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  • 101.
    Di Rocco, Maurizio
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Sivakumar, Prasanna Kumar
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Configuration Planning with Multiple Dynamic Goals2013Inngår i: Designing intelligent robots: reintegrating AI II. Papers from the AAAI Spring Symposium, AAAI Press, 2013, s. 12-17Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We propose an approach to configuration planning for robotic systems in which plans are represented as constraint networks and planning is defined as search in the space of such networks. The approach supports reasoning about time, resources, and information dependencies between actions. In addition, the system can leverage the flexibility of such networks at execution time to support dynamic goal posting and re-planning.

  • 102.
    Di Rocco, Maurizio
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Reggente, Matteo
    Saffiotti, Alessandro
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Gas source localization in indoor environments using multiple inexpensive robots and stigmergy2011Inngår i: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2011, s. 5007-5014Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Environmental monitoring is a rather new field in robotics. One of the main appealing tasks is gas mapping, i.e., the characterization of the chemical properties (concentration, dispersion, etc.) of the air within an environment. Current approaches rely on a robot using standard localization and mapping techniques to fuse gas measures with spatial features. These approaches require sophisticated sensors and/or high computational resources. We propose a minimalistic approach, in which one or multiple low-cost robots exploit the ability to store information in the environment, or “stigmergy”, to effectively compute an artificial potential leading toward the likely location of the gas source, as indicated by a highest gas concentration or fluctuation. The potential is computed and stored directly on an array of RFID tags buried under the floor. Our approach has been validated in extensive experiments performed on real robots in a domestic environment.

  • 103.
    Di Rocco, Maurizio
    et al.
    Roma Tre University, Rome, Italy.
    Ulivi, Giavanni
    An efficient implementation of a particle filter for localization using compass data2010Inngår i: 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010, Lecce, Italy / [ed] Giovanni Indiveri, Antonio M. Pascoal, 2010Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper presents a localization algorithm for a small mobile platform. Taking advantage from modern technology, Saetta, a low cost mobile robot, has been built from scratch. Due to the limited processing capabilities, some ad hoc solutions have been used: the lack of processing resources has been compensated by an efficient implementation of the estimator and by the use of compass measures which ease the computational load. The results show how a careful design allows the implementation of sophisticated algorithms also on small platforms.

  • 104.
    Dimitrov, Dimitar N.
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Wieber, P. -B.
    Stasse, O.
    Ferreau, H. J.
    Diedam, H.
    An optimized linear model predictive control solver for online walking motion generation2009Inngår i: IEEE International Conference on Robotics and Automation (ICRA '09), IEEE conference proceedings, 2009, s. 1171-1176Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    This article addresses the fast solution of a Quadratic Program underlying a Linear Model Predictive Control scheme that generates walking motions. We introduce an algorithm which is tailored to the particular requirements of this problem, and therefore able to solve it efficiently. Different aspects of the algorithm are examined, its computational complexity is presented, and a numerical comparison with an existing state of the art solver is made. The approach presented here, extends to other general problems in a straightforward way. © 2009 IEEE.

  • 105.
    Dimitrov, Dimitar
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Paolillo, Antonio
    Wieber, Pierre-Brice
    Walking motion generation with online foot position adaptation based on L_1- and L_\inf-norm penalty formulations2010Inngår i: IEEE International conference on Robotics and automation (ICRA), IEEE conference proceedings, 2010, s. 3523-3529Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The article presents an improved formulation of an existing model predictive control scheme used to generate online "stable" walking motions for a humanoid robot. We introduce: (i) a change of variable that simplifies the optimiza tion problem to be solved; (ii) a simply bounded formulation in the case when the positions of the feet are predetermined; (iii) a formulation allowing foot repositioning (when the system is perturbed) based on ℓ1- and ℓ-norm minimization; (iv) a formulation that accounts for (approximate) double support constraints when foot repositioning occurs.

  • 106.
    Dimitrov, Dimitar
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Sherikov, Alexander
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Wieber, Pierre-Brice
    A sparse model predictive control formulation for walking motion generation2011Inngår i: IEEE/RSJ International conference on Intelligent robots and systems (IROS), IEEE, 2011, s. 2292-2299Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This article presents a comparison between dense and sparse model predictive control (MPC) formulations, in the context of walking motion generation for humanoid robots. The former formulation leads to smaller, the latter one to larger but more structured optimization problem. We put an accent on the sparse formulation and point out a number of advantages that it presents. In particular, motion generation with variable center of mass (CoM) height, as well as variable discretization of the preview window, come at a negligible additional computational cost. We present a sparse formulation that comprises a diagonal Hessian matrix and has only simple bounds (while still retaining the possibility to generate motions for an omnidirectional walk). Finally, we present the results from a customized code used to solve the underlying quadratic program (QP).

  • 107.
    Dimitrov, Dimitar
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Wieber, Pierre-Brice
    Stasse, Olivier
    Ferreau, Hans Joachim
    Diedam, Holger
    An optimized linear model predictive control solver2010Inngår i: Recent advances in optimization and its applications in engineering / [ed] Moritz Diehl, Francois Glineur, Elias Jarlebring, Wim Michiels, Heidelberg: Springer, 2010, 1, s. 309-318Kapittel i bok, del av antologi (Fagfellevurdert)
  • 108.
    Dmytryshyn, Andrii
    et al.
    Dept. Computing Science, Umeå University, Umeå, Sweden.
    Johansson, Stefan
    Dept. Computing Science, Umeå University, Umeå, Sweden.
    Kågström, Bo
    Dept. Computing Science, Umeå University, Umeå, Sweden.
    Canonical structure transitions of system pencils2015Rapport (Annet vitenskapelig)
    Abstract [en]

    We investigate the changes under small perturbations of the canonical structure information for a system pencil (A B C D) − s (E 0 0 0), det(E) ≠ 0, associated with a (generalized) linear time-invariant state-space system. The equivalence class of the pencil is taken with respect to feedback-injection equivalence transformation. The results allow to track possible changes under small perturbations of important linear system characteristics.

