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  • 201.
    Johansson, Daniel
    et al.
    Örebro University, School of Science and Technology.
    de Vin, Leo J.
    University of Skövde.
    Towards convergence in a virtual environment: omnidirectional movement, physical feedback, social interaction and visionManuscript (preprint) (Other academic)
    Abstract [en]

    Movement, physical feedback, social interaction and vision are important factors for humans in the real world, and therefore also in a virtual world whose aim is to mimic the real world. The effect of a virtual environment application could increase through the use of a human-computer interface that can match natural human capability in such areas, and several novel components are presented herein. Here, movement and feedback is gained through an omnidirectional walking surface that enables untethered movement throughout a virtual world without imposing physical restrictions. Although several different approaches exist to the mechanical problem of two-dimensional translation, an alternative top-down approach can reduce complexity to one-dimensional space. Furthermore, interchange of subtle body language can be vital and achieved with a system that supports high fidelity in virtual texture representation of users, which can be more powerful in some cases than virtual geometry. Also, a new approach is taken to the design of a head mounted display with minimal weight through optics in the form of soft contact lenses, mounted directly on the eyes.

  • 202.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Behavior modeling from learning agents: sensitivity to objective function details2012In: Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012): volume 3 / [ed] Conitzer,Winikoff, Padgham, and van der Hoek, Richland SC: The International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), 2012, p. 1335-1336Conference paper (Refereed)
    Abstract [en]

    The process of finding the appropriate agent behavior is a cumbersome task – no matter whether it is for agent-based software or simulation models. Machine Learning can help by generating partial or preliminary versions of the agent low-level behavior. However, for actually being useful for the human modeler the results should be interpretable, which may require some post-processing step after the actual behavior learning. In this contribution we test the sensitivity of the resulting, interpretable behavior program with respect to parameters and components of the function that describes the intended behavior.

  • 203.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    How to design agent-based simulation models using agent learning2012In: Winter Simulation Conference Proceedings, Institute of Electrical and Electronics Engineers (IEEE), 2012, p. 1-10Conference paper (Refereed)
    Abstract [en]

    The question of what is the best way to develop an agent-based simulation model becomes more important as this paradigm is more and more used. Clearly, general model development processes can be used, but these do not solve the major problems of actually deciding about the agents' structure and behavior. In this contribution we introduce the MABLe methodology for analyzing and designing agent simulation models that relies on adaptive agents, where the agent helps the modeler by proposing a suitable behavior program. We test our methodology in a pedestrian evacuation scenario. Results demonstrate the agents can learn and report back to the modeler a behavior that is interestingly better than a hand-made model.

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    How to design agent-based simulation models using agent learning
  • 204.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Programming agent behavior by learning in simulation models2012In: Applied Artificial Intelligence, ISSN 0883-9514, E-ISSN 1087-6545, Vol. 26, no 4, p. 349-375Article in journal (Refereed)
    Abstract [en]

    Designing the proper agent behavior for a multiagent system is a complex task. Often it is not obvious which of the agents' actions, and the interactions among them and with their environment, can produce the intended macro-phenomenon. We assume that the modeler can benefit from using agent-learning techniques. There are several issues with which learning can help modeling; for example, by using self-adaptive agents for calibration. In this contribution we are dealing with another example: the usage of learning for supporting system analysis and model design. A candidate-learning architecture is the combination of reinforcement learning and decision tree learning. The former generates a policy for agent behavior and the latter is used for abstraction and interpretation purposes. Here, we focus on the relation between policy-learning convergence and the quality of the abstracted model produced from that.

  • 205.
    Kadmiry, Bourhane
    et al.
    Linköping University, Linköping, Sweden.
    Driankov, Dimiter
    Linköping University, Linköping, Sweden.
    Fuzzy control of an autonomous helicopter2001In: Joint 9th IFSA World Congress and 20th NAFIPS International Conference / [ed] Smith, M.H., Gruver, W.A. & Hall, L.O., New York, USA: IEEE conference proceedings, 2001, p. 2797-2802Conference paper (Refereed)
    Abstract [en]

    This work presents a horizontal velocity controller for the unmanned helicopter APID MK-III developed by Scandicraft AB in Sweden. We use a novel approach to the design consisting of two steps: 1) Mamdani-type of fuzzy rules to compute each of the desired horizontal velocity corresponding to the desired values for the attitude angles and the main rotor collective pitch; and 2) a Takagi-Sugeno controller is used to regulate the attitude angles so that the helicopter achieves its desired horizontal velocities at a desired altitude. The performance of the combined linguistic/model-based controller is evaluated in simulation and shows that the proposed design method achieves its intended purpose

  • 206.
    Kadmiry, Bourhane
    et al.
    Linköping University, Linköping, Sweden.
    Driankov, Dimiter
    Örebro University, School of Science and Technology.
    Takagi-Sugeno fuzzy gain scheduling with sampling-time uncertainties2004In: Proceedings 2004 IEEE International Conference on Fuzzy Systems, New York, USA: IEEE conference proceedings, 2004, Vol. 2, p. 1087-1091Conference paper (Refereed)
    Abstract [en]

    This paper addresses the robust fuzzy control problem for discrete-time nonlinear systems in the presence of sampling time uncertainties. The case of the discrete T-S fuzzy system with sampling-time uncertainty is considered and a robust controller design method is proposed. The sufficient conditions and the design procedure are formulated in the form of linear matrix inequalities (LMI). The effectiveness of the proposed controller design methodology is demonstrated of a visual-servoing control problem.

  • 207.
    Kajtazi, Miranda
    et al.
    Lund University, Lund, Sweden.
    Haftor, Darek
    Institutionen för datavetenskap, fysik och matematik (DFM), Linnéuniversitetet, Växjö, Sweden.
    Information Inadequacy: Instances that Causes the Lack of Needed Information2012In: The 5th Workshop on Information Logistics and Knowledge Supply (ILOG2012), at the 11th International Conference on Perspectives in Business Informatics Research (BIR2012): Nizhny Novgorod, Russia, September 24-26, 2012. Proceedings: “Satellite Workshops & Doctoral Consortium.”, Springer, 2012, p. 7-17Conference paper (Refereed)
  • 208.
    Kalaykov, Ivan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Iliev, Boyko
    Örebro University, School of Science and Technology.
    SME robotics demand flexible grippers and fixtures2008In: Proc. 39th Int. Symposium on Robotics, Seoul, Korea, 2008, p. 62-65Conference paper (Refereed)
  • 209.
    Kalaykov, Ivan
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Iliev, Boykov
    Örebro University, School of Science and Technology.
    Flexible grippers and fixtures2008Conference paper (Refereed)
  • 210.
    Kalidindi, Sai Sushanth Varma
    et al.
    Örebro University, School of Science and Technology.
    Banaee, Hadi
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Transformers and Contextual Information in Temperature Prediction of Residential Buildings for Improved Energy Consumption2022Conference paper (Refereed)
    Abstract [en]

    Energy optimization plays a vital role in decreasing the carbon footprint of residential buildings. In this paper, we present a prediction model of indoor temperature in residential buildings in three different case studies in different towns in Sweden. To predict the indoor temperature accurately, a dataset based on several years of data collection (up to 7 years) has been used. This paper applies both the traditional LSTM model as well as the more recent transformer model. The latter has been used because of its ability to perform a mechanism of self-attention that shows particular promise in multivariate sensor data. In addition to these algorithms, the data set is also modified based on contextual information and compared against an approach where no contextual information is used. Contextual information in this case takes into account the physical location of specific apartment units within the full residence and builds individual models based on the location of the unit. The results demonstrate that transformers are better suited for task of prediction, and that transformers combined with contextual information, provide a suitable approach for energy consumption prediction. 

