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  • 1.
    Abdul Khaliq, Ali
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Point-to-point safe navigation of a mobile robot using stigmergy and RFID technology2016Inngår i: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2016, s. 1497-1504, artikkel-id 7759243Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Reliable autonomous navigation is still a challenging problem for robots with simple and inexpensive hardware. A key difficulty is the need to maintain an internal map of the environment and an accurate estimate of the robot’s position in this map. Recently, a stigmergic approach has been proposed in which a navigation map is stored into the environment, on a grid of RFID tags, and robots use it to optimally reach predefined goal points without the need for internal maps. While effective,this approach is limited to a predefined set of goal points. In this paper, we extend this approach to enable robots to travel to any point on the RFID floor, even if it was not previously identified as a goal location, as well as to keep a safe distance from any given critical location. Our approach produces safe, repeatable and quasi-optimal trajectories without the use of internal maps, self localization, or path planning. We report experiments run in a real apartment equipped with an RFID floor, in which a service robot either reaches or avoids a user who wears slippers equipped with an RFID tag reader.

  • 2.
    Abdullah, Muhammad
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Mobile Robot Navigation using potential fields andmarket based optimization2013Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
    Abstract [en]

    A team of mobile robots moving in a shared area raises the problem of safe and autonomous navigation. While avoiding static and dynamic obstacles, mobile robots in a team can lead to complicated and irregular movements. Local reactive approaches are used to deal with situations where robots are moving in dynamic environment; these approaches help in safe navigation of robots but do not give optimal solution. In this work a 2-D navigation strategy is implemented, where a potential field method is used for obstacle avoidance. This potential field method is improved using fuzzy rules, traffic rules and market based optimization (MBO). Fuzzy rules are used to deform repulsive potential fields in the vicinity of obstacles. Traffic rules are used to deal situations where two robots are crossing each other. Market based optimization (MBO) is used to strengthen or weaken repulsive potential fields generated by other robots based on their importance. For the verification of this strategy on more realistic vehicles this navigation strategy is implemented and tested in simulation. Issues while implementing this method and limitations of this navigation strategy are also discussed. Extensive experiments are performed to examine the validity of MBO navigation strategy over traditional potential field (PF) method.

  • 3.
    Adolfsson, Daniel
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lowry, Stephanie
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Andreasson, Henrik
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Improving Localisation Accuracy using Submaps in warehouses2018Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    This paper presents a method for localisation in hybrid metric-topological maps built using only local information that is, only measurements that were captured by the robot when it was in a nearby location. The motivation is that observations are typically range and viewpoint dependent and that a map a discrete map representation might not be able to explain the full structure within a voxel. The localisation system uses a method to select submap based on how frequently and where from each submap was updated. This allow the system to select the most descriptive submap, thereby improving the localisation and increasing performance by up to 40%.

  • 4.
    Afanasyev, Ilya
    et al.
    Innopolis University, Innopolis, Russia.
    Mazzara, Manuel
    Innopolis University, Innopolis, Russia.
    Chakraborty, Subham
    Innopolis University, Innopolis, Russia.
    Zhuchkov, Nikita
    Innopolis University, Innopolis, Russia.
    Maksatbek, Aizhan
    Yildiz Technical University, Istanbul, Turkey.
    Kassab, Mohamad
    Pennsylvania State University, PA, United States.
    Distefano, Salvatore
    University of Messina, Messina, Italy.
    Towards the Internet of Robotic Things: Analysis, Architecture, Components and Challenges2019Manuskript (preprint) (Annet vitenskapelig)
    Abstract [en]

    Internet of Things (IoT) and robotics cannot be considered two separate domains these days. Internet of Robotics Things (IoRT) is a concept that has been recently introduced to describe the integration of robotics technologies in IoT scenarios. As a consequence, these two research fields have started interacting, and thus linking research communities. In this paper we intend to make further steps in joining the two communities and broaden the discussion on the development of this interdisciplinary field. The paper provides an overview, analysis and challenges of possible solutions for the Internet of Robotic Things, discussing the issues of the IoRT architecture, the integration of smart spaces and robotic applications.

  • 5.
    Afshar, Sara
    et al.
    Mälardalens högskola, Inbyggda system.
    Moghaddami Khalilzad, Nima
    Mälardalens högskola, Inbyggda system.
    Nemati, Farhang
    Mälardalens högskola, Inbyggda system.
    Nolte, Thomas
    Mälardalens högskola, Inbyggda system.
    Resource Sharing among Prioritized Real-Time Applications on Multiprocessors2015Inngår i: ACM SIGBED Review - Special Issue on the 6th International Workshop on Compositional Theory and Technology for Real-Time Embedded Systems Homepage archiveVolume 12 Issue 1, 2015, s. 46-55Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

  • 6.
    Ahmed, Mobyen Uddin
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Banaee, Hadi
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Health monitoring for elderly: an application using case-based reasoning and cluster analysis2013Inngår i: ISRN Artificial Intelligence, ISSN 2090-7435, E-ISSN 2090-7443, Vol. 2013, nr 2013, s. 1-11Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 7.
    Ahmed, Mobyen Uddin
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Islam, Asif Moinul
    Örebro University, Örebro, Sweden.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    A case-based patient identification system using pulseoximeter and a personalized health profile2012Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

  • 8.
    Ahmed, Muhammad Rehan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Compliance Control of Robot Manipulator for Safe Physical Human Robot Interaction2011Doktoravhandling, monografi (Annet vitenskapelig)
    Abstract [en]

    Inspiration from biological systems suggests that robots should demonstrate same level of capabilities that are embedded in biological systems in performing safe and successful interaction with the humans. The major challenge in physical human robot interaction tasks in anthropic environment is the safe sharing of robot work space such that robot will not cause harm or injury to the human under any operating condition.

