB, Eskilstuna, Sweden.
    Sjöberg, Viktor
    Örebro University, School of Science and Technology.
    Carlsson, Peter
    Remedy by Sweden AB, Eskilstuna, Sweden; Structor Miljöteknik AB, Eskilstuna, Sweden.
    Reduction in situ of chromium(VI) at a heavily polluted site: a feasible remediation strategy2014Conference paper (Refereed)
  • 66.
    Allard, Bert
    et al.
    Örebro University, School of Science and Technology.
    Paneva, E.
    Saint Petersburg state university, St. Petersburg, Russia.
    Black shales in northern Europe: biogeochemical impact2014In: Biogenic-Abiogenic interactions in natural and anthropogenic systems, 2014Conference paper (Refereed)
  • 67.
    Almerstedt, Matilda
    et al.
    Örebro University, School of Science and Technology.
    Lindhé, Johanna
    Örebro University, School of Science and Technology.
    Empirisk studie i form och geometrins upplevda inverkan på konsument produkter2012Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Abstract

    It is unclear which mechanical properties that affect consumer products, it can be assumed that the shape and geometry affect the perceived feeling of consumer products. The aim of the project is to examine how the geometry and folding views affect the feeling in the use of consumer products.The study was performed on three consumer products of different dimensions where each product was produced in two different versions. The results showed that consumer product’s geometry is significant, while the folding views do not have a significant impact.

  • 68.
    Almkvist, Jimmy
    Örebro University, School of Science and Technology.
    Empirecraft2014Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    I have in my thesis produced a start of a multiplayer, voxel, strategy sandbox game with

    advanced AI. The world is made out of voxels in the form of blocks that both the players and

    other units can affect and change. In a world where every block follows the laws of physics

    for both fluids and physics. The game is designed for several players that fights for controll

    over land and resources.

  • 69.
    Almquist, Linnea
    Örebro University, School of Science and Technology.
    Aktiviteter i matematikundervisning: En studie om aktiviteter som erbjuds i lärarhandledningar för matematikundervisningi årskurs 1–32017Independent thesis Advanced level (degree of Master (Two Years)), 10 credits / 15 HE creditsStudent thesis
    Abstract [sv]

    Att använda lärarhandledningar som stöd har länge haft en betydande roll i finsk matematikundervisning, och på senare år har flera finska läromedel översatts till svenska (Hoelgaard, 2015). Syftet med den här studien var att bidra med ökad förståelse för vilken typ av stöd, i form av aktiviteter, en lärarhandledning som översatts från finska till svenska ger. Aktiviteter för nio lektioner ur tre lärarhandledningar för årskurs 1–3 från läromedlet ’Favorit matematik’ har studerats utifrån en kvalitativ textanalys, med kvantitativa inslag. Genom en kvalitativ intervju med två matematiklärare i årskurs 1–3 som använder de aktuella lärarhandledningarna har aktiviteterna studerats utifrån vilka aktiviteter lärarna använder, inte använder samt vilka aktiviteter de önskar fanns i lärarhandledningarna. Resultatet av textanalysen visar att det i det analyserade materialet erbjuds 102 aktiviteter. Elever arbetar enskilt och förvärvar kunskap i nästan en tredjedel av dem, men ett brett urval av aktiviteter där elever arbetar tillsammans och lär sig genom deltagande erbjuds också. Lärarna upplever dock att det finns ett riktat fokus mot enskilt arbete i elevboken, vilket också blir synligt genom textanalysen.

  • 70.
    Almqvist, Håkan
    et al.
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Magnusson, Martin
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Improving Point Cloud Accuracy Obtained from a Moving Platform for Consistent Pile Attack Pose Estimation2014In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 75, no 1, 101-128 p.Article in journal (Refereed)
    Abstract [en]

    We present a perception system for enabling automated loading with waist-articulated wheel loaders. To enable autonomous loading of piled materials, using either above-ground wheel loaders or underground load-haul-dump vehicles, 3D data of the pile shape is needed. However, using common 3D scanners, the scan data is distorted while the wheel loader is moving towards the pile. Existing methods that make use of 3D scan data (for autonomous loading as well as tasks such as mapping, localisation, and object detection) typically assume that each 3D scan is accurate. For autonomous robots moving over rough terrain, it is often the case that the vehicle moves a substantial amount during the acquisition of one 3D scan, in which case the scan data will be distorted. We present a study of auto-loading methods, and how to locate piles in real-world scenarios with nontrivial ground geometry. We have compared how consistently each method performs for live scans acquired in motion, and also how the methods perform with different view points and scan configurations. The system described in this paper uses a novel method for improving the quality of distorted 3D scans made from a vehicle moving over uneven terrain. The proposed method for improving scan quality is capable of increasing the accuracy of point clouds without assuming any specific features of the environment (such as planar walls), without resorting to a “stop-scan-go” approach, and without relying on specialised and expensive hardware. Each new 3D scan is registered to the preceding using the normal-distributions transform (NDT). After each registration, a mini-loop closure is performed with a local, per-scan, graph-based SLAM method. To verify the impact of the quality improvement, we present data that shows how auto-loading methods benefit from the corrected scans. The presented methods are validated on data from an autonomous wheel loader, as well as with simulated data. The proposed scan-correction method increases the accuracy of both the vehicle trajectory and the point cloud. We also show that it increases the reliability of pile-shape measures used to plan an efficient attack pose when performing autonomous loading.