    Fulltekst (pdf)
    Canonical structure transitions of system pencils
  • 109.
    Driankov, Dimiter
    et al.
    Linköping University, Linköping, Sweden.
    Palm, Rainer
    Siemens Corporate Research, Munich, Germany.
    Rehfuess, Ulrich
    Siemens Corporate Research, Munich, Germany.
    A Takagi-Sugeno fuzzy gain-scheduler1996Inngår i: Proceedings of the Fifth IEEE International Conference on Fuzzy Systems: Fuzz-IEEE '96, New York, USA: IEEE conference proceedings, 1996, s. 1053-1059Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In the present paper we describe the design of a fuzzy gain scheduler for tracking a reference trajectory of a nonlinear autonomous system. The proposed fuzzy gain scheduling method has two major advantages over the existing crisp gain scheduling methods. First, it provides a general and formally motivated method for the interpolation of available local control laws into a global gain scheduling control law. Second, the method for determining the weights of the local control laws in the global gain scheduling control law is general and computationally efficient. It is shown that a fuzzy gain scheduler can be designed such that robust asymptotic stability is met. Finally, an LQR control design based method is presented

  • 110.
    Edström, Daniel
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik. Department of Physics, Chemistry and Biology, Linköping University, Linköping, Sweden.
    Lavesson, Nils
    ABB Corporate Research, Västerås, Sweden.
    Ögren, Magnus
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Forces on parallel three-phase AC-conductors during a phase to ground fault2019Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We consider the problem of calculating forces on high current solid conductors, as is present in various types of electrical installations e.g. in substations [1]. An example of such an installation with three parallel conductors is shown in Figure 1. The conductor forces are important for the design of the station, in particular for the conductor geometry and mechanical support.

    Fulltekst (pdf)
    Forces on parallel three-phase AC-conductors during a phase to ground fault
  • 111.
    Eleonora, Thorén
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Packstation: Utredning om lösningar för automatiserad hantering2012Independent thesis Basic level (professional degree), 10 poäng / 15 hpOppgave
    Abstract [sv]

    Rapporten beskriver ett utredningsuppdrag för Lantmännen Unibake, Korvbrödsbagarn, där lösningar för en automatiserad iläggning av påsar i kartonger skall ersätta den nuvarande manuella hanteringen.

    Metoden för att hitta en passande lösning genomfördes enligt PDCA-cykeln (Plan-Do-Check-Act), där fyra olika faser går igenom för att få en förståelse för nuläget och önskemål, utforska tillgängliga alternativ genom kontakt med agenter för maskinföretag, utvärdering av lösningsförslag och till sist en slutsats och förslag till fortsatt arbete.

    Fulltekst (pdf)
    fulltext
  • 112.
    Ericsson, Niclas
    et al.
    RISE SICS, Västerås, Sweden.
    Lennvall, Tomas
    Örebro universitet, Institutionen för naturvetenskap och teknik. RISE SICS, Västerås, Sweden.
    Åkerberg, Johan
    ABB AB Corporate Research, Västerås, Sweden.
    Björkman, Mats
    School of Innovation Design and Technology, Mälardalen University, Västerås, Sweden.
    A flexible communication stack design for time sensitive embedded systems2017Inngår i: 2017 IEEE International Conference on Industrial Technology (ICIT): Proceedings, Institute of Electrical and Electronics Engineers (IEEE), 2017, s. 1112-1117Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Trends like Internet of Things (IoT), 5G and Cloud are pushing for device connectivity to the Internet, which affects industrial embedded systems with e.g., an increase in code base and functionality. Due to different application requirements, there are relative little reuse between embedded systems with different run-time context (from super loop to multi-threaded), and different types of communication (best effort and real time). In order to improve code reuse and changeability, we propose a flexible communication stack design, that can be configured for time sensitive communication with a real-time operating system (RTOS), or configured for best effort communication with either a super loop or an operating system (OS). Experiments demonstrate the flexibility and simplicity of the design with different configurations, e.g., super loop, single threaded, multi-threaded. Measurements show that the variations in performance related to run-time context scales as expected.

  • 113.
    Fafoutis, Xenofon
    et al.
    University of Bristol, Bristol, UK.
    Di Mauro, Alessio
    Yubico, Stockholm, Sweden.
    Orfanidis, Charalampos
    University of Uppsala, Uppsala, Sweden.
    Dragoni, Nicola
    Örebro universitet, Institutionen för naturvetenskap och teknik. Technical University of Denmark, Kgs. Lyngby, Denmark.
    Energy-efficient medium access control for energy harvesting communications2015Inngår i: IEEE transactions on consumer electronics, ISSN 0098-3063, E-ISSN 1558-4127, Vol. 61, nr 4, s. 402-410Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    While energy consumption is widely considered the primary challenge of wireless networked devices, energy harvesting emerges as a promising way of powering the Internet of Things (IoT). In the Medium Access Control (MAC) layer of the communication stack, energy harvesting introduces spatial and temporal uncertainty in the availability of energy. In this context, this paper focuses on the design and implementation of the MAC layer of wireless embedded systems that are powered by energy harvesting; providing novel protocol features and practical experiences to designers of consumer electronics who opt for tailoring their own protocol solutions instead of using the standards.

  • 114.
    Fafoutis, Xenofon
    et al.
    Technical University of Denmark, Kgs. Lyngby, Denmark.
    Di Mauro, Alessio
    Technical University of Denmark, Kgs. Lyngby, Denmark.
    Vithanage, Madava D.
    Technical University of Denmark, Kgs. Lyngby, Denmark.
    Dragoni, Nicola
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Receiver-Initiated Medium Access Control Protocols for Wireless Sensor Networks2015Inngår i: Computer Networks, ISSN 1389-1286, E-ISSN 1872-7069, Vol. 76, s. 55-74Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    One of the fundamental building blocks of a Wireless Sensor Network (WSN) is the Medium Access Control (MAC) protocol, that part of the system governing when and how two independent neighboring nodes activate their respective transceivers to directly interact. Historically, data exchange has always been initiated by the node willing to relay data, i.e. the sender. However, the Receiver-Initiated paradigm introduced by Lin et al. in 2004 with RICER and made popular by Sun et al. in 2008 with RI-MAC, has spawned a whole new stream of research, yielding tens of new MAC protocols. Within such paradigm, the receiver is the one in charge of starting a direct communication with an eligible sender. This allows for new useful properties to be satisfied, novel schemes to be introduced and new challenges to be tackled. In this paper, we present a survey comprising of all the MAC protocols released since the year 2004 that fall under the receiver-initiated category. In particular, keeping in mind the key challenges that receiver-initiated MAC protocols are meant to deal with, we analyze and discuss the different protocols according to common features and design goals. The aim of this paper is to provide a comprehensive and self-contained introduction to the fundamentals of the receiver-initiated paradigm, providing newcomers with a quick-start guide on the state of the art of this field and a palette of options, essential for implementing applications or designing new protocols.