    Embedding human like adaptable compliance characteristics into robot manipulators can provide safe physical human robot interaction in constrained motion tasks. In robotics, this property can be achieved by using active, passive and semi active compliant actuation devices. Traditional methods of active and passive compliance lead to complex control systems and complex mechanical design.

    In this thesis we present compliant robot manipulator system with semi active compliant device having magneto rheological fluid based actuation mechanism. Human like adaptable compliance is achieved by controlling the properties of the magneto rheological fluid inside joint actuator. This method offers high operational accuracy, intrinsic safety and high absorption to impacts. Safety is assured by mechanism design rather than by conventional approach based on advance control. Control schemes for implementing adaptable compliance are implemented in parallel with the robot motion control that brings much simple interaction control strategy compared to other methods.

    Here we address two main issues: human robot collision safety and robot motion performance.We present existing human robot collision safety standards and evaluate the proposed actuation mechanism on the basis of static and dynamic collision tests. Static collision safety analysis is based on Yamada’s safety criterion and the adaptable compliance control scheme keeps the robot in the safe region of operation. For the dynamic collision safety analysis, Yamada’s impact force criterion and head injury criterion are employed. Experimental results validate the effectiveness of our solution. In addition, the results with head injury criterion showed the need to investigate human bio-mechanics in more details in order to acquire adequate knowledge for estimating the injury severity index for robots interacting with humans.

    We analyzed the robot motion performance in several physical human robot interaction tasks. Three interaction scenarios are studied to simulate human robot physical contact in direct and inadvertent contact situations. Respective control disciplines for the joint actuators are designed and implemented with much simplified adaptable compliance control scheme.

    The series of experimental tests in direct and inadvertent contact situations validate our solution of implementing human like adaptable compliance during robot motion and prove the safe interaction with humans in anthropic domains.

  • 9.
    Ahmed, Muhammad Rehan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Semi-active compliant robot enabling collision safety for human robot interaction2010Inngår i: 2010 International Conference on Mechatronics and Automation (ICMA), IEEE, 2010, s. 1932-1937Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Human robot interaction (HRI) tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior enabling eminent collision safety as well as maintaining high position accuracy. Robot compliance control normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We proposed a unique method using semi-active compliant actuation mechanism having magneto-rheological (MR) fluid based actuator that introduces reconfigurable compliance characteristics into the robot joints. This enables high intrinsic safety coming from fluid mechanics as well as, it offers simpler interaction control strategy compared to other concurrent approaches. In this studies, we have described three essential modes of motions required for physical human system interaction. Furthermore, we have demonstrated robot collision safety in terms of static collision and experimentally validates the performance of robot manipulator enabling safe human robot interaction.

  • 10.
    Ahmed, Muhammad Rehan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Static and dynamic collisionsafety for human robot interaction using magneto-rheological fluid based compliant robot manipulator2010Inngår i: IEEE international conference on robotics and biomimetics (ROBIO), 2010, IEEE conference proceedings, 2010, s. 370-375Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The success of human robot interaction (HRI) tasks is characterized by evaluating robot performance in terms of collision safety and position accuracy. Hence, both position accuracy and collision safety are equally indispensable. HRI refers to cognitive as well as physical interaction. Cognitive human robot interaction based on perception and awareness where as physical human robot interaction demands direct contact with the humans exhibiting adaptable compliant behavior. Therefore, development of ideal safe robot manipulator having adaptable compliant actuation is inevitable. Adaptable compliance can be achieved by using active compliant actuation requiring various sensor data or by using passive compliant devices with high mechanical complexity. We present magneto rheological fluid based compliant actuation mechanism introducing adaptable compliance directly into robotic joint with much simpler interaction control and higher intrinsic safety originating from fluid mechanics. In this study, we have discussed adaptable compliance in terms of essential modes of motion for safe physical HRI and evaluated the safety performance of our robot for static collision testing and dynamic collision testing based on impact force and head injury criterion. Finally, the experimental results validate the significance of our proposed method for both human robot collision safety and high position accuracy.

  • 11.
    Ahmed, Muhammad Rehan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Static collision analysis of semi active compliant robot for safe human robot interaction2010Inngår i: Proceedings of the 12th Mechatronics Forum Biennial International Conference, IWF Institute of Machine tools and manufacturing , 2010, s. 220-227Konferansepaper (Fagfellevurdert)
  • 12.
    Ahmed, Muhammad Rehan
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Two link compliant robot manipulator for physical human robot collision safety2012Inngår i: Biomedical Engineering Systems and Technologies / [ed] Ana Fred, Joaquim Filipe, Hugo Gamboa, Springer, 2012Konferansepaper (Fagfellevurdert)
  • 13.
    Ahmed, Rehan M.
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Ananiev, Anani V.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Compliant motion control for safe human robot interaction2009Inngår i: Robot motion and control 2009 / [ed] Krzysztof R. Kozłowski, Berlin: Springer , 2009, s. 265-274Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Robots have recently been foreseen to work side by side and share workspace with humans in assisting them in tasks that include physical human-robot (HR) interaction. The physical contact with human tasks under uncertainty has to be performed in a stable and safe manner [6]. However, current industrial robot manipulators are still very far from HR coexisting environments, because of their unreliable safety, rigidity and heavy structure. Besides this, the industrial norms separate the two spaces occupied by a human and a robot by means of physical fence or wall [9]. Therefore, the success of such physical HR interaction is possible if the robot is enabled to handle this interaction in a smart way to prevent injuries and damages.