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    Transformers and Contextual Information in Temperature Prediction of Residential Buildings for Improved Energy Consumption
  • 211.
    Kaltenhaeuser, Robert
    et al.
    Ilmenau University of Technology, Ilmenau, Germany.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Steege, Frank-Florian
    Ilmenau University of Technology, Ilmenau, Germany.
    Gross, Horst-Michael
    Ilmenau University of Technology, Ilmenau, Germany.
    Evolutionary computation based system decomposition with neural networks2013In: ESANN 2013 proceedings, European Symposium on Artificial Neural Networks, Computational Intelligenceand Machine Learning, Louvain-La-Neuve: ESANN , 2013, p. 191-196Conference paper (Refereed)
    Abstract [en]

    We present an evolutionary approach to divide a complex control system into smaller sub-systems with the help of neural networks. Thereto, measured channels are partitioned into several disjunct sets, representing possible sub-problems, while the networks are used to assess the quality of the resulting decomposition. We show that this approach is well suited to calculate correct decompositions of complex control systems. Furthermore, the obtained neural networks are used to predict important process factors with considerable better approximation quality than monolithic approaches that have to deal with all input channels in parallel.

  • 212.
    Karlsson, Tobias
    et al.
    Örebro University, School of Science and Technology.
    Linnér, Jakob
    Örebro University, School of Science and Technology.
    Avfyrnings-/relälåda2009Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This is a report of our examination project in electronics carried out for Bofors Test Center in Karlskoga. The task was to construct an electronic devise for starting up different kinds of measuring systems in exact time during test sequences. The modules that are used today are old and unreliable. Our goal was to construct a prototype, which later on is supposed to be developed into a useful system.

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    FULLTEXT01
  • 213.
    KHALIQ, ALI ABDUL
    Örebro University, School of Science and Technology.
    Gas Dispersal Simulation in ROS2011Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This work presents a 3-D gas dispersal simulation and olfactory detection system

    implemented in ROS. Gas dispersal simulation integrates OpenFOAMflow

    simulation and a filament-based gas propagation model to simulate gas dispersion

    for compressible flows with a realistic turbulence model. The olfactory

    detection system models the response of metal oxide gas sensor to the simulated

    gas.

    Olfaction related experiments in mobile robots can be highly complex and

    hazardous due to the involvement of flammable and toxic gases. Moreover, the

    results of mobile olfaction task depends on the characteristics of environment

    and on the characteristics of odor detection system. The precision of results of

    this task is usually effected due to the variability of interrelationships between

    these characteristics which can create complications to focus on task aspect.

    The motivation behind the development of this simulation package is to make

    environment and odor detection system controllable, where experiments can

    be repeated under identical conditions, bypassing the environmental hazards

    so that the research work can concentrate on task aspect.

    The simulation package is validated through the results obtained by various

    tests including constant concentrations in ideal conditions as well as changing

    concentration in turbulent environment.

    i

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    fulltext
  • 214.
    Khodadad, Davood
    Örebro University, School of Science and Technology. Experimental Mechanics, Luleå University of Technology, Luleå, Sweden .
    Phase-derivative-based estimation of a digital reference wave from a single off-axis digital hologram2016In: Applied Optics, ISSN 1559-128X, E-ISSN 2155-3165, Vol. 55, no 7, p. 1663-1669Article in journal (Refereed)
    Abstract [en]

    This paper describes a method to obtain an estimated digital reference wave from a single off-axis digital hologram that matches the actual experimental reference wave as closely as possible. The proposed method is independent of a reference flat plate and speckles. The digital reference wave parameters are estimated directly from the recorded phase information. The parameters include both the off-axis tilt angle and the curvature of the reference wave. Phase derivatives are used to extract the digital reference wave parameters without the need for a phase unwrapping process. Thus, problems associated with phase wrapping are avoided. Experimental results for the proposed method are provided. The simulated effect of the digital reference wave parameters on the reconstructed image phase distribution is shown. The pseudo phase gradient originating from incorrect estimation of the digital reference wave parameters and its effect on object reconstruction are discussed.

  • 215.
    Khodadad, Davood
    et al.
    Luleå University of Technology, Luleå, Sweden.
    Amer, Eynas
    Luleå University of Technology, Luleå, Sweden.
    Gren, Per
    Luleå University of Technology, Luleå, Sweden.
    Melander, Emil
    Uppsala University, Uppsala, Sweden.
    Hällstig, Emil
    Fotonic, Stockholm, Sweden.
    Sjödahl, Mikael
    Luleå University of Technology, Luleå, Sweden.
    Single-shot dual-polarization holography: measurement of the polarization state of a magnetic sample2015In: VI International Conference on Speckle Metrology, SPIE - International Society for Optical Engineering, 2015, Vol. 9660, article id 96601EConference paper (Refereed)
    Abstract [en]

    In this paper a single-shot digital holographic set-up with two orthogonally polarized reference beams is proposed to achieve rapid acquisition of Magneto-Optical Kerr Effect images. Principles of the method and the background theory for dynamic state of polarization measurement by use of digital holography are presented. This system has no mechanically moving elements or active elements for polarization control and modulation. An object beam is combined with two reference beams at different off-axis angles and is guided to a detector. Then two complex fields (interference terms) representing two orthogonal polarizations are recorded in a single frame simultaneously. Thereafter the complex fields are numerically reconstructed and carrier frequency calibration is done to remove aberrations introduced in multiplexed digital holographic recordings. From the numerical values of amplitude and phase, a real time quantitative analysis of the polarization state is possible by use of Jones vectors. The technique is demonstrated on a magnetic sample that is a lithographically patterned magnetic microstructure consisting of thin permalloy parallel stripes.