  • 115.
    Fafoutis, Xenofon
    et al.
    Technical University of Denmark, Kgs. Lyngby, Danmark.
    Orfanidis, Charalampos
    Technical University of Denmark, Kgs. Lyngby, Danmark.
    Dragoni, Nicola
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Altruistic Backoff: Collision Avoidance for Receiver-Initiated MAC Protocols for Wireless Sensor Networks2014Inngår i: International Journal of Distributed Sensor Networks, ISSN 1550-1329, E-ISSN 1550-1477, nr Article ID 576401Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In receiver-initiated medium access control (MAC) protocols for wireless sensor networks, communication is initiated by the receiver node which transmits beacons indicating its availability to receive data. In the case of multiple senders having traffic for a given receiver, such beacons form points where collisions are likely to happen. In this paper, we present altruistic backoff (AB), a novel collision avoidance mechanism that aims to avoid collisions before the transmission of a beacon. As a result of an early backoff, senders spend less time in idle listening waiting for a beacon, thus saving significant amounts of energy. We present an implementation of AB for Texas Instruments’ eZ430-rf2500 sensor nodes and we evaluate its performance with simulations and experiments.

  • 116.
    Fan, Han
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Arain, Muhammad Asif
    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 Dispersal Simulation For Mobile Robot Olfaction: Using Robotcreatedoccupancy Maps And Remote Gas Sensors In The Simulation Loop2017Inngår i: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, IEEE conference proceedings, 2017, artikkel-id 17013581Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

  • 117.
    Fan, Han
    et al.
    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.
    Towards Gas Discrimination and Mapping in Emergency Response Scenarios Using a Mobile Robot with an Electronic Nose2019Inngår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 19, nr 3, artikkel-id E685Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Emergency personnel, such as firefighters, bomb technicians, and urban search and rescue specialists, can be exposed to a variety of extreme hazards during the response to natural and human-made disasters. In many of these scenarios, a risk factor is the presence of hazardous airborne chemicals. The recent and rapid advances in robotics and sensor technologies allow emergency responders to deal with such hazards from relatively safe distances. Mobile robots with gas-sensing capabilities allow to convey useful information such as the possible source positions of different chemicals in the emergency area. However, common gas sampling procedures for laboratory use are not applicable due to the complexity of the environment and the need for fast deployment and analysis. In addition, conventional gas identification approaches, based on supervised learning, cannot handle situations when the number and identities of the present chemicals are unknown. For the purpose of emergency response, all the information concluded from the gas detection events during the robot exploration should be delivered in real time. To address these challenges, we developed an online gas-sensing system using an electronic nose. Our system can automatically perform unsupervised learning and update the discrimination model as the robot is exploring a given environment. The online gas discrimination results are further integrated with geometrical information to derive a multi-compound gas spatial distribution map. The proposed system is deployed on a robot built to operate in harsh environments for supporting fire brigades, and is validated in several different real-world experiments of discriminating and mapping multiple chemical compounds in an indoor open environment. Our results show that the proposed system achieves high accuracy in gas discrimination in an online, unsupervised, and computationally efficient manner. The subsequently created gas distribution maps accurately indicate the presence of different chemicals in the environment, which is of practical significance for emergency response.

    Fulltekst (pdf)
    Towards Gas Discrimination and Mapping in Emergency Response Scenarios Using a Mobile Robot with an Electronic Nose
  • 118.
    Fan, Hongqi
    et al.
    National University of Defense Technology, Changsa, P. R. China.
    Lu, Dawei
    National University of Defense Technology, Changsa, P. R. China.
    Kucner, Tomasz Piotr
    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.
    2D Spatial Keystone Transform for Sub-Pixel Motion Extraction from Noisy Occupancy Grid Map2018Inngår i: Proceedings of 21st International Conference on Information Fusion (FUSION), 2018, s. 2400-2406Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this paper, we propose a novel sub-pixel motion extraction method, called as Two Dimensional Spatial Keystone Transform (2DS-KST), for the motion detection and estimation from successive noisy Occupancy Grid Maps (OGMs). It extends the KST in radar imaging or motion compensation to 2D real spatial case, based on multiple hypotheses about possible directions of moving obstacles. Simulation results show that 2DS-KST has a good performance on the extraction of sub-pixel motions in very noisy environment, especially for those slowly moving obstacles.

    Fulltekst (pdf)
    2D spatial keystone transform for sub-pixel motion extraction from noisy occupancy grid map
  • 119.
    Fiorini, Flavio
    et al.
    Roma Tre University, Rome, Italy.
    Gasparri, Andrea
    Roma Tre University, Rome, Italy.
    Di Rocco, Maurizio
    Roma Tre University, Rome, Italy.
    Panzieri, Stefano
    Roma Tre University, Rome, Italy.
    A networked transferable belief model approach for distributed data aggregation: dynamic version2010Inngår i: 49th IEEE Conference on Decision and Control (CDC), 2010, IEEE conference proceedings, 2010, s. 1237-1242Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper investigates the data aggregation problem for a multi-agent system. In this framework, agents are assumed to be independent reliable sources which collect data and collaborate to reach a common knowledge. In particular, agents are assumed to dynamically gather data over time, i.e., a dynamic scenario. A protocol for distributed data aggregation which is proved to converge to the basic belief assignment (BBA) given by a centralized aggregation based on the Transferable Belief Model (TBM) is provided.

  • 120.
    Fiorini, Flavio
    et al.
    Roma Tre University, Rome, Italy.
    Gasparri, Andrea
    Roma Tre University, Rome, Italy.
    Di Rocco, Maurizio
    Roma Tre University, Rome, Italy.
    Panzieri, Stefano
    Roma Tre University, Rome, Italy.
    A networked transferable belief model approach for distributed data aggregation: static version2010Inngår i: 49th IEEE Conference on Decision and Control (CDC), 2010, IEEE conference proceedings, 2010, s. 1229-1236Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this paper the data aggregation problem for a multi-agent system is investigated. In this framework, agents are assumed to be independent reliable sources which collect data and collaborate to reach a common knowledge. In particular, each agent is supposed to provide an observation which does not change over time, i.e., static scenario. A protocol for distributed data aggregation which is proved to converge to the basic belief assignment (BBA) given by a centralized aggregation based on the Transferable Belief Model (TBM) is provided.