  • 71.
    Almqvist, Håkan
    et al.
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Magnusson, Martin
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Stoyanov, Todor
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Improving Point-Cloud Accuracy from a Moving Platform in Field Operations2013In: 2013 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2013, 733-738 p.Conference paper (Refereed)
    Abstract [en]

    This paper presents a method for improving the quality of distorted 3D point clouds made from a vehicle equipped with a laser scanner moving over uneven terrain. Existing methods that use 3D point-cloud data (for tasks such as mapping, localisation, and object detection) typically assume that each point cloud is accurate. For autonomous robots moving in rough terrain, it is often the case that the vehicle moves a substantial amount during the acquisition of one point cloud, in which case the data will be distorted. The method proposed in this paper is capable of increasing the accuracy of 3D point clouds, without assuming any specific features of the environment (such as planar walls), without resorting to a "stop-scan-go" approach, and without relying on specialised and expensive hardware. Each new point cloud is matched to the previous using normal-distribution-transform (NDT) registration, after which a mini-loop closure is performed with a local, per-scan, graph-based SLAM method. The proposed method increases the accuracy of both the measured platform trajectory and the point cloud. The method is validated on both real-world and simulated data.

  • 72.
    Alnehem, Isabell
    Örebro University, School of Science and Technology.
    Assessment on Groundwater Contamination from a Former Hard Chromium Plating Site in Iggesund2016Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Before the persistent and toxicological properties of perfluoroalkyl and polyfluoroalkyl substances (PFASs) were known they were used worldwide. The thermal and chemical stability from the carbon-fluorine bond makes these substances desirable for industrial applications. One particular PFAS that have received much attention is perfluorooctanesulfonic acid (PFOS) which is included in the Stockholm convention. Analyses have detected PFASs, especially the ones with longer carbon chain, in the environment, wildlife and humans so replacements are being searched for. This study investigates groundwater around a former hard chromium plating site, which is one of the registered exceptions where PFOS still is used. Five different located sampling points were collected and analyzed from this site in Iggesund, which is in the northern parts of Sweden. The substances analyzed for were thirteen perfluorinated carboxylic acids (PFCAs: C4-C14, C16 and C18), five perfluorinated sulfonic acids (PFSAs: C4, C6, C8 and C10) and 6:2 fluorotelomer sulfonate (6:2 FTS). The 6:2 telomer substances is being used as a replacement for similar compounds with longer carbon chains, but are believed to undergo biotransformation to persistent alkyl acids like perfluorohexanoic acid (PFHxA) in the environment. Solid phase extraction was performed on 500 mL filtered groundwater with and the concentrated samples were analyzed on an Ultra Performance Liquid Chromatography (UPLC), tandem mass spectrometer. The glass microfiber filters used for filtrating the groundwater were analyzed for particle bound PFASs. Results from the water extraction analysis showed eight detected PFAS, with PFOS as the major contributor (72 - 9600 ng/L). The PFOS concentrations differs substantially between the five groundwater samples where the two sampling points located south of the facility, and closest to the actual hard chromium plating, were clearly higher than the other three. Two other substances detected in high concentration were perfluorobutanesulfonic acid (PFBuS), 8-1550 ng/L, and perfluorohexanesulfonic acid (PFHxS), 18-140 ng/L which can be produced as an impurity during the production of PFOS. PFCAs in all samples were detected in lower concentrations (1-25 ng/L).

    Additional to the PFAS analysis, the groundwater was also measured for chromium since the carcinogenic hexavalent form is used in the chromic acid bath during hard chromium plating. In the same two samples that had the highest PFAS concentration, chromium was found in high concentration, 34900-44800 μg/L. These result indicates that the chromic acid baths is the source for the elevated concentrations found in the groundwater. If the facilities are left to deteriorate it will lead to continuously spreading of chromium and the highly water soluble PFASs downstream to Iggesundså which is of concern for the environment and water living organisms.

  • 73.
    Amadei, Damien
    et al.
    Univ Bordeaux, CBMN, Lab Chim & Biol Membranes & Nanoobjets, UMR 5248, F-33600 Pessac, France..
    Chatzidaki, Maria D.
    Örebro University, School of Science and Technology. Natl Hellen Res Fdn, Inst Theoret & Phys Chem, Inst Biol Med Chem & Biotechnol, GR-11635 Athens, Greece.
    Devienne, Julia
    Univ Bordeaux, CBMN, Lab Chim & Biol Membranes & Nanoobjets, UMR 5248, F-33600 Pessac, France..
    Monteil, Julien
    Univ Bordeaux, CBMN, Lab Chim & Biol Membranes & Nanoobjets, UMR 5248, F-33600 Pessac, France..
    Cansell, Maud
    Univ Bordeaux, CBMN, Lab Chim & Biol Membranes & Nanoobjets, UMR 5248, F-33600 Pessac, France..
    Xenakis, Aristotelis
    Natl Hellen Res Fdn, Inst Theoret & Phys Chem, Inst Biol Med Chem & Biotechnol, GR-11635 Athens, Greece.;Univ Orebro, MTM Res Ctr, Sch Sci & Technol, S-31705 Orebro, Sweden..
    Leal-Calderon, Fernando
    Univ Bordeaux, CBMN, Lab Chim & Biol Membranes & Nanoobjets, UMR 5248, F-33600 Pessac, France..
    Low shear-rate process to obtain transparent W/O fine emulsions as functional foods2014In: Food Research International, ISSN 0963-9969, E-ISSN 1873-7145, Vol. 62, 533-540 p.Article in journal (Refereed)
    Abstract [en]