  • 216.
    Khodadad, Davood
    et al.
    Luleå University of Technology, Luleå, Sweden.
    Bergström, Per
    Luleå University of Technology, Luleå, Sweden.
    Hällstig, Emil
    Optronic, Skellefteå, Sweden.
    Sjödahl, Mikael
    Luleå University of Technology, Luleå, Sweden.
    Dual-wavelength digital holography: single shot calibration2014In: Interferometry XVII: Techniques and Analysis / [ed] Katherine Creath, Jan Burke & Joanna Schmit, SPIE - International Society for Optical Engineering, 2014, Vol. 9203, article id 920305Conference paper (Refereed)
    Abstract [en]

    In an on line shape measurement in disturbed environment, use of many wavelengths in order to avoid phase ambiguity may become a problem as it is necessary to acquire all holograms simultaneously due to environmental disturbances. Therefore to make the shape data available the different holograms have to be extracted from a single recorded image in spectral domain. Appropriate cut areas in the Fourier method are therefore of great importance for decoding information carried by different wavelengths. Furthermore using different laser sources, induces aberration and pseudo phase changes which must be compensated. To insure any phase change is only because of the object shape, calibration is therefore indispensable. For this purpose, effects of uncontrolled carrier frequency filtering are discussed. A registration procedure is applied using minimum speckle displacements to find the best cut area to extract and match the interference terms. Both holograms are numerically propagated to a focus plane to avoid any unknown errors. Deviations between a reference known plate and its measurement are found and used for calibration. We demonstrate that phase maps and speckle displacements can be recovered free of chromatic aberrations. To our knowledge, this is the first time that a single shot dual wavelength calibration is reported by defining a criteria to make the spatial filtering automatic avoiding the problems of manual methods. The procedure is shown to give shape accuracy of 35ÎŒm with negligible systematic errors using a synthetic wavelength of 1.1 mm.

  • 217.
    Khodadad, Davood
    et al.
    Luleå University of Technology, Luleå, Sweden.
    Hallstig, Emil J.
    Optronic, Skellefteå, Sweden.
    Sjödahl, Mikael
    Luleå University of Technology, Luleå, Sweden.
    Dual-wavelength digital holographic shape measurement using speckle movements and phase gradients2013In: Optical Engineering: The Journal of SPIE, ISSN 0091-3286, E-ISSN 1560-2303, Vol. 52, no 10, article id 101912Article in journal (Refereed)
    Abstract [en]

    A new method to measure shape by analyzing the speckle movements in images generated by numerical propagation from dual-wavelength holograms is presented. The relationship of the speckle movements at different focal distances is formulated, and it is shown how this carries information about the surface position as well as the local slope of the object. It is experimentally verified that dual-wavelength holography and numerically generated speckle images can be used together with digital speckle correlation to retrieve the object shape. From a measurement on a cylindrical test object, the method is demonstrated to have a random error in the order of a few micrometers.

  • 218.
    Khodadad, Davood
    et al.
    Department of Physics and Electrical Engineering, Linnaeus University, Växjö, Sweden.
    Nordebo, Sven
    Department of Physics and Electrical Engineering, Linnaeus University, Växjö, Sweden.
    Seifnaraghi, Nima
    Faculty of science and technology, Middlesex University, Hendon campus, The Burroughs, London, United Kingdom.
    Waldmann, Andreas D.
    Swisstom AG, Landquart, Switzerland.
    Müller, Beat
    Swisstom AG, Landquart, Switzerland.
    Bayford, Richard
    Faculty of science and technology, Middlesex University, Hendon campus, The Burroughs, London, United Kingdom.
    Breath detection using short-time Fourier transform analysis in electrical impedance tomography2017In: 2017 XXXIInd General Assembly and Scientific Symposium of the International Union of Radio Science (URSI GASS), IEEE, 2017, p. 1-3Conference paper (Refereed)
    Abstract [en]

    Spectral analysis based on short-time Fourier transform (STFT) using Kaiser window is proposed to examine the frequency components of neonates EIT data. In this way, a simultaneous spatial-time-frequency analysis is achieved.

  • 219.
    Khodadad, Davood
    et al.
    Department of Physics and Electrical Engineering, Linnaeus University, Växjö, Sweden.
    Nordebo, Sven
    Department of Physics and Electrical Engineering, Linnaeus University, Växjö, Sweden.
    Seifnaraghi, Nima
    Department of Natural Sciences, Middlesex University, Hendon Campus, The Burroughs, London, United Kingdom.
    Yerworth, Rebecca
    Department of Medical Physics and Biomedical Engineering, University College London, London, United Kingdom.
    Waldmann, Andreas D.
    Swisstom AG, Landquart, Switzerland.
    Müller, Beat
    Swisstom AG, Landquart, Switzerland.
    Frerichs, Inéz
    Department of Anaesthesiology and Intensive Care Medicine, University Medical Centre Schleswig-Holstein, Campus Kiel, Kiel, Germany.
    van Kaam, Anton
    Emma Children's Hospital, Academic Medical Center, Department of Neonatology, Amsterdam, The Netherlands.
    Miedema, Martijn
    Emma Children's Hospital, Academic Medical Center, Department of Neonatology, Amsterdam, The Netherlands.
    Bayford, Richard
    Department of Natural Sciences, Middlesex University, Hendon Campus, The Burroughs, London, United Kingdom.
    The Value of Phase Angle in Electrical Impedance Tomography Breath Detection2018In: 2018 Progress in Electromagnetics Research Symposium (PIERS-Toyama), Electromagnetics Academy , 2018, p. 1040-1043Conference paper (Refereed)
    Abstract [en]

    The objective of this paper is to report our investigation demonstrating that the phase angle information of complex impedance could be a simple indicator of a breath cycle in chest Electrical Impedance Tomography (EIT). The study used clinical neonatal EIT data. The results show that measurement of the phase angle from complex EIT data can be used as a complementary information for improving the conventional breath detection algorithms.

  • 220.
    Khodadad, Davood
    et al.
    Department of Physics and Electrical Engineering, Linnaeus University, Växjö, Sweden.
    Tayebi, Behnam
    Department of Brain and Cognitive Engineering, Korea University, Seoul, South Korea.
    Shape Measurement Based on Combined Reduced Phase Dual-Directional Illumination Digital Holography and Speckle Displacements2018In: 2018 Progress in Electromagnetics Research Symposium (PIERS-Toyama), Electromagnetics Academy , 2018, p. 184-189Conference paper (Refereed)
    Abstract [en]

    We present a dual-directional illumination digital holographic method to increase height range measurement with a reduced phase ambiguity. Small change in the illumination angle of incident introduce phase difference between the recorded complex fields. We decrease relative phase difference between the recorded complex field 279 and 139 times by changing the angle of incident 0.5° and 1°, respectively. A two cent Euro coin edge groove is used to measure the shape. The groove depth is measured as ≈ 300μm. Further, numerical re-focusing and analysis of speckle displacements in two different planes are used to measure the depth without a use of phase unwrapping process.