  • 14.
    Ahmed, Rehan M.
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Ananiev, Anani V.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan G.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Safe robot with reconfigurable compliance/stiffness actuation2009Inngår i: Proceedings of ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots. ReMAR'2009 / [ed] J. S. Dai, M. Zoppi, X. W. Kong, IEEE, 2009, s. 633-638Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Human robot interaction (HRI) in constrained motion tasks requires robots to have safe sharing of work space and to demonstrate adaptable compliant behavior Compliance control of industrial robots, normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present a unique method using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates reconfigurable compliance directly into the robot joints. This brings much simple interaction control strategy compared to other antagonistic methods. In this studies, we have described three essential modes of motions required for physical human system interaction. Then we have discussed their respective control disciplines. Finally, we have presented functional performance of reconfigurable MRF actuation mechanism in constrained motion tasks by simulating various HRI scenarios.

  • 15.
    Ahmed, Rehan M.
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kalaykov, Ivan
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Ananiev, Anani
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Modeling of magneto rheological fluid actuator enabling safe human-robot interaction2008Inngår i: IEEE International Conference on Emerging Technologies and Factory Automation, 2008. ETFA 2008, 2008, s. 974-979Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Impedance control and compliant behavior for safe human-robot physical interaction of industrial robots normally can be achieved by using active compliance control of actuators based on various sensor data. Alternatively, passive devices allow controllable compliance motion but usually are mechanically complex. We present another approach using a novel actuation mechanism based on magneto-rheological fluid (MRF) that incorporates variable stiffness directly into the joints. In this paper, we have investigated and analyzed principle characteristics of MRF actuation mechanism and presented the analytical-model. Then we have developed the static and dynamic model based on experimental test results and have discussed three essential modes of motion needed for human-robot manipulation interactive tasks.

  • 16.
    Akalin, Neziha
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kiselev, Andrey
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    An Evaluation Tool of the Effect of Robots in Eldercare on the Sense of Safety and Security2017Inngår i: Social Robotics: 9th International Conference, ICSR 2017, Tsukuba, Japan, November 22-24, 2017, Proceedings / [ed] Kheddar, A.; Yoshida, E.; Ge, S.S.; Suzuki, K.; Cabibihan, J-J:, Eyssel, F:, He, H., Springer International Publishing , 2017, s. 628-637Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

  • 17.
    Akalin, Neziha
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kiselev, Andrey
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Enhancing Social Human-Robot Interaction with Deep Reinforcement Learning.2018Inngår i: Proc. FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction, 2018, MHRI , 2018, s. 48-50Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This research aims to develop an autonomous social robot for elderly individuals. The robot will learn from the interaction and change its behaviors in order to enhance the interaction and improve the user experience. For this purpose, we aim to use Deep Reinforcement Learning. The robot will observe the user’s verbal and nonverbal social cues by using its camera and microphone, the reward will be positive valence and engagement of the user.

  • 18.
    Akalin, Neziha
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kiselev, Andrey
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    The Relevance of Social Cues in Assistive Training with a Social Robot2018Inngår i: 10th International Conference on Social Robotics, ICSR 2018, Proceedings / [ed] Ge, S.S., Cabibihan, J.-J., Salichs, M.A., Broadbent, E., He, H., Wagner, A., Castro-González, Á., Springer, 2018, s. 462-471Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

  • 19.
    Albitar, Houssam
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Enabling a Robot for Underwater Surface Cleaning2017Doktoravhandling, med artikler (Annet vitenskapelig)
    Abstract [en]

    Biofouling build-up on submerged structures such as ships, petroleum and gas storage tanks, electric power plants, bridges, oil rigs etc. is a major problem that affects the surface material of the structure, the eventual hydrodynamic quality of the surface and in some cases the efficacy of cooling systems. Underwater cleaning is a solution to maintain submerged structures in order to assure proper functioning for as long as possible. Consequently, there has been an increased interest in the development of new technologies for robotised underwater cleaning systems.

    This thesis presents a new concept of a flexible crawling mechanism for an industrial underwater cleaning robot, which is evaluated from the viewpoint of its capability to work underwater, scanning the desired surface, and perform a cleaning task. The main research questions investigated in this thesis are: (1.) how to select the most important features in choosing the platform mechanism to fulfil the surface scanning operation, (2.) how to design the platform in order to bear the forces related to the cleaning task, (3.) how to maintain surface contact throughout cleaning, (4.) determine the significant parameters to be monitored in order to ensure stable positioning on the surface during the cleaning process and (5.) how to develop the control of actuators to realise the locomotion and to follow the desired trajectory.