    Edible transparent emulsions of the water-in-oil (W/O) type are highly sought after and currently not available. In such materials, the water droplets can be advantageously used as reservoirs to encapsulate biologically active hydrophilic substances (minerals, antioxidants, etc.). The emulsions must remain transparent, fluid and kinetically stable to meet consumers' requirements. In this paper, we describe a simple yet versatile process to fabricate food grade transparent W/O emulsions. Our method involves the preparation of coarse emulsions which are submitted to shear under laminar flow conditions to reduce their average droplet size. The process generates negligible heat and consequently, it preserves the integrity of thermally sensitive compounds. The obtained emulsions contain between 5 and 10 wt.% of aqueous droplets whose average droplet size is lower than 200 nm. They are kinetically stable for at least 2 months. Transparency results from the relatively low droplet size and the incorporation in the aqueous phase of hydrophilic solutes that decrease the refractive index mismatch between the two immiscible phases.

  • 74.
    Amato, G.
    et al.
    ISTI-CNR, Pisa, Italy.
    Bacciu, D.
    Università di Pisa, Pisa, Italy.
    Broxvall, Mathias
    Örebro Universitet, Örebro, Sweden.
    Chessa, S.
    Università di Pisa, Pisa, Italy.
    Coleman, S.
    University of Ulster, Ulster, UK.
    Di Rocco, Maurizio
    Örebro Universitet, Örebro, Sweden.
    Dragone, M.
    Trinity College Dublin, Dublin, Ireland.
    Gallicchio, C.
    Università di Pisa, Pisa, Italy.
    Gennaro, C.
    ISTI-CNR, Pisa, Italy.
    Lozano, H.
    Tecnalia, Madrid, Spain.
    McGinnity, T. M.
    University of Ulster, Ulster, UK.
    Micheli, A.
    Università di Pisa, Pisa, Italy.
    Ray, A. K.
    University of Ulster, Ulster, UK.
    Renteria, A.
    Tecnalia, Madrid, Spain.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Swords, D.
    University College Dublin, Dublin, Ireland.
    Vairo, C.
    ISTI-CNR, Pisa, Italy.
    Vance, P.
    University of Ulster, Ulster, UK.
    Robotic Ubiquitous Cognitive Ecology for Smart Homes2015In: Journal of Intelligent and Robotic Systems, ISSN 0921-0296, E-ISSN 1573-0409, Vol. 80, S57-S81 p.Article in journal (Refereed)
    Abstract [en]

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

  • 75.
    Amato, Giuseppe
    et al.
    ISTI-CNR, Pisa, Italy.
    Broxvall, Mathias
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Chessa, Stefano
    Università di Pisa, Pisa, Italy.
    Dragone, Mauro
    University College Dublin, Dublin, Ireland.
    Gennaro, Caludio
    ISTI-CNR, Pisa, Italy.
    Lopez, Rafa
    Robotnik Automation, Valencia, Spain.
    Maguire, Liam
    University of Ulster, Coleraine, Ireland.
    McGinnity, Martin T.
    University of Ulster, Coleraine, Ireland.
    Micheli, Alessio
    Università di Pisa, Pisa, Italy.
    Renteria, Arantxa
    Tecnalia, Derio, Spain.
    O’Hare, Gregory M. P.
    University College Dublin, Dublin, Ireland.
    Pecora, Federico
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Robotic UBIquitous COgnitive Network2012In: Ambient Intelligence: Software and Applications / [ed] Paulo Novais, Kasper Hallenborg, Dante I. Tapia, Juan M. Corchado Rodríguez, Springer-Verlag New York, 2012, 191-195 p.Conference paper (Refereed)
    Abstract [en]

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

  • 76.
    Amir, Halmat
    et al.
    Örebro University, School of Science and Technology. Örebro universitet.
    Björk, Chritian
    Örebro universitet.
    EGENKONTROLLER OCH FUKT, EN DEL I KVALITETSARBETET2013Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    To ensure a high quality of the final product it’s important that quality work is considered during the production. Quality work affects the company in a positive way by making our customers happy, improving and retaining our good reputation and leads to a good economy. NCC suspects that there’s insufficient quality work during production in the construction in-dustry across the country and based on that they want us to examine how they’re handling this. In this thesis we’ve done the interviews on five of NCC's ongoing projects in Örebro County in order to provide a picture about how the process of quality controls and moisture at the construction sites works. We’ll identify how employees work with their quality controls and moisture during the production, if there are any deficiencies in the work and in such case what’s causing it.