  • 121.
    Fodor, George
    et al.
    ABB Industrial Systems AB, Västerås, Sweden.
    Grantner, Janos L.
    Western Michigan University, Department of Electrical and Computer Engineering, Kalamazoo, USA.
    Driankov, Dimiter
    Linköping University, Linköping, Sweden.
    Modeling the real-time recovery of complex control systems: A fuzzy approach1997Inngår i: 1997 IEEE International Conference on Systems, Man, and Cybernetics: Computational Cybernetics and Simulation (Volume:3), New York, USA: IEEE conference proceedings, 1997, s. 2163-2168Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

  • 122.
    Franchi, Antonio
    et al.
    La Sapienza University, Rome, Italy.
    Stegagno, Paolo
    La Sapienza University, Rome, Italy.
    Di Rocco, Maurizio
    Roma Tre University, Rome, Italy.
    Oriolo, Giuseppe
    La Sapienza University, Rome, Italy.
    Distributed target localization and encirclement with a multi robot system2010Inngår i: 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010, Lecce, Italy / [ed] Giovanni Indiveri, Antonio M. Pascoal, 2010Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper presents a control scheme for localizing and encircling a target using a multi-robot system. The task is achieved in a distributed way, in that each robot only uses local information gathered by on-board relative-position sensors assumed to be noisy, anisotropic, and unable to detect the identity of the measured object. Communication between the robots is provided by limited-range transceivers. Experimental results with stationary and moving targets support the theoretical analysis.

  • 123.
    Frese, Udo
    et al.
    University of Bremen.
    Larsson, Per
    NamaTec AB.
    Duckett, Tom
    Örebro universitet, Institutionen för teknik.
    A multilevel relaxation algorithm for simultaneous localisation and mapping2005Inngår i: IEEE Transactions on robotics, ISSN 1552-3098, E-ISSN 1941-0468, Vol. 21, nr 2, s. 196-207Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper addresses the problem of simultaneous localisation and mapping (SLAM) by a mobile robot. An incremental SLAM algorithm is introduced that is derived from multigrid methods used for solving partial differential equations. The approach improves on the performance of previous relaxation methods for robot mapping because it optimizes the map at multiple levels of resolution. The resulting algorithm has an update time that is linear in the number of estimated features for typical indoor environments, even when closing very large loops, and offers advantages in handling non-linearities compared to other SLAM algorithms. Experimental comparisons with alternative algorithms using two well-known data sets and mapping results on a real robot are also presented

  • 124.
    Frid, Emma
    et al.
    KTH Royal Institute of Technology, Stockholm, Sweden.
    Moll, Jonas
    Uppsala University, Uppsala, Sweden.
    Bresin, Roberto
    KTH Royal Institute of Technology, Stockholm, Sweden.
    Sallnäs Pysander, Eva-Lotta
    KTH Royal Institute of Technology, Stockholm, Sweden.
    Haptic feedback combined with movement sonification using a friction sound improves task performance in a virtual throwing task2019Inngår i: Journal on Multimodal User Interfaces, ISSN 1783-7677, E-ISSN 1783-8738, Vol. 13, nr 4, s. 279-290Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In this paper we present a study on the effects of auditory- and haptic feedback in a virtual throwing task performed with a point-based haptic device. The main research objective was to investigate if and how task performance and perceived intuitiveness is affected when interactive sonification and/or haptic feedback is used to provide real-time feedback about a movement performed in a 3D virtual environment. Emphasis was put on task solving efficiency and subjective accounts of participants’ experiences of the multimodal interaction in different conditions. The experiment used a within-subjects design in which the participants solved the same task in different conditions: visual-only, visuohaptic, audiovisual and audiovisuohaptic. Two different sound models were implemented and compared. Significantly lower error rates were obtained in the audiovisuohaptic condition involving movement sonification based on a physical model of friction, compared to the visual-only condition. Moreover, a significant increase in perceived intuitiveness was observed for most conditions involving haptic and/or auditory feedback, compared to the visual-only condition. The main finding of this study is that multimodal feedback can not only improve perceived intuitiveness of an interface but that certain combinations of haptic feedback and movement sonification can also contribute with performance-enhancing properties. This highlights the importance of carefully designing feedback combinations for interactive applications.

  • 125. Galindo, Cipriano
    et al.
    González, Javier
    Fernández-Madrigal, Juan-Antonio
    Saffiotti, Alessandro
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Robots that change their world: inferring goals from semantic knowledge2011Inngår i: Proceedings of the 5th European Conference on Mobile Robots, ECMR 2011 / [ed] Achim J. Lilienthal, Tom Duckett, 2011, s. 1-6Konferansepaper (Fagfellevurdert)
  • 126.
    Galindo, Cipriano
    et al.
    University of Malaga, Malaga, Spain.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Inferring robot goals from violations of semantic knowledge2013Inngår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 61, nr 10, s. 1131-1143Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    A growing body of literature shows that endowing a mobile robot with semantic knowledge and with the ability to reason from this knowledge can greatly increase its capabilities. In this paper, we present a novel use of semantic knowledge, to encode information about how things should be, i.e. norms, and to enable the robot to infer deviations from these norms in order to generate goals to correct these deviations. For instance, if a robot has semantic knowledge that perishable items must be kept in a refrigerator, and it observes a bottle of milk on a table, this robot will generate the goal to bring that bottle into a refrigerator. The key move is to properly encode norms in an ontology so that each norm violation results in a detectable inconsistency. A goal is then generated to bring the world back in a consistent state, and a planner is used to transform this goal into actions. Our approach provides a mobile robot with a limited form of goal autonomy: the ability to derive its own goals to pursue generic aims. We illustrate our approach in a full mobile robot system that integrates a semantic map, a knowledge representation and reasoning system, a task planner, and standard perception and navigation routines. (C) 2013 Elsevier B.V. All rights reserved.

  • 127.
    Galindo, Cipriano
    et al.
    University of Malaga, Malaga, Spain.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Semantic norms for mobile robots: when the end does not justify the means2012Inngår i: IFAC-PapersOnLine, E-ISSN 2405-8963, Vol. 45, nr 22, s. 84-89Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper deals with the use of semantic knowledge to improve the intelligence and autonomous behavior of a mobile robot. A robot can exploit the semantics of its environment to infer new, implicit information. Another interesting possibility is to use semantics for detecting deviations between the real world and what is supposed to be ``normal''. For instance, normative semantic knowledge may state that towels should stay in the bathroom. If a robot detects a towel in the kitchen, it can react and decide to solve this inconsistency by bringing it to the bathroom. However not all ways to solve an inconsistency are acceptable: for instance, if the robot put the towel temporarily on a dirty sink in order to re-grasp it with the other arm, it would violate another norm -- namely, that towels should always stay on a clean surface. In this work we present an algorithm that detects and recovers from norm violations, according to a semantic representation of norms, and ensures the normative acceptability of the robot actions throughout execution.