    This thesis begins with a classification and discussion of the available solutions for underwater operation, taking into consideration the benefits and drawbacks, overall efficiency and environmental and human safety issues. From this survey, an underwater mobile robotic platform is designed to address the main requirements and industrial needs. Further, a study and simulation of its mobility and stability on the surface is performed and a complete scenario of the entire cleaning operation is presented. In addition, an overview of the required sensors and the control system is given. Finally, a new robotised system was developed to clean underwater surfaces with minimum active degrees of freedom. A successful simulation and real experimental results were obtained with a simplified lab-scale prototype. The thesis concludes with a summary of future works and outlook for the growing field of underwater cleaning robots.

    Delarbeid
    1. Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems
    Åpne denne publikasjonen i ny fane eller vindu >>Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems
    2016 (engelsk)Inngår i: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 13, artikkel-id 7Artikkel i tidsskrift (Fagfellevurdert) Published
    Abstract [en]

    Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a light-weight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces.

    sted, utgiver, år, opplag, sider
    INTECH, 2016
    Emneord
    Underwater Robot, Underwater Cleaning, Bio-fouling, Adhesion, Locomotion
    HSV kategori
    Forskningsprogram
    Datavetenskap
    Identifikatorer
    urn:nbn:se:oru:diva-47813 (URN)10.5772/62060 (DOI)000368630700001 ()2-s2.0-85002271299 (Scopus ID)
    Tilgjengelig fra: 2016-01-28 Laget: 2016-01-28 Sist oppdatert: 2018-01-10bibliografisk kontrollert
    2. New concept of in-water surface cleaning robot
    Åpne denne publikasjonen i ny fane eller vindu >>New concept of in-water surface cleaning robot
    2013 (engelsk)Inngår i: Mechatronics and Automation (ICMA), 2013 IEEE International Conference onDate 4-7 Aug. 2013, IEEE conference proceedings, 2013, s. 1582-1587Konferansepaper, Publicerat paper (Fagfellevurdert)
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism to design an industrial underwater cleaning robot, which is evaluated from the viewpoint of the capability to work underwater, scanning the desired surface, and bearing the reactions. This can be used as a robotic application in underwater surface cleaning and maintenance. We designed a robot that realizes the motion by contraction and extraction using DC-motors and vacuum technology. In this study we first focused on realizing the adhesion, bearing reactions, and achieving a stable locomotion on the surface.

    sted, utgiver, år, opplag, sider
    IEEE conference proceedings, 2013
    Emneord
    climbing robot; inspection
    HSV kategori
    Forskningsprogram
    Datavetenskap
    Identifikatorer
    urn:nbn:se:oru:diva-30340 (URN)10.1109/ICMA.2013.6618150 (DOI)000335375900267 ()2-s2.0-84887901379 (Scopus ID)978-1-4673-5557-5 (ISBN)
    Konferanse
    2013 IEEE International Conference on Mechatronics and Automation (ICMA), 4-7 aug. 2013, Takamatsu, Japan
    Tilgjengelig fra: 2013-08-27 Laget: 2013-08-27 Sist oppdatert: 2018-01-11bibliografisk kontrollert
    3. In-water surface cleaning robot: concept, locomotion and stability
    Åpne denne publikasjonen i ny fane eller vindu >>In-water surface cleaning robot: concept, locomotion and stability
    2014 (engelsk)Inngår i: International Journal of Mechatronics and Automation, ISSN 2045-1067, Vol. 4, nr 2, s. 104-115Artikkel i tidsskrift (Fagfellevurdert) Published
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism in the design ofindustrial in-water cleaning robot, which is evaluated from the viewpoint of work and operationon an underwater surface. It enables the scanning and cleaning process performed by water jets,while keeping stable robot position on the surface by its capacity to bear and compensate the jetreactions. Such robotic platform can be used for cleaning and maintenance of various underwatersurfaces, including moving ships in the open sea. The designed robot implements its motions bycontraction and expansion of legged mechanism using standard motors and suction cupstechnology. In this study we focus at the conditions for achieving enough adhesion for keepingcontinuous contact between the robot and the surface and robot stability in different situations forthe basic locomotions.

    sted, utgiver, år, opplag, sider
    IEEE, 2014
    Emneord
    underwater robot, crawling robot, underwater surface cleaning
    HSV kategori
    Identifikatorer
    urn:nbn:se:oru:diva-35987 (URN)10.1504/IJMA.2014.062338 (DOI)2-s2.0-84904859302 (Scopus ID)
    Tilgjengelig fra: 2014-08-19 Laget: 2014-08-19 Sist oppdatert: 2019-08-30bibliografisk kontrollert
    4. Stability study of underwater crawling robot on non-horizontal surface
    Åpne denne publikasjonen i ny fane eller vindu >>Stability study of underwater crawling robot on non-horizontal surface
    2014 (engelsk)Inngår i: Mobile Service Robotics: Clawar 2014: 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines: Poznan, Poland 21 - 23 July 2014, Singapore: World Scientific, 2014, s. 511-519Konferansepaper, Publicerat paper (Fagfellevurdert)
    Abstract [en]

    This paper introduces a study of a concept of exible crawling mechanism todesign an industrial underwater cleaning robot, which is evaluated from theviewpoint of the capability to work underwater, scanning the desired surface,and bearing the reactions. This can be used as a robotic application in under-water surface cleaning and maintenance. In this study we focused on realizingthe adhesion on the surface in stationary and in motion, bearing reactions,enabling the needed locomotion types for scanning, and achieving the stabilityin dierent situations on the surface.