  • 77.
    Amouzgar, Kaveh
    et al.
    Product Development Department, School of Engineering, Jönköping University, Jönköping, Sweden; School of Engineering Science, University of Skövde, Skövde, Sweden.
    Strömberg, Niclas
    Örebro University, School of Science and Technology, Örebro University, Sweden. Department of Mechanical Engineering.
    Radial Basis Functions as Surrogate Models with A Priori Bias in Comparison with a Posteriori Bias2017In: Structural and multidisciplinary optimization (Print), ISSN 1615-147X, E-ISSN 1615-1488, Vol. 55, no 4, 1453-1469 p.Article in journal (Refereed)
    Abstract [en]

    In order to obtain a robust performance, the established approach when using radial basis function networks (RBF) as metamodels is to add a posteriori bias which is defined by extra orthogonality constraints. We mean that this is not needed, instead the bias can simply be set a priori by using the normal equation, i.e. the bias becomes the corresponding regression model. In this paper we demonstrate that the performance of our suggested approach with a priori bias is in general as good as, or even for many test examples better than, the performance of RBF with a posteriori bias. Using our approach, it is clear that the global response is modelled with the bias and that the details are captured with radial basis functions. The accuracy of the two approaches are investigated by using multiple test functions with different degrees of dimensionality. Furthermore, several modeling criteria, such as the type of radial basis functions used in the RBFs, dimension of the test functions, sampling techniques and size of samples, are considered to study their affect on the performance of the approaches. The power of RBF with a priori bias for surrogate based design optimization is also demonstrated by solving an established engineering benchmark of a welded beam and another benchmark for different sampling sets generated by successive screening, random, Latin hypercube and Hammersley sampling, respectively. The results obtained by evaluation of the performance metrics, the modeling criteria and the presented optimal solutions, demonstrate promising potentials of our RBF with a priori bias, in addition to the simplicity and straight-forward use of the approach.

  • 78.
    Andersson, Alexander
    et al.
    Örebro University, School of Science and Technology.
    Hjelmqvist, Rasmus
    Örebro University, School of Science and Technology.
    Värdeflödeskartläggning och slöserier2015Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Atria Scandinavia is a company belonging to the Atria Group which is one of the largest companies in the food industry in Finland. One of their factories is located in Sköllersta, Sweden, that produce sausages, burgers and whole-meat products.

    Two products of whole-meat department was in need of a value stream mapping because the current time studies of the processes were no longer relevant. One of the products are one of the most common and oldest in Atria, sliced whole-muscle and the other a poultry product that is one of the newest. In order to calculate the cost of the sold goods in a correct manner an updated time-study was required.

    Value Stream Mapping is a powerful tool from the Lean philosophy that gives the company a very good overview of the value stream and all processes. This provides good opportunity for a deep understanding of the processes and value-flows, something that is vital for further improvement. The work with value stream analysis generated following results:

    • Updated time studies

    • Process descriptions

    • Value Stream Maps

    • Presentation of the value-adding as well as non-value-adding time

    • A kinship chart with problem areas in the value flows of the products

    • Possible root causes of problems in the flows

    • Proposed measures to handle these problems

  • 79.
    Andersson, Antonia
    Örebro University, School of Science and Technology.
    Fytoremediering med perenn solros i åkerjord2015Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [sv]

    Inledning: Jordar förorenade med höga halter giftiga metaller till följd av antropogen verksamhet förekommer på flera platser på jorden och kan utgöra hälsorisk för både människor, djur och miljö. Därför finns orsak att se på miljövänliga metoder för sanering av förorenad mark. Då konventionella saneringsmetoder där jorden förflyttas från platsen ofta är mycket kostsamma och riskerar störa ekosystemen i hög grad är fytoremediering en metod med stor potential, vilken går ut på att rena mark eller vatten med växter. Studier har bland annat gjorts där annuell solros visat sig användbar för rening mark. Däremot verkar inga studier finns för perenn solros förmåga att ackumulera metaller från mark. Syfte: Syftet med studien är att undersöka perenn solros H. maximilianis upptag av metaller från jord hämtad från en åker i Mellansverige, samt att kvantifiera och kemiskt karakterisera metallerna i jorden. Frågeställningen studien ämnar besvara är om solrosen H. maximiliani lämpar sig för fytoremediering av metallförorenad mark. Metod: Perenn solros av sorten Helianthus maximiliani såddes i jord hämtad från en åker i Mellansverige och placerades i ett klimatreglerat växthus på Örebro universitet. Frön såddes samtidigt i såjord och vermiculit för senare omplantering till krukor med åkerjorden. Åkerjorden analyserades innan sådd på syralakbar halt metaller samt på växttillgänglig, reducerbar och oxiderbar halt. Plantorna skördades vid två tillfällen varpå metallinnehållet mättes för olika växtdelar. Jorden analyserades efter skörd. Metallanalysen gjordes i IPC-MS Agilent 7500 cx. Resultaten analyserades utifrån en signifikansnivå på 5 % och plantans ackumuleringseffektivitet beräknades och bedömdes utifrån BCF (bioconcentration factors). Resultat och slutsats: H. maximilianis tillväxt i åkerjorden var låg. Möjligtvis på grund av låg syrehalt och/eller lågt pH i jorden. H. maximiliani tog effektivt upp metaller som V, Cr, Co, Ni, Cu, Zn, Sr, Mo, Cd, Ba och Tl från den växttillgängliga fraktionen i marken till blad och stjälk. För att i realiteten kunna använda den perenna solrosen H maximiliani som fytoremedieringsgröda krävs högre tillväxt än vad som åstadkommits i studien. Åkerjorden från Kvinnersta innehöll halter av Cd, Cu, Zn och Ni högre än riktvärdena för acceptabel nivå innan slamgödsling bör ske, samt halter som översteg eller gränsade till riktvärdena för högsta acceptabla nivå för känslig markanvändning för metallerna As, Ba, Cd, Cu, och Zn. Halten uran var mellan cirka 5 och 50 gånger högre än den genomsnittliga uranhalten för jordar i Europa. De metaller av dem som förekom i hög halt i jorden (jämfört med Naturvårdsverkets gränsvärden för känslig markanvändning, samt gräns vid slamgödsling) som H. maximiliani inte tog upp effektivt var As, Pb och U.