    Fulltekst (pdf)
    fulltext
  • 128.
    Gao, Shang
    et al.
    School of Business Administration, Zhongnan University of Economics and Law, Wuhan, China.
    Krogstie, John
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Siau, Keng
    Department of Business and Information Technology, Missouri University of Science and Technology, Rolla MO, United States.
    Adoption of mobile information services: An empirical study2014Inngår i: International Journal of Mobile Information Systems, ISSN 1574-017X, E-ISSN 1875-905X, Vol. 10, nr 2, s. 147-171Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This study investigates the adoption of mobile information services at a Norwegian university. By expanding the Technology Acceptance Model (TAM), a new research model, known as the mobile services acceptance model (MSAM), is proposed. Based on the research model, seven research hypotheses are presented. The proposed research model and research hypotheses were empirically tested using data collected from a survey of users of a mobile service, extended Mobile Student Information Systems (eMSIS), at a Norwegian university. The findings indicate that the fitness of the research model is good. Support was also found for the seven research hypotheses. Among the factors, the personal initiatives and characteristics has the strongest influence on the intention to use eMSIS.

  • 129.
    Gao, Shang
    et al.
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Krogstie, John
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Siau, Keng
    Department of Management, University of Nebraska, Lincoln NE, USA.
    Developing an instrument to measure the adoption of mobile services2011Inngår i: International Journal of Mobile Information Systems, ISSN 1574-017X, E-ISSN 1875-905X, Vol. 7, nr 1, s. 45-67Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 130.
    Garipov, Emil
    et al.
    Technical University of Sofia, Bulgaria.
    Stoilkov, Teodor
    Technical University of Sofia, Bulgaria.
    Kalaykov, Ivan
    Örebro universitet, Institutionen för naturvetenskap.
    Multiple regressive model adaptive control2008Inngår i: New developments in robotics automation and control / [ed] Aleksandar Lazinica, Rijeka, Croatia: InTech , 2008, s. 59-84Kapittel i bok, del av antologi (Fagfellevurdert)
  • 131.
    Gasparri, Andrea
    et al.
    Roma Tre University, Rome, Italy.
    Fiorini, Flavio
    Logofive Srl, Turin, Italy.
    Di Rocco, Maurizio
    Roma Tre University, Rome, Italy.
    Panzieri, Stefano
    Roma Tre University, Rome, Italy.
    A networked transferable belief model approach for distributed data aggregation2012Inngår i: IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, ISSN 1083-4419, E-ISSN 1941-0492, Vol. 42, nr 2, s. 391-405Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper focuses on the extension of the transferable belief model (TBM) to a multiagent-distributed context where no central aggregation unit is available and the information can be exchanged only locally among agents. In this framework, agents are assumed to be independent reliable sources which collect data and collaborate to reach a common knowledge about an event of interest. Two different scenarios are considered: In the first one, agents are supposed to provide observations which do not change over time (static scenario), while in the second one agents are assumed to dynamically gather data over time (dynamic scenario). A protocol for distributed data aggregation, which is proved to converge to the basic belief assignment given by an equivalent centralized aggregation schema based on the TBM, is provided. Since multiagent systems represent an ideal abstraction of actual networks of mobile robots or sensor nodes, which are envisioned to perform the most various kind of tasks, we believe that the proposed protocol paves the way to the application of the TBM in important engineering fields such as multirobot systems or sensor networks, where the distributed collaboration among players is a critical and yet crucial aspect.

  • 132.
    Gholami Shahbandi, Saeed
    et al.
    Center for Applied Intelligent Systems Research, Halmstad University, Halmstad, Sweden.
    Magnusson, Martin
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    2D map alignment with region decomposition2019Inngår i: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 43, nr 5, s. 1117-1136Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    In many applications of autonomous mobile robots the following problem is encountered. Two maps of the same environment are available, one a prior map and the other a sensor map built by the robot. To benefit from all available information in both maps, the robot must find the correct alignment between the two maps. There exist many approaches to address this challenge, however, most of the previous methods rely on assumptions such as similar modalities of the maps, same scale, or existence of an initial guess for the alignment. In this work we propose a decomposition-based method for 2D spatial map alignment which does not rely on those assumptions. Our proposed method is validated and compared with other approaches, including generic data association approaches and map alignment algorithms. Real world examples of four different environments with thirty six sensor maps and four layout maps are used for this analysis. The maps, along with an implementation of the method, are made publicly available online.

  • 133.
    Gholami Shahbandi, Saeed
    et al.
    Center for Applied Intelligent Systems Research, Halmstad University, Halmstad, Sweden.
    Magnusson, Martin
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Iagnemma, Karl
    Robotic Mobility Group, Massachusetts Institute of Technology, Cambridge MA, USA.
    Nonlinear Optimization of Multimodal Two-Dimensional Map Alignment With Application to Prior Knowledge Transfer2018Inngår i: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 3, nr 3, s. 2040-2047Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We propose a method based on a nonlinear transformation for nonrigid alignment of maps of different modalities, exemplified with matching partial and deformed two-dimensional maps to layout maps. For two types of indoor environments, over a dataset of 40 maps, we have compared the method to state-of-the-art map matching and nonrigid image registration methods and demonstrate a success rate of 80.41% and a mean point-to-point alignment error of 1.78 m, compared to 31.9% and 10.7 m for the best alternative method. We also propose a fitness measure that can quite reliably detect bad alignments. Finally, we show a use case of transferring prior knowledge (labels/segmentation), demonstrating that map segmentation is more consistent when transferred from an aligned layout map than when operating directly on partial maps (95.97% vs. 81.56%).