    sted, utgiver, år, opplag, sider
    Singapore: World Scientific, 2014
    Emneord
    Crawling robot, underwater, locomotion, stability
    HSV kategori
    Identifikatorer
    urn:nbn:se:oru:diva-35985 (URN)000342693100061 ()2-s2.0-85007347787 (Scopus ID)978-981-4623-34-6 (ISBN)
    Konferanse
    Clawar 2014: 17th International Conference on Climbing and Walking Robots CLAWAR, Poznan, Poland, 21 - 23 July, 2014
    Tilgjengelig fra: 2014-08-19 Laget: 2014-08-19 Sist oppdatert: 2018-01-11bibliografisk kontrollert
    5. Layered mission control architecture and strategy for crawling underwater cleaning robot
    Åpne denne publikasjonen i ny fane eller vindu >>Layered mission control architecture and strategy for crawling underwater cleaning robot
    2015 (engelsk)Inngår i: International Journal of Mechatronics and Automation, ISSN 2045-1059, Vol. 5, nr 2/3, s. 114-124Artikkel i tidsskrift (Fagfellevurdert) Published
    Abstract [en]

    This paper presents the mechanical design and the control system architecture of anunderwater robot, developed for bio-fouling cleaning surfaces. The robotic system presented herehas been designed to improve the productivity, reduce the environmental impacts, and excludethe hazards for the operators. The control system has a layered structure which is distributed intotwo blocks: cleaning robot, and on-board base station connected with power and control cablesand a water hose, to facilitate different modes of operations and to increase the system reliability.A low level control has been implemented on the robotic platform. The onboard station designedto be in different layers of the control system: manual, semiautonomous and autonomous modes.A scaled prototype has been implemented and tested to prove the concept, and to make certainthat the mechanical design and the chosen control system are perfectly suited to the mainfunctions of the robotic system.

    sted, utgiver, år, opplag, sider
    InderScience Publishers, 2015
    Emneord
    underwater robots, layered control system, crawling robots, bio-fouling cleaning
    HSV kategori
    Forskningsprogram
    Datavetenskap
    Identifikatorer
    urn:nbn:se:oru:diva-49753 (URN)10.1504/IJMA.2015.075957 (DOI)2-s2.0-84973596360 (Scopus ID)
    Tilgjengelig fra: 2016-04-11 Laget: 2016-04-11 Sist oppdatert: 2018-01-10bibliografisk kontrollert
  • 20.
    Alirezaie, Marjan
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kiselev, Andrey
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Längkvist, Martin
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Klügl, Franziska
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    An Ontology-Based Reasoning Framework for Querying Satellite Images for Disaster Monitoring2017Inngår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, nr 11, artikkel-id 2545Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 21.
    Alirezaie, Marjan
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Automated reasoning using abduction for interpretation of medical signals2014Inngår i: Journal of Biomedical Semantics, ISSN 2041-1480, E-ISSN 2041-1480, Vol. 5, artikkel-id 35Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper proposes an approach to leverage upon existing ontologies in order to automate the annotation of time series medical data. The annotation is achieved by an abductive reasoner using parsimonious covering theorem in order to determine the best explanation or annotation for specific user defined events in the data. The novelty of this approach resides in part by the system’s flexibility in how events are defined by users and later detected by the system. This is achieved via the use of different ontologies which find relations between medical, lexical and numerical concepts. A second contribution resides in the application of an abductive reasoner which uses the online and existing ontologies to provide annotations. The proposed method is evaluated on datasets collected from ICU patients and the generated annotations are compared against those given by medical experts.

  • 22.
    Alirezaie, Marjan
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Reasoning for Improved Sensor Data Interpretation in a Smart Home2014Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this paper an ontological representation and reasoning paradigm has been proposed for interpretation of time-series signals. The signals come from sensors observing a smart environment. The signal chosen for the annotation process is a set of unintuitive and complexgas sensor data. The ontology of this paradigm is inspired form the SSNontology (Semantic Sensor Network) and used for representation of both the sensor data and the contextual information. The interpretation process is mainly done by an incremental ASP solver which as input receivesa logic program that is generated from the contents of the ontology. The contextual information together with high level domain knowledge given in the ontology are used to infer explanations (answer sets) for changes in the ambient air detected by the gas sensors.

  • 23.
    Alirezaie, Marjan
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Towards Automatic Ontology Alignment for Enriching Sensor Data Analysis2013Inngår i: Communications in Computer and Information Science, ISSN 1865-0929, E-ISSN 1865-0937, Vol. 415, s. 179-193Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 24.
    Alirezaie, Marjan
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Context Recognition: Towards Automatic Query Generation2015Inngår i: Ambient Intelligence: 12th European Conference, AmI 2015, Athens, Greece, November 11-13, 2015, Proceedings, Springer, 2015, s. 205-218Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

  • 25.
    Alirezaie, Marjan
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Renoux, Jennifer
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Köckemann, Uwe
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Karlsson, Lars
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Blomqvist, Eva
    RISE SICS East, Linköping, Sweden.
    Tsiftes, Nicolas
    RISE SICS, Stockholm, Sweden.
    Voigt, Thiemo
    RISE SICS, Stockholm, Sweden.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    An Ontology-based Context-aware System for Smart Homes: E-care@home2017Inngår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, nr 7, artikkel-id 1586Artikkel i tidsskrift (Fagfellevurdert)
    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.