  • 80.
    Andersson, Birgitta
    et al.
    Örebro University, School of Science and Technology.
    Stranneby, Dag
    Örebro University, School of Science and Technology.
    Long term charge retention on PWBs2005Conference paper (Other academic)
    Abstract [en]

    A sample of printed wiring boards, isolated from ground, has been charged tribo-electrically and the charge decay process has been studied with focus on the long-term charge decay behaviour. It was found that the time constant 1/e did not say much about the proceeding decay process. Instead a second-order approximation model for the measured decay curves has been suggested.

  • 81.
    Andersson, Birgitta
    et al.
    Örebro University, School of Science and Technology.
    Stranneby, Dag
    Örebro University, School of Science and Technology.
    Long term charge retention on PWBs2005Conference paper (Other academic)
    Abstract [en]

    A sample of printed wiring boards, isolated from ground, has been charged tribo-electrically and the charge decay process has been studied with focus on the long-term charge decay behaviour. It was found that the time constant 1/e did not say much about the proceeding decay process. Instead a second-order approximation model for the measured decay curves has been suggested.

  • 82.
    Andersson, Birgitta
    et al.
    Örebro University, School of Science and Technology.
    Stranneby, Dag
    Örebro University, School of Science and Technology.
    Remote monitoring of Electrostatic Charges in an EPA2007Conference paper (Other academic)
  • 83.
    Andersson, Dennis
    et al.
    Örebro University, School of Science and Technology.
    Holck, Adrian
    Örebro University, School of Science and Technology.
    Köldbryggeanalys - jämförelse av väggar med lätt-träreglar respektive solida träreglar2014Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Today's focus on energy efficiency in new buildings puts high demands on the design and choice of materials to achieve low energy use. Thermal bridges influence the efficiency of the insulation in the building envelope. This report examines how the choice between traditional structural wood and light wood studs affects the heat flow through the thermal bridge that arises in that area. The program HEAT has been used for heat flow calculations. HEAT meets the standard for detailed heat flow calculations: EN ISO 10211:2007. Some common design solutions have been selected and modeled in HEAT, both homogeneous wood studs and light studs, respectively, in the same technical solution. The result is how much heat that flows out of the various construction solutions. The report shows a reduction of the thermal bridge in selection of lightweight studs. The difference is less when a conventional design solution for solid wood studs is compared to an alternative design solution that is common in the use of light-wood studs, than if the solid wood stud is just exchanged against a light wood stud.

     

  • 84.
    Andersson, Fredrik
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Visuell styrning & planering i byggproduktion2017Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The construction industry is facing challenges when many new residences have to be built in a short time. There are high demands on the construction companies that they have an efficient and effective organization, both for construction planning and production.

    Lean philosophy is widely spread in the production industry and shows considerable efficiency gains. Tools from the philosophy have been applied in both construction planning and production. Two of these tools are visual control and visual planning. Both tools can contribute to reducing wastage in the forms lean philosophy puts it.

    The purpose of the study is to show how they use the tools in the production and how the work can be linked to the theoretical framework. The study also shows how the view of the tools differs between foremen and construction workers.

    The thesis consists of a literature study of visual management and planning taken from the lean philosophy. The tools have since been observed in Skanska's production in the Örebro district. This work has been supplemented with interviews of foremen and a questionnaire to the construction workers. Overall, it provides a good picture of both how the tools are used and how its use is perceived by the different professions.

    It turns out that the tools are very powerful and provide good opportunities to reduce the wastage rate in the production. The effects are already good but there is potential for greater profits with the tools.