  • 221.
    Kiselev, Andrey
    et al.
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Sivakumar, Prasanna Kumar
    SASTRA University, Thanjavur, India.
    Swaminathan, Chittaranjan Srinivas
    SASTRA University, Thanjavur, India.
    Robot-human hand-overs in non-anthropomorphic robots2013In: Proceedings of the 8th ACM/IEEE International Conference on Human-Robot Interaction, HRI'13 / [ed] Hideaki Kuzuoka, Vanessa Evers, Michita Imai, Jodi Forlizzi, IEEE Press, 2013, p. 227-228Conference paper (Refereed)
    Abstract [en]

    Robots that assist and interact with humans will inevitably require to successfully achieve the task of handing over objects. Whether it is to deliver desired objects for the elderly living in their homes or hand tools to a worker in a factory, the process of robot hand-overs is one worthy study within the human robot interaction community. While the study of object hand-overs have been studied in previous works, these works have mainly considered anthropomorphic robots, that is, robots that appear and move similar to humans. However, recent trends within robotics, and in particular domestic robotics have witnessed an increase in non-anthropomorphic robotic platforms such as moving tables, teleconferencing robots and vacuum cleaners. The study of robot hand-over for nonanthropomorphic robots and in particular the study of what constitute a successful hand-over is at focus in this paper. For the purpose of investigation, the TurtleBot, which is a moving table like device is used in a home environment.

  • 222.
    Kiselev, Andrey
    et al.
    Örebro University, School of Science and Technology.
    Potenza, Andre
    Örebro University, School of Science and Technology.
    Bruno, Barbara
    DIBRIS, University Genova, Genova, Italy.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Towards Seamless Autonomous Function Handovers in Human-Robot Teams2017Conference paper (Refereed)
    Abstract [en]

    Various human-robot collaboration scenarios mayimpose different requirements on the robot’s autonomy, ranging from fully autonomous to fully manual operation. The paradigm of sliding autonomy has been introduced to allow adapting robots’ autonomy in real time, thus improving flexibility of a human-robot team. In sliding autonomy, functions can be handed over between the human and the robot to address environment changes and optimize performance and workload. This paper examines the process of handing over functions between humans by looking at a particular experiment scenario in which the same function has to be handed over multiple times during the experiment session. We hypothesize that the process of function handover is similar to already well-studied human-robot handovers which deal with physical objects. In the experiment, we attempt to discover natural similarities and differences between these two types of handovers and suggest further directions of work that are necessary to give the robot the ability to perform the function handover autonomously, without explicit instruction from the human counterpart.

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    Towards Seamless Autonomous Function Handovers in Human-Robot Teams
  • 223.
    Kiselev, Andrey
    et al.
    Örebro University, School of Science and Technology.
    Scherlund, Mårten
    Giraff Technologies AB, Västerås, Sweden.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Efremova, Natalia
    Plekhanom University, Moscow, Russia.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Auditory immersion with stereo sound in a mobile robotic telepresence system2015In: 10th ACM/IEEE International Conference on Human-Robot Interaction, 2015, Association for Computing Machinery (ACM), 2015Conference paper (Refereed)
    Abstract [en]

    Auditory immersion plays a significant role in generating a good feeling of presence for users driving a telepresence robot. In this paper, one of the key characteristics of auditory immersion - sound source localization (SSL) - is studied from the perspective of those who operate telepresence robots from remote locations. A prototype which is capable of delivering soundscape to the user through Interaural Time Difference (ITD) and Interaural Level Difference (ILD) using the ORTF stereo recording technique was developed. The prototype was evaluated in an experiment and the results suggest that the developed method is sufficient for sound source localization tasks.

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    Auditory Immersion with Stereo Sound in a Mobile Robotic Telepresence System
  • 224.
    Klügl, Franziska
    et al.
    Örebro University, School of Science and Technology.
    Bernon, Carole
    Paul Sabatier University, Toulouse, France.
    Self-Adaptive Agents for Debugging Multi-Agent Simulations2011In: Proc. of the 3rd ADAPTIVE 2011: The Third International Conference on Adaptive and Self-Adaptive Systems and Applications / [ed] J. Fox and A. Rausch, Xpert Publishing Services, 2011, p. 79-84Conference paper (Refereed)
    Abstract [en]

    In this contribution, we propose an adaptation-drivenmethodology for the technical design and implementation of multi-agent simulations that is inspired by the concept of "living design". The simulated agents are capable of evaluatingtheir behavior and self-adapt for improving the overall model.For this aim, the modeler describes critical, non valid situations in the life of an agent, or the complete agent system, and explicitly specifies repair knowledge for these situations.

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    ADAPTIVE2011_KluglBernon
  • 225.
    Klügl, Franziska
    et al.
    Örebro University, School of Science and Technology.
    Karlsson, Lars
    Örebro University, School of Science and Technology.
    Towards Pattern-Oriented Design of Agent-Based Simulation Models2009In: MULTI-AGENT SYSTEM TECHNOLOGIES, PROCEEDINGS / [ed] Braubach, L; VanderHoek, W; Petta, P; Pokahr, A, Berlin, Germany: Springer, 2009, p. 41-53Conference paper (Refereed)
    Abstract [en]

    The formalization and use of experiences in good model design would make an important contribution to increasing the efficiency of modeling as well as to supporting the knowledge transfer from experienced modelers to modeling novices. We propose to address this problem by providing a set of model design patterns inspired by patterns in Software Engineering for capturing the reusable essence of a solution to specific partial modeling problem. This contribution provides a First step formulating the vision and indicating how patterns and which types of patterns can play a role in agent-based model design.

  • 226.
    Klügl, Franziska
    et al.
    Örebro University, School of Science and Technology.
    Ossowski, SaschaUniversity Rey Juan Carlos, Madrid, Spain.
    Multiagent system technologies: 8th German Conference, MATES 2011, Berlin, Germany, October 6-7, 2011. Proceedings2011Conference proceedings (editor) (Refereed)
    Abstract [en]

    This book constitutes the proceedings of the 9th German Conference on Multiagent System Technologies held in Berlin, Germany, in October 2011. The 12 revised full papers presented together with 6 short parers were carefully reviewed and selected from 50 submissions. Providing an interdisciplinary forum for researchers, users, and developers to present and discuss latest advances in research work as well as prototyped or fielded systems of intelligent agents and multi-agent systems, the papers cover the whole range of this sector and promote its theory and applications.