    Fulltekst (pdf)
    Nonlinear Optimization of Multimodal 2D Map Alignment with Application to Prior Knowledge Transfer
  • 134.
    Giaretta, Alberto
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    De Donno, Michele
    DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Dragoni, Nicola
    Örebro universitet, Institutionen för naturvetenskap och teknik. DTU Compute, Technical University of Denmark, Kongens Lyngby, Denmark.
    Adding Salt to Pepper: A Structured Security Assessment over a Humanoid Robot2018Inngår i: Proceedings of the 13th International Conference on Availability, Reliability and Security, ACM , 2018, artikkel-id 22Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The rise of connectivity, digitalization, robotics, and artificial intelligence (AI) is rapidly changing our society and shaping its future development. During this technological and societal revolution, security has been persistently neglected, yet a hacked robot can act as an insider threat in organizations, industries, public spaces, and private homes. In this paper, we perform a structured security assessment of Pepper, a commercial humanoid robot. Our analysis, composed by an automated and a manual part, points out a relevant number of security flaws that can be used to take over and command the robot. Furthermore, we suggest how these issues could be fixed, thus, avoided in the future. The very final aim of this work is to push the rise of the security level of IoT products before they are sold on the public market.

  • 135.
    Giaretta, Alberto
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dragoni, Nicola
    Örebro universitet, Institutionen för naturvetenskap och teknik. DTU Compute, Technical University of Denmark, Lyngby, Denmark.
    Massacci, Fabio
    Department of Information Science and Engineering, University of Trento, Trento, Italy.
    IoT Security Configurability with Security-by-Contract2019Inngår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 19, nr 19, artikkel-id E4121Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 136.
    Gidlund, Mikael
    et al.
    Institutionen för informationsteknologi och medier, Mittuniversitetet, Västerås, sweden.
    Lennvall, Tomas
    Örebro universitet, Institutionen för naturvetenskap och teknik. ABB Corporate Research, Västerås, Sweden.
    Neander, Jonas
    ABB Corporate Research, Västerås, Sweden.
    An energy efficient method for communication between a wireless sensor network and an industrial control system2011Patent (Annet (populærvitenskap, debatt, mm))
    Abstract [en]

    The invention is a method for communication between a wireless device node in a wireless sensor network (WSN) and control apparatus or control processes of an industrial control system (ICS). The wireless network includes a plurality of device nodes and at least one gateway (GW). The method comprises receiving at a gateway an aggregated data packet (ADP) for a final address in the ICS. The gateway processes the data packet, detects that it is an aggregated data packet and reconstructs the original data packets contained therein. The gateway then sends each of the original data packets as standard data packets to the intended final address in the ICS. In other aspects of the invention a method, system and a computer program for carrying out the method are described.

  • 137.
    Gidlund, Mikael
    et al.
    Mid Sweden University, Västerås, Sweden.
    Lennvall, Tomas
    RISE SICS, Västerås, Sweden.
    Åkerberg, Johan
    ABB AB Corporate Research, Västerås, Sweden.
    Will 5G become yet another wireless technology for industrial automation?2017Inngår i: 2017 IEEE International Conference on Industrial Technology (ICIT): Proceedings, Institute of Electrical and Electronics Engineers (IEEE), 2017, s. 1319-1324Konferansepaper (Fagfellevurdert)
    Abstract [en]

    With the growing interest in adoption of wireless technologies in industrial automation and the continuous search for new revenue streams new players are entering the arena in order to make their business grow further. One of the emerging wireless technologies aiming to support industrial automation applications is 5G, targeting anything from extreme throughput (> 10 Gbit/s) to extreme low latency (≤ 1 ms) to ultra high reliability (≥ 99.999%). In this article we intend to discuss the potential and challenges of adopting 5G in real industrial environments and give a more balanced picture compared to previous articles mainly written by telecom researchers and vendors as a way to promote their technology. Specifically, this article will discuss and provide some real industrial requirements, describe the main technical features of 5G and try to assess what applications it will support that are not by already supported by existing technologies. In the end, the success of 5G will depend on appealing business models and scalability, i.e., whether or not the same equipment can be deployed worldwide without any changes and spectrum rules, and the migration paths beyond 5G for reasonable business risks.

  • 138.
    Grantner, Janos L.
    et al.
    Western Michigan University, Dept. of Electrical and Computer Engineering, USA.
    Fodor, George. A.
    ABB Automation Products AB, Västerås, Sweden; Western Michigan University, Dept. of Electrical and Computer Engineering, USA.
    Driankov, Dimiter
    Department of Information and Computer Science, University of Linköping, Linköping, Sweden.
    The virtual fuzzy state machine approach: a domain-independent fault detection and recovery method for object-based control systems1999Inngår i: Proceedings of the 18th International Conference of the North American  Fuzzy Information Processing Society (NAFIPS), IEEE conference proceedings, 1999, s. 158-162Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

  • 139.
    Grantner, J.L.
    et al.
    Western Michigan University, Kalamazoo, USA.
    Fodor, George
    George Fodor, Al3B Industrial Systems AB, ISY/AMC, Västerås.
    Driankov, Dimiter
    University of Linköping, Linköping.
    Hybrid fuzzy-Boolean automata for ontological controllers1998Inngår i: The 1998 IEEE International Conference on Fuzzy Systems Proceedings: IEEE World Congress on Computational Intelligence  (Volume:1), New York, USA: IEEE conference proceedings, 1998, s. 400-404Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

  • 140.
    Grosinger, Jasmin
    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.
    Making Robots Proactive through Equilibrium Maintenance2016Inngår i: 25th International Joint Conference on Artificial Intelligence, 2016Konferansepaper (Fagfellevurdert)
  • 141.
    Gupta, Puneet Kumar
    et al.
    Independent Accessible Media Professional, Meerut, India.
    Mathew Martin, Poothullil John
    Department of Outreach & Extension Services, Ali Yavar Jung National Institute for the Hearing Handicapped, Mumbai, India.
    Comprehension of basic mathematics among children with hearing impairment using multimedia in accesible and non-accesible format a comparative study2013Inngår i: 2013 IEEE 63rd Annual Conference International Council for Educational Media (ICEM), IEEE conference proceedings, 2013, s. 1-11Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

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

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

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

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

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

  • 142.
    Gustafsson, Erik
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Vibratorbaserade hjälpmedel för personer med funktionshinder: Vibrator based Aids for people with Disabilities2015Independent thesis Basic level (professional degree), 10 poäng / 15 hpOppgave
    Abstract [sv]

    Över en tid har det vid Örebro universitet och på universitetssjukhuset i Örebro bedrivits forskning kring kommunikation med människor som har funktionsnedsättningar. Samarbete har skett med forskningsnätverket NovaMedTech. Främst har denna forskning riktat sig till personer med dövblindhet. Kommunikationen med dessa personer sker i dagsläget med vibratorer. Tyvärr är dessa vibratorer undermåliga och min primära uppgift som bidrag till denna forskning är därför att finna eller konstruera en vibrator som bättre uppfyller de krav som ställs.