  • 85.
    Andersson, Henrik
    Örebro University, School of Science and Technology.
    Yt- och strukturpåverkan vid finfräsning av härdat verktygsstål2016Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In this thesis, investigations on hardened finish milled surfaces was done in collaboration with the tool steel manufacturer Uddeholms AB in Hagfors, Sweden. The steel material is affected by machining operations, sometimes in a negative destructive manner. An experimental test series containing a total of 90 surfaces in hot work steels Uddeholm Orvar Supreme and Uddeholm Dievar were milled, measured and evaluated to clarify the milling operations effect on the steels mechanical properties. It was found that the material is affected differently according to how the milling was preformed and with which type of milling tool. In this thesis, only solid carbide end-radius milling tools were used. The surface analysis were conducted with a range of measuring techniques including optical surface roughness measurements, hardness measurements in Vickers scale, residual stress measurements with X-ray diffraction (XRD) and microstructural analysis with optical light microscope. These measurements were conducted in order to determine the milling operations mechanical affects and grade of alteration of the tool steels surfaces. In the least favorable cases, the effect from machining are so profound, that degradation of produced components can be expected in terms of fatigue wear resistance. The goal of the thesis is to identify the most favorable process parameters, in order to minimize degradation of the tooling material in customer user cases, together with the opportunity to give fact based advice to Uddeholms AB customers on the most favorable process parameters in finish milling with radius-mills of hardened hot work tool steels. In this way the customer can utilize the tooling material at its full potential.  

  • 86.
    Andersson, Joakim
    et al.
    Örebro University, School of Science and Technology.
    Bertilsson, Jimmy
    Örebro University, School of Science and Technology.
    SETUP TIME OPTIMIZATION2012Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Abstract

     

    Emhart Glass Ltd is a world leader in glass bottle manufacturing. They design automated machines that shape glass bottles. In Sweden there are two factories, one in Örebro and one in Sundsvall. In Örebro they manufacture primarily spare parts and new parts for the machines while they in Sundsvall assemble the machines. There are a total of 15 factories and offices around the world with the headquarter located in Swiss Cham.Since Emhart Glass Örebro has long setup times on some of their machines. This is why we want to identify the current setup process and how the setup process differs between operators. We will also look at whether there are any opportunities for improvement to be made and if they have a standardized way to work. A document that describes how to setup work should be done will also be developed.An excellent tool to shorten the setup time in a production is the SMED method. The philosophy behind SMED is that you should analyze and separate the inner and outer activities. Inner and outer activities mean those activities which can only be performed when the machine is turned off, respectively those activities that can be performed when the machine is in operation.

    In order to standardize the adjustment process so that all operators are working in a similar way it's required that you make a documentation about how the work should be done. Therefore, checklists been developed to the operator. "Checklista - Omställning.xls" is a checklist with the purpose to be able to check which parts of the preparations they have made before the next setup work. It has been designed to be easy to keep track of what parts you have done if you had to work with the machine between the trial or if you quit your shift and leaving parts of the work to the next operator.

    If all of these improvements are implemented, we expect a set-up time reduction of 20.5% which corresponds to about 35min per set-up. By ignoring the running time and only check on the setup times, one can see an improvement of 36.4%.

  • 87.
    Andersson, Joakim
    et al.
    Örebro University, School of Science and Technology.
    Zurita, Arturo
    Örebro University, School of Science and Technology.
    Reducering av tidsslöseri med hjälp av 5S inom Umicore Autocat Sweden AB2013Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Umicore is a global company that works with materials. The group has some 80 production plants and around 14400 employees around the world. In Sweden they are at two places, one of which is in Karlskoga. Their name is Umicore Autocat Sweden AB. With their, at the present, 37 employees they manufacture catalysts.

     

    The mission was assigned to us by Umicore Autocat Sweden AB and the purpose of it was to suggest improvements that can be used to try to reduce or eliminate time-wasting that take its shape in the production department. At first it was meant that we would help them to introduce the first three steps of 5S. But because of that we miss estimated the time it would take to do this, we agreed with the company to leave it as suggestion for improvements.

     

    The width of the report consists of the current problems that exist in the company production department. Meanwhile there will be methods and recommendations that will enable improvements to these.

     

    In the implementation of this work interviews, literature studies and all files that the company contributed with from previous work with 5S were used. This is to try to find possible solutions. The result of this is presented as some proposed solutions that can help the company to continue with their quality work. The report also consists of a proposal, with analysis and calculations, of a new layout for the bellows, fixtures and Leister. Some of the information that was used in the calculations we received from the production manager in the company.

     

    We believe that our proposals will work as a tool for the company so they keep improving the quality in their production department by continuing to introduce and implement improvements within 5S. For this purpose it demands that the management ensures that the staff is committed, in this case in 5S.

  • 88.
    Andersson, Lena
    et al.
    Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden; Man-Technology-Environment Research Centre (MTM), Department of Science, Örebro University, Örebro, Sweden.
    Bryngelsson, Ing-Liss
    Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden.
    Ngo, Yen
    Swedish Institute for Infectious Disease Control, Solna, Sweden.
    Ohlson, Carl-Göran
    Örebro University, School of Health and Medical Sciences, Örebro University, Sweden. Department of Clinical Medicines; Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden.
    Westberg, Håkan
    Örebro University, School of Science and Technology. Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden.
    Exposure assessment and modeling of quartz in Swedish iron foundries for a nested case-control study on lung cancer2012In: Journal of Occupational and Environmental Hygiene, ISSN 1545-9624, E-ISSN 1545-9632, Vol. 9, no 2, 110-119 p.Article in journal (Refereed)
    Abstract [en]

    Exposure assessment of quartz in Swedish iron foundries was performed based on historical and present measurement data. To evaluate the exposure response relationship between quartz exposure and lung cancer, we modeled quartz exposure from our database of measurements using determinants job title, time period and company. Based on these modeled exposure data, we conducted a nested case– control evaluation.