  • 227.
    Klügl, Franziska
    et al.
    Örebro University, School of Science and Technology.
    Rindsfüser, Guido
    Emch&Berger AG, Bern, Switzerland.
    Agent-based route (and mode) choice simulation in real-world networks2011In: 2011 IEEE/WIC/ACM International Conference on  Web Intelligence and Intelligent Agent Technology (WI-IAT) / [ed] Jomi F. Hübner, Jean-Marc Petit, Einoshin Suzuki, IEEE, 2011, p. 22-29Conference paper (Refereed)
    Abstract [en]

    Mode and route choice are central elements of traffic simulations. Traditionally they form two subsequent steps in the four-step process where first, the simulated population distributes among available transportation modes and then their movement is assigned to the roads respectively other networks. However, these two phases are better dealt with simultaneously as choices are highly depending on each other. In this paper, we are suggesting an agent-based combined route and mode choice model that is not only able to resemble traditional simulations, but provides the means for new applications. As the simulated agents are active and situated while moving through the network, they are able to react to unforeseen events such as the closing of a link. Thus we can reproduce the self-organized re-distribution of travelers to new routes depending on when/where they are notified about the problem. We illustrate the feasibility and usefulness of our agent-based mode and route choice simulation using a real-world network of a small-size Swiss town.

  • 228.
    Kondyli, Vasiliki
    et al.
    Örebro University, School of Science and Technology.
    Bhatt, Mehul
    Örebro University, School of Science and Technology.
    Evaluating Artificial Vision in AI Systems: The Case of Autonomous Driving2021In: Perception, ISSN 0301-0066, E-ISSN 1468-4233, Vol. 50, no 1 Suppl., p. 221-222Article in journal (Other academic)
    Abstract [en]

    We develop a cognitive evaluation schema for analysing the diversity and nuances of visuospatial complexity and multimodal interactions encountered in naturalistic everyday driving conditions. The proposed schema is based on a finegrained empirical analysis of real-world everyday driving situations involving stakeholders such as drivers, pedestrians, cyclists. Our method involves a semantic analysis of egocentric POVs of stakeholders, focusing on the sequence and duration of events (e.g. velocity or direction change), the combination of modalities used (e.g., gestures, gaze, head-movements), audio, quantity and variety of moving and static objects in the scene e.g., (cars, signs), behavioural metrics from the stakeholders (e.g. gaze allocation, steering), etc. The proposed cognitive evaluation schema consists of three key aspects: (1) Scene characteristics consisting of a combination of quantitative (e.g., clutter, size), structural (e.g. symmetry), and dynamic attributes (e.g. motion), (2) Multimodal interactions consisting of the mode and method of interaction, as well as the level of joint attention achieved, (3) Recipient effects characterising subject’s behaviour and driving performance through physiological measurements (e.g. eye-tracking, head rotation) in a series of virtual reality (VR) environments replicating a number of naturalistic scenarios (and variations therefrom). Driven by behavioural methods in visual perception, we aim to open-up an interdisciplinary frontier for the human-centred design, evaluation / testing of artificial vision modules within AI-technologies for autonomous driving, cognitive robotics etc., where embodied, multimodal human-machine interaction is of the essence. We also demonstrate the practical application of basic visual perception research towards technology-centric settings of social significance.

  • 229.
    Koshmak, Gregory
    Örebro University, School of Science and Technology.
    An android based monitoring and alarm system forpatients with chronic obtrusive disease.2011Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    An android based monitoring and alarm system for

    patients with chronic obtrusive disease.

    Download full text (pdf)
    fulltext
  • 230.
    Kotlyar, Oleksandr
    et al.
    Aston Institute of Photonic Technologies, Aston University, Birmingham, United Kingdom.
    Pankratova, Maryna
    Aston Institute of Photonic Technologies, Aston University, Birmingham, United Kingdom.
    Kamalian-Kopae, Morteza
    Aston Institute of Photonic Technologies, Aston University, Birmingham, United Kingdom.
    Vasylchenkova, Anastasiia
    Aston Institute of Photonic Technologies, Aston University, Birmingham, United Kingdom.
    Prilepsky, Jaroslaw
    Aston Institute of Photonic Technologies, Aston University, Birmingham, United Kingdom.
    Turitsyn, Sergei
    Aston Institute of Photonic Technologies, Aston University, Birmingham, United Kingdom.
    Combining nonlinear Fourier transform and neural network-based processing in optical communications2020In: Optics Letters, ISSN 0146-9592, E-ISSN 1539-4794, Vol. 45, no 13, p. 3462-3465, article id OL.394115Article in journal (Refereed)
    Abstract [en]

    We propose a method to improve the performance of the nonlinear Fourier transform (NFT)-based optical transmission system by applying the neural network post-processing of the nonlinear spectrum at the receiver. We demonstrate through numerical modeling about one order of magnitude bit error rate improvement and compare this method with machine learning processing based on the classification of the received symbols. The proposed approach also offers a way to improve numerical accuracy of the inverse NFT; therefore, it can find a range of applications beyond optical communications.

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    Combining nonlinear Fourier transform and neural network-based processing in optical communications
  • 231.
    Krishna, Sai
    Örebro University, School of Science and Technology.
    Join the Group Formations using Social Cues in Social Robots2018In: Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS '18), New York: Association for Computing Machinery (ACM), 2018, p. 1766-1767Conference paper (Refereed)
    Abstract [en]

    This work investigates how agents can spatially orient themselves into formations which provide good conditions for enabling social interaction. To achieve this, we are using socio-psychological notion, F-formation in our project and based on this concept, we detect positions of other agents in a scene to find the optimum placement. Using both simulation and real robotic systems, the system aims to achieve a functionality which enables an agent to autonomously place itself within a group.

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    Join the Group Formations using Social Cues in Social Robots
  • 232.
    Krishna, Sai
    et al.
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Robotics for Successful Ageing2018In: Successful ageing in an interdisciplinary context: popular science presentations / [ed] Eleonor Kristoffersson & Kerstin Nilsson, Örebro, Sweden: Örebro University , 2018, p. 29-35Chapter in book (Other (popular science, discussion, etc.))
    Abstract [en]

    The main idea of the ongoing research is to use robotics to create new opportunities to help older people to remain alone in their apartments which can beachieved by using robots as an interacting tool between the elderly and theirfamily members or doctors. This can be done by building a system (software)for Mobile Robots to work autonomously (self-driving) and semi-autono-mously (controlled by the user) when necessary, depending on the situationand the surroundings. This system is integrated with social cues, particularlyproxemics, to know and understand human space, which is very importantfor social interaction. In conclusion, we are interested in having a Socially Intelligent Robot, which could use the social cues, proxemics, to have a natural interaction with people in groups.