  • 26.
    Amato, Giuseppe
    et al.
    ISTI-CNR, Pisa, Italy.
    Broxvall, Mathias
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    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 universitet, Institutionen för naturvetenskap och teknik.
    Robotic UBIquitous COgnitive Network2012Inngår i: Ambient Intelligence: Software and Applications / [ed] Paulo Novais, Kasper Hallenborg, Dante I. Tapia, Juan M. Corchado Rodríguez, Springer-Verlag New York, 2012, s. 191-195Konferansepaper (Fagfellevurdert)
    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.

  • 27.
    Andersson, Birgitta
    et al.
    Örebro universitet, Institutionen för teknik.
    Stranneby, Dag
    Örebro universitet, Institutionen för teknik.
    ESD – elektrostatiska urladdningar: risker och skydd vid elektronikhantering2002Bok (Annet (populærvitenskap, debatt, mm))
  • 28.
    Andersson, Birgitta
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Stranneby, Dag
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Long term charge retention on PWBs2005Konferansepaper (Annet vitenskapelig)
    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.

  • 29.
    Andersson, Birgitta
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Stranneby, Dag
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Long term charge retention on PWBs2005Konferansepaper (Annet vitenskapelig)
    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.

  • 30.
    Andersson, Birgitta
    et al.
    Örebro universitet, Institutionen för teknik.
    Stranneby, Dag
    Örebro universitet, Institutionen för teknik.
    Long-term charge retention on PWBs2005Inngår i: Journal of Electrostatics, ISSN 0304-3886, E-ISSN 1873-5738, Vol. 63, nr 6-10, s. 597-602Artikkel i tidsskrift (Fagfellevurdert)
    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.

  • 31.
    Andersson, Birgitta
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Stranneby, Dag
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Remote monitoring of Electrostatic Charges in an EPA2007Konferansepaper (Annet vitenskapelig)
  • 32.
    Andreasson, Henrik
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Adolfsson, Daniel
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Magnusson, Martin
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lilienthal, Achim
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Incorporating Ego-motion Uncertainty Estimates in Range Data Registration2017Inngår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2017, s. 1389-1395Konferansepaper (Fagfellevurdert)
    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.

  • 33.
    Andreasson, Henrik
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Bouguerra, Abdelbaki
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Cirillo, Marcello
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dimitrov, Dimitar Nikolaev
    INRIA - Grenoble, Meylan, France.
    Driankov, Dimiter
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Karlsson, Lars
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lilienthal, Achim J.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saarinen, Jari Pekka
    Örebro universitet, Institutionen för naturvetenskap och teknik. Aalto University, Espo, Finland .
    Sherikov, Aleksander
    Centre de recherche Grenoble Rhône-Alpes, Grenoble, France .
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Autonomous transport vehicles: where we are and what is missing2015Inngår i: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 22, nr 1, s. 64-75Artikkel i tidsskrift (Fagfellevurdert)
    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.

  • 34.
    ANGELONE, MARIA LAURA
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    AndroidOS- Robot Command Interface2011Independent thesis Advanced level (degree of Master (One Year)), 20 poäng / 30 hpOppgave
  • 35.
    Arad, Boaz
    et al.
    Department of Computer Science, Ben‐Gurion University of the Negev, Beer‐Sheva, Israel .
    Balendonck, Jos
    Greenhouse Horticulture, Wageningen University & Research, Wageningen, The Netherlands.
    Barth, Ruud
    Greenhouse Horticulture, Wageningen University & Research, Wageningen, The Netherlands.
    Ben-Shahar, Ohad
    Department of Computer Science, Ben‐Gurion University of the Negev, Beer‐Sheva, Israel .
    Edan, Yael
    Department of Industrial Engineering and Management, Ben‐Gurion University of the Negev, Beer‐Sheva, Israel .
    Hellström, Thomas
    Department of Computing Science, Umeå University, Umeå, Sweden.
    Hemming, Jochen
    Greenhouse Horticulture, Wageningen University & Research, Wageningen, The Netherlands.
    Kurtser, Polina
    Department of Industrial Engineering and Management, Ben‐Gurion University of the Negev, Beer‐Sheva, Israel .
    Ringdahl, Ola
    Department of Computing Science, Umeå University, Umeå, Sweden.
    Tielen, Toon
    Greenhouse Horticulture, Wageningen University & Research, Wageningen, The Netherlands.
    van Tuijl, Bart
    Greenhouse Horticulture, Wageningen University & Research, Wageningen, The Netherlands.
    Development of a sweet pepper harvesting robot2020Inngår i: Journal of Field Robotics, ISSN 1556-4959, E-ISSN 1556-4967Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper presents the development, testing and validation of SWEEPER, a robot for harvesting sweet pepper fruit in greenhouses. The robotic system includes a six degrees of freedom industrial arm equipped with a specially designed end effector, RGB-D camera, high-end computer with graphics processing unit, programmable logic controllers, other electronic equipment, and a small container to store harvested fruit. All is mounted on a cart that autonomously drives on pipe rails and concrete floor in the end-user environment. The overall operation of the harvesting robot is described along with details of the algorithms for fruit detection and localization, grasp pose estimation, and motion control. The main contributions of this paper are the integrated system design and its validation and extensive field testing in a commercial greenhouse for different varieties and growing conditions. A total of 262 fruits were involved in a 4-week long testing period. The average cycle time to harvest a fruit was 24 s. Logistics took approximately 50% of this time (7.8 s for discharge of fruit and 4.7 s for platform movements). Laboratory experiments have proven that the cycle time can be reduced to 15 s by running the robot manipulator at a higher speed. The harvest success rates were 61% for the best fit crop conditions and 18% in current crop conditions. This reveals the importance of finding the best fit crop conditions and crop varieties for successful robotic harvesting. The SWEEPER robot is the first sweet pepper harvesting robot to demonstrate this kind of performance in a commercial greenhouse.