    In our database, the overall individual daily time-weighted average (TWA) quartz concentrations of current and historical data varied between 0.0018 and 4.9 mg/m3, averaging 0.083 mg/m3. The job titles with mean TWAs for the whole study period exceeding the European Union recommended occupational exposure limit of 0.05 mg/m3 were fettlers (0.087 mg/m3), furnace and ladle repair (0.42 mg/m3) and maintenance (0.054 mg/m3) workers.

    The mixed model analysis demonstrated significant determinants on the job level for furnace and ladle repair (β=4.06; 95% CI 2.78-5.93). For all jobs significantly higher exposure levels occurred only during the first time period, 1968-1979 (β=2.08; 95% CI 1.75-2.47), and a decreasing but not significant trend was noted for the three following 10 year time periods up to 2006 (β=1.0, 0.96 and 1, respectively). Two iron foundries had significantly higher quartz concentration levels than the others (β=1.31; 95% CI 1.00-1.71 and β=1.63; 95% CI 1.00-2.65, respectively). The individual cumulative quartz exposure measures were categorized in low, medium and high exposure (0.5-<1, 1-1.9 and ≥2 mg/m3 *years, respectively).

    In the nested case-control analysis, we found the highest odds ratios of lung cancer (OR 1.17; 95% CI 0.53-2.55) for the medium exposure group. No dose– response trend or significantly increased risk was determined for our high exposed group (≥2 mg/m3), representing 40 years of exposure at >0.05 mg/m3 of quartz. To conclude, certain foundry workers are still exposed to high levels of quartz, but an increased risk of lung cancer caused by quartz exposure in these Swedish iron foundries could not be confirmed at our exposure levels.

  • 89.
    Andersson, Lena
    et al.
    Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden; Örebro University, Örebro, Sweden.
    Burdorf, Alex
    Department of Public Health, Erasmus MC, University Medical Center Rotterdam, Rotterdam, The Netherlands.
    Bryngelsson, Ing-Liss
    Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden.
    Westberg, Håkan
    Örebro University, School of Science and Technology. Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden.
    Estimating trends in quartz exposure in Swedish iron foundries: predicting past and present exposures2012In: Annals of Occupational Hygiene, ISSN 0003-4878, E-ISSN 1475-3162, Vol. 56, no 3, 362-372 p.Article in journal (Refereed)
    Abstract [en]

    Background: Swedish foundries have a long tradition of legally required surveys in the work place that, from the late 1960s onwards, included measurements of quartz. The availability of exposure data spanning almost 40 years presents a unique opportunity to study trends over that time and to evaluate the validity of exposure models based on data from shorter time spans. The aims of this study were (i) to investigate long term trends in quartz exposure over time, (ii) using routinely collected quartz exposure measurements to develop a mathematical model that could predict both historical and current exposure patterns, and (iii) to validate this exposure model with up-to-date measurements from a targeted survey of the industry.

    Methods: Eleven foundries, representative of the Swedish iron foundry industry, were divided into three groups based on the size of the companies, i.e. the number of employees. A database containing 2333 quartz exposure measurements for 11 different job descriptionswas used to create three models that covered time periods which reflected different work conditions and production processes: a historical model (1968– 1989), a development model (1990–2004), and a validation model (2005–2006). A linear mixed model for repeated measurements was used to investigate trends over time. In all mixed models, time period, company size, and job title were included as fixed (categorical) determinants of exposure. The within- and between-worker variances were considered to be random effects. A linear regression analysis was erformed to investigate agreement between the models. The average exposure was estimated for each combination of job title and company size.

    Results: A large reduction in exposure (51%) was seen between 1968 and 1974 and between 1975 and 1979 (28%). In later periods, quartz exposure was reduced by 8% per 5 years at best. In the first period, employees at smaller companies experienced ~50%higher exposure levels than those at large companies, but these differences became much smaller in later years. The furnace and ladle repair job were associated with the highest exposure, with 3.9–8.0 times the average exposure compared to the lowest exposed group. Without adjusting for this autonomous trend over time, predicting early historical exposures using our development model resulted in a statistically significant regression coefficient of 2.42 (R2 5 0.81), indicating an underestimation of historical exposure levels. Similar patterns were seen for other historical time periods. Comparing our development model with our validation model resulted in a statistically significant regression coefficient of 0.31, indicating an overestimation of current exposure levels.

    Conclusion: To investigate long-term trends in quartz exposure over time, overall linear trends can be determined by using mixed model analysis. To create individual exposure measures to predict historical exposures, it is necessary to consider factors such as the time period, type of job, type of company, and company size. The mixed model analysis showed systematic changes in concentration levels, implying that extrapolation of exposure estimates outside the range of years covered by measurements may result in underestimation or overestimation of exposure.