    Den vibrator som testats med bäst resultat hade jag som utgångsläge och började därefter granska marknaden av små vibratorer som skulle kunna uppfylla kraven bättre. En bredbandigare och mer linjär vibrator fodrades. De flesta vibratorer som tillverkas idag är till för att påkalla uppmärksamhet, inte överföra information. Det gör att de har ett högt stimuli på en viss frekvens. Därför testades istället ett försök till konstruera en vibrator för att få en bättre uppfattning om teorierna stämmer och vilka begränsningar som finns samt vilka svårigheter man stöter på.

    Av mina mätningar att döma bör det vara möjligt att konstruera en vibrator som är tillräckligt kraftfull och bredbandig för att användas som kommunikationsinstrument till personer med dövblindhet. Även om vibratorn inte skulle vara linjär skulle detta gå att lösa med en styrkrets som kompenserar dess toppar och dalar samt även kompenserar för olinjaritet i hudens känselområde. Detta kan liknas vid ett högtalarsystems equalizer.

  • 143.
    Gustafsson, Thomas
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Modernisering av testutrustning2012Independent thesis Basic level (professional degree), 10 poäng / 15 hpOppgave
    Abstract [sv]

    Rapporten beskriver arbetet med att modernisera en testutrustning för ett robotsystem. Den nya testutrustningen skulle moderniseras till att använda USB-gränssnitt istället för RS232-gränssnitt för kommunikation mellan dator och den övriga hårdvaran. Arbetet börjar med kravspecifikation och slutar med en fungerande produkt. I det innefattas en kortare förklaring av USB-gränssnittet och dess skillnader från RS232-gränssnittet, en utredning för att finna den bästa lösningen för att förverkliga USB-kommunikationen med utrustningen och konstruktion av elektronik för att styra signaler och spänningsmatningar till robotsystemet.

    Fulltekst (pdf)
    fulltext
  • 144.
    Güler, Püren
    et al.
    Robotics, Perception and Learning Lab, School of Computer Science and Communication, KTH Royal Institute of Technology, Stockholm, Sweden.
    Pieropan, Alessandro
    KTH Royal Institute of Technology, Stockholm, Sweden; Ishikawa Watanabe Laboratory, University of Tokyo, Tokyo, Japan.
    Ishikawa, Masatoshi
    Ishikawa Watanabe Laboratory, University of Tokyo, Tokyo, Japan.
    Kragic, Danica
    Ishikawa Watanabe Laboratory, University of Tokyo, Tokyo, Japan.
    Estimating deformability of objects using meshless shape matching2017Inngår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2017, s. 5941-5948Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Humans interact with deformable objects on a daily basis but this still represents a challenge for robots. To enable manipulation of and interaction with deformable objects, robots need to be able to extract and learn the deformability of objects both prior to and during the interaction. Physics-based models are commonly used to predict the physical properties of deformable objects and simulate their deformation accurately. The most popular simulation techniques are force-based models that need force measurements. In this paper, we explore the applicability of a geometry-based simulation method called meshless shape matching (MSM) for estimating the deformability of objects. The main advantages of MSM are its controllability and computational efficiency that make it popular in computer graphics to simulate complex interactions of multiple objects at the same time. Additionally, a useful feature of the MSM that differentiates it from other physics-based simulation is to be independent of force measurements that may not be available to a robotic framework lacking force/torque sensors. In this work, we design a method to estimate deformability based on certain properties, such as volume conversation. Using the finite element method (FEM) we create the ground truth deformability for various settings to evaluate our method. The experimental evaluation shows that our approach is able to accurately identify the deformability of testing objects, supporting the value of MSM for robotic applications. 

  • 145. Günther, Martin
    et al.
    Hertzberg, Joachim
    Mansouri, Masoumeh
    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.
    Hybrid reasoning in perception: a case study2012Inngår i: IFAC-PapersOnLine, E-ISSN 2405-8963, Vol. 45, nr 22, s. 90-95Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Robots operating in a complex human-inhabited environment need to represent and reason about different kinds of knowledge, including ontological, spatial, causal, temporal and resource knowledge. Often, these reasoning tasks are not mutually independent, but need to be integrated with each other. Integrated reasoning is especially important when dealing with knowledge derived from perception, which may be intrinsically incomplete or ambiguous. For instance, the non-observable property that a dish has been used and should therefore be washed can be inferred from the observable properties that it was full before and that it is empty now. In this paper, we present a hybrid reasoning framework which allows to easily integrate different kinds of reasoners. We demonstrate the suitability of our approach by integrating two kinds of reasoners, for ontological reasoning and for temporal reasoning, and using them to recognize temporally and ontologically defined object properties in point cloud data captured using an RGB-D camera.

  • 146.
    Hang, Kaiyu
    et al.
    Department of Mechanical Engineering and Material Science, Yale University, New Haven, CT, USA.
    Lyu, Ximin
    Hong Kong University of Science and Technology, Hong Kong, China.
    Song, Haoran
    Hong Kong University of Science and Technology, Hong Kong, China.
    Stork, Johannes Andreas
    Örebro universitet, Institutionen för naturvetenskap och teknik. RPL, KTH Royal Institute of Technology, Stockholm, Sweden.
    Dollar, Aaron
    Department of Mechanical Engineering and Material Science, Yale University, New Haven, CT, USA.
    Kragic, Danica
    RPL, KTH Royal Institute of Technology, Stockholm, Sweden.
    Zhang, Fu
    The University of Hong Kong, Hong Kong, China.
    Perching and resting: A paradigm for UAV maneuvering with modularized landing gears2019Inngår i: Science Robotics, E-ISSN 2470-9476, Vol. 4, nr 28, artikkel-id eaau6637Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Perching helps small unmanned aerial vehicles (UAVs) extend their time of operation by saving battery power. However, most strategies for UAV perching require complex maneuvering and rely on specific structures, such as rough walls for attaching or tree branches for grasping. Many strategies to perching neglect the UAV’s mission such that saving battery power interrupts the mission. We suggest enabling UAVs with the capability of making and stabilizing contacts with the environment, which will allow the UAV to consume less energy while retaining its altitude, in addition to the perching capability that has been proposed before. This new capability is termed “resting.” For this, we propose a modularized and actuated landing gear framework that allows stabilizing the UAV on a wide range of different structures by perching and resting. Modularization allows our framework to adapt to specific structures for resting through rapid prototyping with additive manufacturing. Actuation allows switching between different modes of perching and resting during flight and additionally enables perching by grasping. Our results show that this framework can be used to perform UAV perching and resting on a set of common structures, such as street lights and edges or corners of buildings. We show that the design is effective in reducing power consumption, promotes increased pose stability, and preserves large vision ranges while perching or resting at heights. In addition, we discuss the potential applications facilitated by our design, as well as the potential issues to be addressed for deployment in practice.