  • 36.
    Arad, Boaz
    et al.
    Department of Computer Science, Ben-Gurion University of the Negev, Beer-Sheva, Israel.
    Kurtser, Polina
    Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel.
    Barnea, Ehud
    Department of Computer Science, Ben-Gurion University of the Negev, Beer-Sheva, Israel.
    Harel, Ben
    Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel.
    Edan, Yael
    Department of Industrial Engineering and Management, Ben-Gurion University of the Negev, Beer-Sheva, Israel.
    Ben-Shahar, Ohad
    Department of Computer Science, Ben-Gurion University of the Negev, Beer-Sheva, Israel.
    Controlled Lighting and Illumination-Independent Target Detection for Real-Time Cost-Efficient Applications. The Case Study of Sweet Pepper Robotic Harvesting2019Inngår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 19, nr 6, artikkel-id 1390Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Current harvesting robots are limited by low detection rates due to the unstructured and dynamic nature of both the objects and the environment. State-of-the-art algorithms include color- and texture-based detection, which are highly sensitive to the illumination conditions. Deep learning algorithms promise robustness at the cost of significant computational resources and the requirement for intensive databases. In this paper we present a Flash-No-Flash (FNF) controlled illumination acquisition protocol that frees the system from most ambient illumination effects and facilitates robust target detection while using only modest computational resources and no supervised training. The approach relies on the simultaneous acquisition of two images—with/without strong artificial lighting (“Flash”/“no-Flash”). The difference between these images represents the appearance of the target scene as if only the artificial light was present, allowing a tight control over ambient light for color-based detection. A performance evaluation database was acquired in greenhouse conditions using an eye-in-hand RGB camera mounted on a robotic manipulator. The database includes 156 scenes with 468 images containing a total of 344 yellow sweet peppers. Performance of both color blob and deep-learning detection algorithms are compared on Flash-only and FNF images. The collected database is made public.

  • 37.
    Arain, Muhammad Asif
    Mehran University of Engineering & Technology, Pakistan.
    Navobot formula 2: a navigation and handling implementation2006Konferansepaper (Fagfellevurdert)
  • 38.
    Arain, Muhammad Asif
    et al.
    Mehran University of Engineering & Technology, Pakistan.
    Ansari, Muhammad Adil
    Khatri, Chandan Kumar
    Maheshwari, Bheesham Kumar
    Kazi, Sheryar Anwer
    Design, Mathematical Modeling & Simulation of a Robot System with 3-DOF2005Konferansepaper (Fagfellevurdert)
  • 39.
    Arain, Muhammad Asif
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Fan, Han
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Hernandez Bennetts, Victor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Schaffernicht, Erik
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lilienthal, Achim J.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Improving Gas Tomography With Mobile Robots: An Evaluation of Sensing Geometries in Complex Environments2017Inngår i: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, IEEE, 2017, artikkel-id 7968895Konferansepaper (Fagfellevurdert)
    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.

  • 40.
    Arain, Muhammad Asif
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Havoutis, Ioannis
    Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy.
    Semini, Claudio
    Department of Advanced Robotics,Istituto Italiano di Tecnologia, Genova, Italy.
    Buchli, Jonas
    Eidgenössische Technische Hochschule Zürich (ETH), Zurich, Schweiz.
    Caldwell, Darwin G.
    Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy.
    A comparison of search-based planners for a legged robot2013Konferansepaper (Fagfellevurdert)
    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.

  • 41.
    Arain, Muhammad Asif
    et al.
    University of Genova , Genova, Italy; Warsaw University of Technology, Warshaw, Poland.
    Hultmann Ayala, Helon Vicente
    University of Genova , Genova, Italy; Warsaw University of Technology, Warshaw, Poland.
    Ansari, Muhammad Adil
    Science & Technology , Quaid-e-Awam University of Engineering, Sindh, Pakistan.
    Nonlinear System Identification Using Neural Network2012Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Magneto-rheological damper is a nonlinear system. In this case study, system has been identified using Neural Network tool. Optimization between number of neurons in the hidden layer and number of epochs has been achieved and discussed by using multilayer perceptron Neural Network.

  • 42.
    Arain, Muhammad Asif
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Schaffernicht, Erik
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Hernandez Bennetts, Victor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lilienthal, Achim J.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    The Right Direction to Smell: Efficient Sensor Planning Strategies for Robot Assisted Gas Tomography2016Inngår i: 2016 IEEE International Conference on Robotics and Automation (ICRA), New York, USA: IEEE Robotics and Automation Society, 2016, s. 4275-4281Konferansepaper (Fagfellevurdert)
    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.