  • 90.
    Andersson, Mattias
    et al.
    Örebro University, School of Science and Technology.
    Berneke, Anders
    Örebro University, School of Science and Technology.
    Basis and a concept for a Paper machine in a laboratory scale2013Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This thesis studies paper and what it is made of and different ways to manufacture it in a laboratory scale. It also contains a comparison of different ways to dry tissue and which method that suits a small laboratory tissue machine best.

     A small paper machine was found at Metso in Karlstad that was used as a basis for the concept machine. Since the machine at Karlstad used pressing and a cylinder drying method that involves pressing an alternative method to dry the paper had to be chosen.

    For drying tissue there are several methods like, infrared and through air drying. A comparison was made between those methods to find out which suited the specification best.

    The comparison shows that through air drying is the best drying method for the machine.

  • 91.
    Andersson, Oskar
    Örebro University, School of Science and Technology.
    Framgångsrika åtgärdsprogram: En systematisk litteraturstudie som kartlägger faktorer som kan öka måluppfyllelsen i åtgärdsprogramsprocessen i matematik.2014Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Both from previous research and from the media the documentation form of education plan receives a lot of criticism in terms of both content and design. An education plan must be written if a student is suspected not to achieve current knowledge requirements. It will therefore be important in a subject like mathematics which has a relatively high percentage of students who fails to achieve the knowledge requirements. Therefore it is important that the process with the education plan fulfils its purpose. This systematic literature study aims to identify factors that may increase the effectiveness of education plan process in mathematics. The results and conclusions of this study put forward several different factors that must interact in order to make the educational plan process in mathematics successful. Factors that this study concludes that might have an affect are for example, pupils' and parents' participation and the headmasters’ commitment and volition to participate.

  • 92.
    Andersson, Oskar
    Örebro University, School of Science and Technology.
    Åtgärdsprogram i matematik: Vägen mot kunskapskraven?2015Independent thesis Advanced level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Academic year 2013/2014 almost every tenth student in grades 6 lacks passing grade in mathematics. Mathematics is one of the three subjects that a student needs to pass in order to later in their schooling get high school eligibility. The school has a statutory mandate to provide all students with opportunities to achieve acceptable knowledge requirements and if this is not done, a special support should be deployed and documented in an education plan. Education plans must constantly endure a lot of criticism because they do often lack in quality.

    Through a qualitative text analysis 15 education plans will be reviewed for the purpose of developing knowledge about how the work with special support in math are projected and processed. The study shows that there is a link between education plan and knowledge requirement in 22 of the 29 necessary descriptions in 11 of the 15 education plans. In four of the 15 education plans a description of the student's special needs based on the Mathematical Syllabuses core content and given abilities is missing entirely. Of the 38 measures in the education plans there are six with distinct character and the remaining 32 are of a diffuse character. A clear majority of the measures do not fulfill the criteria of evaluability and concreteness specified in Skolverkets general advice. The study shows that 26 of the 38 measures are related to current research on what is considered to be favorable measures for students in mathematics difficulties. Only two of the 15 education plans shows a clear connection between the students written needs and measures.

  • 93.
    Andersson, Pierre
    et al.
    Örebro University, School of Science and Technology.
    Norlander, Arvid
    Örebro University, School of Science and Technology.
    Indoor Positioning Using WLAN2012Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report evaluates various methods that can be used to position a smartphone running the Android platform, without the use of any special hardware or infrastructure and in conditions where GPS is unavailable or unreliable; such as indoors. Furthermore, it covers the implementation of such a system with the use of a deterministic fingerprinting method that is reasonably device independent, a method which involves measuring a series of reference points, called fingerprints, in an area and using those to locate the user.

    The project was carried on behalf of Sigma, a Swedish software consulting company.

  • 94.
    Andersson, Robin
    et al.
    Örebro University, School of Science and Technology.
    Franzén, Simon
    Örebro University, School of Science and Technology.
    Realtidsuppdaterad dashboard2017Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report will be covering the creation of the Realtime-Updated Dashboard, made for Flex Applications. The Dashboard, which could be seen as an interactive pinboard, is a new product which will be implemented in Flex Applications existing system for employee administration.

    A deep-dive into the subject of information overload was also made during thedevelopment of the application. This was later used to question the design choices made. The results of this showed that there is no one correct way of designing an interface, but rather guidelines to help in certain situations.

    The application was written in the TypeScript language together with the framework Angular 2. The application was at first developed as a stand-alone project as there was no need for it to be integrated into the existing system from the start. This also gave a more relaxed environment while learning TypeScript and Angular2.

    The application was later integrated with the existing system. This integration was seen as a success as the handling of the data from the database worked as expected.

  • 95.
    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, 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.

  • 96.
    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

  • 97.
    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).

  • 98.
    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.

  • 99.
    Andreasson, Henrik
    et al.
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    Stoyanov, Todor
    Örebro University, School of Science and Technology, Örebro University, Sweden.
    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.

  • 100.
    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
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