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    Successful ageing in an interdisciplinary context
  • 233.
    Krug, Robert
    et al.
    Örebro University, School of Science and Technology.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Grasp Envelopes for Constraint-based Robot Motion Planning and Control2015In: Robotics: Science and Systems Conference: Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation, 2015Conference paper (Refereed)
    Abstract [en]

    We suggest a grasp represen-tation in form of a set of enveloping spatial constraints. Our representation transforms the grasp synthesisproblem (i. e., the question of where to position the graspingdevice) from finding a suitable discrete manipulator wrist pose to finding a suitable pose manifold. Also the correspondingmotion planning and execution problem is relaxed – insteadof transitioning the wrist to a discrete pose, it is enough tomove it anywhere within the grasp envelope which allows toexploit kinematic redundancy.

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    fulltext
  • 234.
    Krug, Robert
    et al.
    Örebro University, School of Science and Technology.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Tincani, Vinicio
    Interdepart. Research Center “E. Piaggio”; University of Pisa, Pisa, Italy.
    Andreasson, Henrik
    Örebro University, School of Science and Technology.
    Mosberger, Rafael
    Örebro University, School of Science and Technology.
    Fantoni, Gualtiero
    Interdepart. Research Center “E. Piaggio”; University of Pisa, Pisa, Italy.
    Bicchi, Antonio
    Interdepart. Research Center “E. Piaggio”; University of Pisa, Pisa, Italy.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    On Using Optimization-based Control instead of Path-Planning for Robot Grasp Motion Generation2015In: IEEE International Conference on Robotics and Automation (ICRA) - Workshop on Robotic Hands, Grasping, and Manipulation, 2015Conference paper (Refereed)
    Download full text (pdf)
    fulltext
  • 235.
    Kucner, Tomasz
    et al.
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Hernandez Bennetts, Victor
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Tell me about dynamics!: Mapping velocity fields from sparse samples with Semi-Wrapped Gaussian Mixture Models2016In: Robotics: Science and Systems Conference (RSS 2016), 2016Conference paper (Refereed)
    Abstract [en]

    Autonomous mobile robots often require informa-tion about the environment beyond merely the shape of thework-space. In this work we present a probabilistic method formappingdynamics, in the sense of learning and representingstatistics about the flow of discrete objects (e.g., vehicles, people)as well as continuous media (e.g., air flow). We also demonstratethe capabilities of the proposed method with two use cases. Onerelates to motion planning in populated environments, whereinformation about the flow of people can help robots to followsocial norms and to learn implicit traffic rules by observingthe movements of other agents. The second use case relates toMobile Robot Olfaction (MRO), where information about windflow is crucial for most tasks, including e.g. gas detection, gasdistribution mapping and gas source localisation. We representthe underlying velocity field as a set of Semi-Wrapped GaussianMixture Models (SWGMM) representing the learnt local PDF ofvelocities. To estimate the parameters of the PDF we employ aformulation of Expectation Maximisation (EM) algorithm specificfor SWGMM. We also describe a data augmentation methodwhich allows to build a dense dynamic map based on a sparseset of measurements. In case only a small set of observations isavailable we employ a hierarchical sampling method to generatevirtual observations from existing mixtures.

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    fulltext
  • 236.
    Kucner, Tomasz Piotr
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Palmieri, L.
    Corporate Research, Robert Bosch GmbH, Renningen, Germany.
    Swaminathan, Chittaranjan Srinivas
    Örebro University, School of Science and Technology.
    Closing Remarks2020In: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, Springer, 2020, p. 143-151Chapter in book (Refereed)
    Abstract [en]

    Dynamics is an inherent feature of reality. In spite of that, the domain of maps of dynamics has not received a lot of attention yet. In this book, we present solutions for building maps of dynamics and outline how to make use of them for motion planning. In this chapter, we present discuss related research question that as of yet remain to be answered, and derive possible future research directions. 

  • 237.
    Kucner, Tomasz Piotr
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Palmieri, L.
    Corporate Research, Robert Bosch GmbH, Renningen, Germany .
    Swaminathan, Chittaranjan Srinivas
    Örebro University, School of Science and Technology.
    Introduction2020In: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, Springer, 2020, p. 1-13Chapter in book (Refereed)
    Abstract [en]

    Change and motion are inherent features of reality. The ability to recognise patterns governing changes has allowed humans to thrive in a dynamic reality. Similarly, dynamics awareness can also improve the performance of robots. Dynamics awareness is an umbrella term covering a broad spectrum of concepts. In this chapter, we present the key aspects of dynamics awareness. We introduce two motivating examples presenting the challenges for robots operating in a dynamic environment. We discuss the benefits of using spatial models of dynamics and analyse the challenges of building such models.

  • 238.
    Kucner, Tomasz Piotr
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Palmieri, L.
    Corporate Research, Robert Bosch GmbH, Renningen, Germany.
    Swaminathan, Chittaranjan Srinivas
    Örebro University, School of Science and Technology.
    Maps of Dynamics2020In: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, Springer, 2020, p. 15-32Chapter in book (Refereed)
    Abstract [en]

    The task of building maps of dynamics is the key focus of this book, as well as how to use them for motion planning. In this chapter, we present a categorisation and overview of different types of maps of dynamics. Furthermore, we give an overview of approaches to motion planning in dynamic environments, with a focus on motion planning over maps of dynamics. 

  • 239.
    Kucner, Tomasz Piotr
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Palmieri, L.
    Corporate Research, Robert Bosch GmbH, Renningen, Germany.
    Swaminathan, Chittaranjan Srinivas
    Örebro University, School of Science and Technology.
    Motion Planning Using MoDs2020In: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, Springer, 2020, p. 115-141Chapter in book (Refereed)
    Abstract [en]

    Maps of dynamics can be beneficial for motion planning. Information about motion patterns in the environment can lead to finding flow-aware paths, allowing robots to align better to the expected motion: either of other agents in the environment or the flow of air or another medium. The key idea of flow-aware motion planning is to include adherence to the flow represented in the MoD into the motion planning algorithm’s sub-units (i.e. cost function, sampling mechanism), thereby biasing the motion planner into obeying local and implicit traffic rules. 

  • 240.
    Kucner, Tomasz Piotr
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Palmieri, Luigi
    Corporate Research, Robert Bosch GmbH, Renningen, Germany.
    Swaminathan, Chittaranjan Srinivas
    Örebro University, School of Science and Technology.
    Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots2020Book (Other academic)
    Abstract [en]

    This book describes how robots can make sense of motion in their surroundings and use the patterns they observe to blend in better in dynamic environments shared with humans.The world around us is constantly changing. Nonetheless, we can find our way and aren’t overwhelmed by all the buzz, since motion often follows discernible patterns. Just like humans, robots need to understand the patterns behind the dynamics in their surroundings to be able to efficiently operate e.g. in a busy airport. Yet robotic mapping has traditionally been based on the static world assumption, which disregards motion altogether. In this book, the authors describe how robots can instead explicitly learn patterns of dynamic change from observations, store those patterns in Maps of Dynamics (MoDs), and use MoDs to plan less intrusive, safer and more efficient paths. The authors discuss the pros and cons of recently introduced MoDs and approaches to MoD-informed motion planning, and provide an outlook on future work in this emerging, fascinating field. 