  • 43.
    Arunachalam, Ajay
    et al.
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    Sornil, Ohm
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    A broadcast based random query gossip algorithm for resource search in non-DHT mobile Peer-to-Peer networks2017Inngår i: Diànnǎo xuékān, ISSN 1991-1599, Vol. 28, nr 1, s. 209-223Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 44.
    Arunachalam, Ajay
    et al.
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    Sornil, Ohm
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    Minimizing Redundant Messages and Improving Search Efficiency under Highly Dynamic Mobile P2P Network2016Inngår i: Journal of Engineering Science and Technology Review, ISSN 1791-9320, E-ISSN 1791-2377, Vol. 9, nr 1, s. 23-35Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Resource Searching is one of the key functional tasks in large complex networks. With the P2P architecture, millions of peers connect together instantly building a communication pattern. Searching in mobile networks faces additional limitations and challenges. Flooding technique can cope up with the churn and searches aggressively by visiting almost all the nodes. But it exponentially increases the network traffic and thus does not scale well. Further the duplicated query messages consume extra battery power and network bandwidth. The blind flooding also suffers from long delay problem in P2P networks. In this paper, we propose optimal density based flooding resource discovery schemes. Our first model takes into account local graph topology information to supplement the resource discovery process while in our extended version we also consider the neighboring node topology information along with the local node information to further effectively use the mobile and network resources. Our proposed method reduces collision at the same time minimizes effect of redundant messages and failures. Overall the methods reduce network overhead, battery power consumption, query delay, routing load, MAC load and bandwidth usage while also achieving good success rate in comparison to the other techniques. We also perform a comprehensive analysis of the resource discovery schemes to verify the impact of varying node speed and different network conditions.

  • 45.
    Arunachalam, Ajay
    et al.
    Department of Computer Science, School of Applied Statistics, National Institute of Development Administration, Bangkok, Thailand.
    Sornil, Ohm
    Department of Computer Science, School of Applied Statistics, National Institute of Development Administration, Bangkok, Thailand.
    Reducing Routing Overhead in random walk protocol under MP2P Network2016Inngår i: International Journal of Electrical and Computer Engineering, ISSN 2088-8708, Vol. 6, nr 6, s. 3121-3130Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 46.
    Asadi, Sahar
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Pashami, Sepideh
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Lilienthal, Achim J.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    TD Kernel DM+V: time-dependent statistical gas distribution modelling on simulated measurements2011Inngår i: Olfaction and Electronic Nose: proceedings of the 14th International Symposium on Olfaction and Electronic Nose (ISOEN) / [ed] Perena Gouma, Springer Science+Business Media B.V., 2011, s. 281-282Konferansepaper (Fagfellevurdert)
    Abstract [en]

    To study gas dispersion, several statistical gas distribution modelling approaches have been proposed recently. A crucial assumption in these approaches is that gas distribution models are learned from measurements that are generated by a time-invariant random process. While a time-independent random process can capture certain fluctuations in the gas distribution, more accurate models can be obtained by modelling changes in the random process over time. In this work we propose a time-scale parameter that relates the age of measurements to their validity for building the gas distribution model in a recency function. The parameters of the recency function define a time-scale and can be learned. The time-scale represents a compromise between two conflicting requirements for obtaining accurate gas distribution models: using as many measurements as possible and using only very recent measurements. We have studied several recency functions in a time-dependent extension of the Kernel DM+V algorithm (TD Kernel DM+V). Based on real-world experiments and simulations of gas dispersal (presented in this paper) we demonstrate that TD Kernel DM+V improves the obtained gas distribution models in dynamic situations. This represents an important step towards statistical modelling of evolving gas distributions.

  • 47.
    Asnafi, Nader
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Proceedings of the International Conference on Mechanical, Electric and Industrial Engineering (MEIE2018)2018Konferanseproceedings (Fagfellevurdert)
  • 48.
    Asnafi, Nader
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    The Second International Conference on Mechanical, Electric and Industrial Engineering, 25–27 May 2019, Hangzhou, China2019Konferanseproceedings (Fagfellevurdert)
  • 49. Bacciu, D.
    et al.
    Broxvall, Mathias
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Coleman, S.
    Dragone, M.
    Gallicchio, C.
    Gennaro, C.
    Guzmán, R.
    Lopez, R.
    Lozano-Peiteado, H.
    Ray, A.
    Renteria, A.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Vairo, C.
    Self-sustaining learning for robotic ecologies2012Konferansepaper (Fagfellevurdert)
    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.

  • 50.
    Bacciu, Davide
    et al.
    Dipartimento di Informatica, Università di Pisa, Pisa, Italy.
    Gallicchio, Claudio
    Dipartimento di Informatica, Università di Pisa, Pisa, Italy.
    Micheli, Alessio
    Dipartimento di Informatica, Università di Pisa, Pisa, Italy.
    Di Rocco, Maurizio
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Learning context-aware mobile robot navigation in home environments2014Inngår i: IISA 2014: The 5th International Conference on Information, Intelligence, Systems and Applications, New York: Institute of Electrical and Electronics Engineers (IEEE), 2014, s. 57-62, artikkel-id 6878733Konferansepaper (Fagfellevurdert)
    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.

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