  • 147.
    Hassanzadeh, Rahman
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Design och tillverkning av universell förstärkarmodul för trådtöjningsgivare2006Independent thesis Basic level (degree of Bachelor), 10 poäng / 15 hpOppgave
    Abstract [sv]

    Som examensarbete har jag fått den spännande uppgiften att ta fram en universell förstärkarmodul för trådtöjningsgivare för användning med kvart-, halv- och helbrygga (Wheatstonebrygga). Uppgiften ska utföras åt ett företag som kommer att använda kretskortet för mätningar i industrimiljö.

    Det här kortet är tänkt att uppfylla många olika behov, där det viktigaste är kraftmätning på ett objekt. Det här görs med hjälp av en Wheatstonebrygga, eftersom spänning är direkt proportionell mot resistans som i sin tur är proportionell mot kraften, vilket betyder att en ändring i resistansen ökar eller minskar spänningen. Modulen ska känna av minsta möjliga resistansändring för att registrera belastningen på bryggan. Syftet med att använda kvarts-, halv- eller fullbrygga följer senare i rapporten.

    Mätningsspänningen till hela modulen är +15 och -15 volt. Vid nollbalansering av bryggan är det viktigt att modulen inte ger ut en signal på grund av temperaturdrift eller obalans i mätobjektet. För att uppnå detta mål fick jag använda:

     En mikroprocessor (ATmega 16) som har inbyggd A/D –omvandlare.

     En D/A –omvandlare på 10 bitar.

    Vid mätning på stora avstånd avsåg jag att göra avläsningar på ström istället för spänning. Till skillnad från spänning som avtar ju längre ledningen är, bevaras strömstyrkan hela vägen. Att beräkna spänningen när resistansen och strömmen är givna, är enkelt.

    Konstruktionen gjordes delvis i programmet Multisim och kretskortet tillverkades med hjälp av programmet Ultiboard.Resultatet av projektet var att ett mönsterkort tillverkades enligt företagets kravspecifikation samt att komponenterna monterades.

    Fulltekst (pdf)
    Design och tillverkning av universell förstärkarmodul för trådtöjningsgivare
  • 148.
    Hassanzadeh, Rahman
    Örebro universitet, Akademin för naturvetenskap och teknik.
    UTVECKLING AV PROCESSORPLATTFORM2007Independent thesis Advanced level (degree of Master (One Year)), 20 poäng / 30 hpOppgave
    Abstract [en]

    Abstract

     

    The purpose of this project is to develop a modular processor card which is intended to work as a platform for Kitron Development Karlskoga. The modular processor card is meant to be used as a control system in development projects, mainly in medical and industrial products. The processor card will consist of a central unit with the basic functions for a control system. Furthermore there will be complete modules with machine commodity and programming, to pick exactly the necessary functions for a specific application.

     

    With consideration to the specification of the development and the main unit, I chose an adequate microprocessor (AT90CAN32) as core and interface circuits to stated border areas.

     

    The construction is first completed in the program MultiSim and then remade in the program OrCAD Capture. The programming language C was used in the software model. Then a layout was created in the program Ultiboard.

     

    The project has resulted in the manufacture of a pattern card that can manage I/O units, such as D/A-converter, keyboard, display and serial port RS-232. The purpose was that the units should communicate with the processor. The application decides what the main unit is used for.

     

    The D/A-converter was governed through SPI commands and the result was shown on an instrument (voltage). With the keyboard I was able to write digits to the processor and the result was shown on the display. The keyboard was used to send digits to the processor and was then sent through RS-232 to the PC. In the PC, a terminal program was used to receive digits.

     

    A general platform has been developed through this project, where you can choose which functions you wish to use (see the building block in figure no.1).

    Fulltekst (pdf)
    FULLTEXT03
  • 149.
    Haustein, J. A.
    et al.
    KTH Royal Institute of Technology, Division of Robotics, Perception and Learning (RPL), CAS, CSC, Stockholm, Sweden.
    Hang, K.
    Yale University, Department of Mechanical Engineering and Material Science, New Haven, United States.
    Stork, Johannes Andreas
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Kragic, D.
    KTH Royal Institute of Technology, Division of Robotics, Perception and Learning (RPL), CAS, CSC, Stockholm, Sweden.
    Object Placement Planning and optimization for Robot Manipulators2019Inngår i: IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers (IEEE), 2019, s. 7417-7424Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We address the problem of planning the placement of a rigid object with a dual-arm robot in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable placement of the object, b) is reachable by the robot and c) optimizes a user-given placement objective. In addition, we need to select which robot arm to perform the placement with. To solve this task, we propose an anytime algorithm that integrates sampling-based motion planning with a novel hierarchical search for suitable placement poses. Our algorithm incrementally produces approach motions to stable placement poses, reaching placements with better objective as runtime progresses. We evaluate our approach for two different placement objectives, and observe its effectiveness even in challenging scenarios.

  • 150. Herdt, Andrei
    et al.
    Diedam, Holger
    Wieber, Pierre-Brice
    Dimitrov, Dimitar
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Mombaur, Katja
    Diehl, Moritz
    Online walking motion generation with automatic footstep placement2010Inngår i: Advanced Robotics, ISSN 0169-1864, E-ISSN 1568-5535, Vol. 24, nr 5-6, s. 719-737Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    The goal of this paper is to demonstrate the capacity of model predictive control (MPC) to generate stable walking motions without the use of predefined footsteps. Building up on well-known MPC schemes for walking motion generation, we show that a minimal modification of these schemes allows designing an online walking motion generator that can track a given reference speed of the robot and decide automatically the footstep placement. Simulation results are proposed on the HRP-2 humanoid robot, showing a significant improvement over previous approaches.

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