  • 241.
    Kucner, Tomasz Piotr
    et al.
    Örebro University, School of Science and Technology.
    Luperto, Matteo
    Applied Intelligent System Lab (AISLab), Università degli Studi di Milano, Milano, Italy.
    Lowry, Stephanie
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Robust Frequency-Based Structure Extraction2021In: 2021 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2021, p. 1715-1721Conference paper (Refereed)
    Abstract [en]

    State of the art mapping algorithms can produce high-quality maps. However, they are still vulnerable to clutter and outliers which can affect map quality and in consequence hinder the performance of a robot, and further map processing for semantic understanding of the environment. This paper presents ROSE, a method for building-level structure detection in robotic maps. ROSE exploits the fact that indoor environments usually contain walls and straight-line elements along a limited set of orientations. Therefore metric maps often have a set of dominant directions. ROSE extracts these directions and uses this information to segment the map into structure and clutter through filtering the map in the frequency domain (an approach substantially underutilised in the mapping applications). Removing the clutter in this way makes wall detection (e.g. using the Hough transform) more robust. Our experiments demonstrate that (1) the application of ROSE for decluttering can substantially improve structural feature retrieval (e.g., walls) in cluttered environments, (2) ROSE can successfully distinguish between clutter and structure in the map even with substantial amount of noise and (3) ROSE can numerically assess the amount of structure in the map.

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    Robust Frequency-Based Structure Extraction
  • 242.
    Kucner, Tomasz Piotr
    et al.
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Hernandez Bennetts, Victor Manuel
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Enabling Flow Awareness for Mobile Robots in Partially Observable Environments2017In: IEEE Robotics and Automation Letters, E-ISSN 2377-3766, Vol. 2, no 2, p. 1093-1100Article in journal (Refereed)
    Abstract [en]

    Understanding the environment is a key requirement for any autonomous robot operation. There is extensive research on mapping geometric structure and perceiving objects. However, the environment is also defined by the movement patterns in it. Information about human motion patterns can, e.g., lead to safer and socially more acceptable robot trajectories. Airflow pattern information allow to plan energy efficient paths for flying robots and improve gas distribution mapping. However, modelling the motion of objects (e.g., people) and flow of continuous media (e.g., air) is a challenging task. We present a probabilistic approach for general flow mapping, which can readily handle both of these examples. Moreover, we present and compare two data imputation methods allowing to build dense maps from sparsely distributed measurements. The methods are evaluated using two different data sets: one with pedestrian data and one with wind measurements. Our results show that it is possible to accurately represent multimodal, turbulent flow using a set of Gaussian Mixture Models, and also to reconstruct a dense representation based on sparsely distributed locations.

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    Enabling Flow Awareness for Mobile Robots in Partially Observable Environments
  • 243.
    Kucner, Tomasz Piotr
    et al.
    Örebro University, School of Science and Technology.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Swaminathan, Chittaranjan Srinivas
    Örebro University, School of Science and Technology.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Palmieri, L.
    Corporate Research Robert Bosch GmbH, Renningen, Germany.
    Preface2020In: Probabilistic Mapping of Spatial Motion Patterns for Mobile Robots, Springer, 2020, p. vii-xChapter in book (Refereed)
  • 244.
    Kucner, Tomasz
    et al.
    Örebro University, School of Science and Technology.
    Sarinen, Jari
    Aalto university, Helsinki, Finland.
    Magnusson, Martin
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Conditional transition maps: learning motion patterns in dynamic environments2013In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2013, p. 1196-1201Conference paper (Refereed)
    Abstract [en]

    In this paper we introduce a method for learning motion patterns in dynamic environments. Representations of dynamic environments have recently received an increasing amount of attention in the research community. Understanding dynamic environments is seen as one of the key challenges in order to enable autonomous navigation in real-world scenarios. However, representing the temporal dimension is a challenge yet to be solved. In this paper we introduce a spatial representation, which encapsulates the statistical dynamic behavior observed in the environment. The proposed Conditional Transition Map (CTMap) is a grid-based representation that associates a probability distribution for an object exiting the cell, given its entry direction. The transition parameters are learned from a temporal signal of occupancy on cells by using a local-neighborhood cross-correlation method. In this paper, we introduce the CTMap, the learning approach and present a proof-of-concept method for estimating future paths of dynamic objects, called Conditional Probability Propagation Tree (CPPTree). The evaluation is done using a real-world data-set collected at a busy roundabout.

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    ctmap.pdf
  • 245.
    Kurtser, Polina
    et al.
    Örebro University, School of Science and Technology. 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.
    Planning the sequence of tasks for harvesting robots2020In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 131, article id 103591Article in journal (Refereed)
    Abstract [en]

    A methodology for planning the sequence of tasks for a harvesting robot is presented. The fruit targets are situated at unknown locations and must be detected by the robot through a sequence of sensing tasks. Once the targets are detected, the robot must execute a harvest action at each target location. The traveling salesman paradigm (TSP) is used to plan the sequence of sensing and harvesting tasks taking into account the costs of the sensing and harvesting actions and the traveling times. Sensing is planned online. The methodology is validated and evaluated in both laboratory and greenhouse conditions for a case study of a sweet pepper harvesting robot. The results indicate that planning the sequence of tasks for a sweet pepper harvesting robot results in 12% cost reduction. Incorporating the sensing operation in the planning sequence for fruit harvesting is a new approach in fruit harvesting robots and is important for cycle time reduction. Furthermore, the sequence is re-planned as sensory information becomes available and the costs of these new sensing operations are also considered in the planning.

  • 246.
    Kurtser, Polina
    et al.
    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.
    Statistical models for fruit detectability: spatial and temporal analyses of sweet peppers2018In: Biosystems Engineering, ISSN 1537-5110, E-ISSN 1537-5129, Vol. 171, p. 272-289Article in journal (Refereed)
    Abstract [en]

    Statistical models for fruit detectability were developed to provide insights into preferable variable configurations for better robotic harvesting performance.

    The methodology includes several steps: definition of controllable and measurable variables, data acquisition protocol design, data processing, definition of performance measures and statistical modelling procedures. Given the controllable and measurable variables, a data acquisition protocol is defined to allow adequate variation in the variables, and determine the dataset size to ensure significant statistical analyses. Performance measures are defined for each combination of controllable and measurable variables identified in the protocol. Descriptive statistics of the measures allow insights into preferable configurations of controllable variables given the measurable variables values. The statistical model is performed by back-elimination Poisson regression with a loglink function process. Spatial and temporal analyses are performed.

    The methodology was applied to develop statistical models for sweet pepper (Capsicum annuum) detectability and revealed best viewpoints. 1312 images acquired from 10 to 14 viewpoints for 56 scenes were collected in commercial greenhouses, using an eye-in-hand configuration of a 6 DOF manipulator equipped with a RGB sensor and an illumination rig. Three databases from different sweet-pepper varieties were collected along different growing seasons.

    Target detectability highly depends on the imaging acquisition distance and the sensing system tilt. A minimum of 12 training scenes are necessary to discover the statistically significant spatial variables. Better prediction was achieved at the beginning of the season with slightly better prediction achieved in a temporal split of training and testing sets.

  • 247.
    Kurtser, Polina
    et al.
    Ben-Gurion University of the Negev, Department of Industrial Engineering and Management, Beer-Sheva, Israel.
    Edan, Yael
    Ben-Gurion University of the Negev, Department of Industrial Engineering and Management, Beer-Sheva, Israel.
    The use of dynamic sensing strategies to improve detection for a pepper harvesting robot2018In: IEEE International Conference on Intelligent Robots and Systems. Proceedings, ISSN 2153-0858, E-ISSN 2153-0866, p. 8286-8293Article in journal (Refereed)
    Abstract [en]

    This paper presents the use of dynamic sensing strategies to improve detection results for a pepper harvesting robot. The algorithm decides if an additional viewpoint is needed and selects the best-fit viewpoint location from a predefined set of locations based on the predicted profitability of such an action. The suggestion of a possible additional viewpoint is based on image analysis for fruit and occlusion level detection, prediction of the expected number of additional targets sensed from that viewpoint, and final decision if choosing the additional viewpoint is beneficial. The developed heuristic was applied on 96 greenhouse images of 30 sweet peppers and resulted in up to 19% improved detection. The harvesting utility cost function decreased by up to 10% compared to the conventional single viewpoint strategy.

  • 248.
    Kurtser, Polina
    et al.
    Örebro University, School of Science and Technology.
    Hanell, Ulf
    Örebro University, School of Science and Technology.
    Andreasson, Henrik
    Örebro University, School of Science and Technology.
    Robotic Platform for Precise Mechanical Stress Induction in Greenhouses Cultivation2020In: 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), IEEE, 2020, p. 1558-1565Conference paper (Refereed)
    Abstract [en]

    This paper presents an autonomous robotic platform for research of mechanically induced stress in plants growing in controlled greenhouse conditions. The platform provides a range of possibilities for mechanical stimuli including motion type, frequency, speed, and torque. The motions can be tailored for a single pot, making study of mechanical plant stress versatile, rapid and precise. We evaluate the performance of the platform for a use-case of basil plant cultivation. An eight week experiment was performed in greenhouse conditions on 220 basil plants. We show that the induction of mechanical stress by the platform significantly affects plant morphology, such as shortening stem length by 30 % -40 % and inter-node length by 50 % -80 %, while preserving leaf weight which is the main part of the basil plant used for culinary purposes. Results also show that variations in types of mechanical stimuli motions provides significant differences in the effect on plant morphology. Finally we show that decreasing the mechanical stimuli frequency to rates feasible to be performed manually significantly reduces the effect, stressing the need for autonomous systems capable of providing continuous stimuli during day and night. These results validate previously published findings in research of mechanical stress induction, and therefore implies the platform can be used for research of this phenomena.

  • 249.
    Landin, Cristina
    et al.
    Örebro University, School of Science and Technology. Product Development Unit Radio, Production Test Development, Ericsson AB, Kumla, Sweden.
    Hatvani, Leo
    School of Innovation, Design and Engineering, Mälardalen University, Västerås, Sweden.
    Tahvili, Sahar
    Global Artificial Intelligence Accelerator (GAIA), Ericsson AB, Stockholm, Sweden; School of Innovation, Design and Engineering, Mälardalen University, Västerås, Sweden.
    Haggren, Hugo
    Global Artificial Intelligence Accelerator (GAIA), Ericsson AB, Stockholm, Sweden.
    Längkvist, Martin
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Håkansson, Anne
    School of Electrical Engineering and Computer Science, KTH Royal Institute of Technology, Stockholm, Sweden.
    Performance Comparison of Two Deep Learning Algorithms in Detecting Similarities Between Manual Integration Test Cases2020In: The Fifteenth International Conference on Software Engineering Advances, International Academy, Research and Industry Association (IARIA) , 2020, p. 90-97Conference paper (Refereed)
    Abstract [en]

    Software testing is still heavily dependent on human judgment since a large portion of testing artifacts, such as requirements and test cases are written in a natural text by experts. Identifying and classifying relevant test cases in large test suites is a challenging and also time-consuming task. Moreover, to optimize the testing process test cases should be distinguished based on their properties, such as their dependencies and similarities. Knowing the mentioned properties at an early stage of the testing process can be utilized for several test optimization purposes, such as test case selection, prioritization, scheduling,and also parallel test execution. In this paper, we apply, evaluate, and compare the performance of two deep learning algorithmsto detect the similarities between manual integration test cases. The feasibility of the mentioned algorithms is later examined in a Telecom domain by analyzing the test specifications of five different products in the product development unit at Ericsson AB in Sweden. The empirical evaluation indicates that utilizing deep learning algorithms for finding the similarities between manual integration test cases can lead to outstanding results.

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    Performance Comparison of Two Deep Learning Algorithms in Detecting Similarities Between Manual Integration Test Cases
  • 250.
    Larsson, Johan
    et al.
    Örebro University, Department of Technology.
    Broxvall, Mathias
    Örebro University, Department of Technology.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    A navigation system for automated loaders in underground mines2006In: Field and Service Robotics: results of the 5th international conference / [ed] Peter Corke, Salah Sukkariah, Berlin: Springer Berlin/Heidelberg, 2006, p. 129-140Conference paper (Refereed)
    Abstract [en]

    For underground mining operations human operated LHD vehicles are typically used for transporting ore. Because of security issues and of the cost of human operators, alternative solutions such as tele-operated vehicles are often in use. Tele-operation, however, leads to reduced efficiency, and it is not an ideal solution. Full automation of the LHD vehicles is a challenging task, which is expected to result in increased operational efficiency, cost efficiency, and safety. In this paper, we present our approach to a fully automated solution currently under development. We use a fuzzy behavior-based approach for navigation, and develop a cheap and robust localization technique based on the deployment of inexpensive passive radio frequency identification (RFID) tags at key points in the mine.

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