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  • 351.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Creating true gas concentration maps in presence of multiple heterogeneous gas sources2012In: Sensors, 2012 IEEE, Institute of Electrical and Electronics Engineers (IEEE), 2012, 554-557 p.Conference paper (Refereed)
    Abstract [en]

    Gas distribution mapping is a crucial task in emission monitoring and search and rescue applications. A common assumption made by state-of-the art mapping algorithms is that only one type of gaseous substance is present in the environment. For real world applications, this assumption can become very restrictive. In this paper we present an algorithm that creates gas concentration maps in a scenario where multiple heterogeneous gas sources are present. First, using an array of metal oxide (MOX) sensors and a pattern recognition algorithm, the chemical compound is identified. Then, for each chemical compound a gas concentration map using the readings of a Photo Ionization Detector (PID) is created. The proposed approach has been validated in experiments with the sensors mounted on a mobile robot which performed a predefined trajectory in a room where two gas sources emitting respectively ethanol and 2-propanol have been placed.

  • 352.
    Hernandez Bennetts, Victor Manuel
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology. Univ Örebro, AASS Res Ctr, Örebro, Sweden.
    Khaliq, Ali Abdul
    Örebro University, School of Science and Technology. Univ Örebro, AASS Res Ctr, Örebro, Sweden.
    Pomareda Sese, Victor
    Institute of Bioengineering of Catalonia, Spain.
    Trincavelli, Marco
    Örebro University, School of Science and Technology. Univ Örebro, AASS Res Ctr, Örebro, Sweden.
    Towards Real-World Gas Distribution Mapping and Leak Localization Using a Mobile Robot with 3D and Remote Gas Sensing Capabilities2013In: 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE conference proceedings, 2013, 2335-2340 p.Conference paper (Refereed)
    Abstract [en]

    Due to its environmental, economical and safety implications, methane leak detection is a crucial task to address in the biogas production industry. In this paper, we introduce Gasbot, a robotic platform that aims to automatize methane emission monitoring in landfills and biogas production sites. The distinctive characteristic of the Gasbot platform is the use of a Tunable Laser Absorption Spectroscopy (TDLAS) sensor. This sensor provides integral concentration measurements over the path of the laser beam. Existing gas distribution mapping algorithms can only handle local measurements obtained from traditional in-situ chemical sensors. In this paper we also describe an algorithm to generate 3D methane concentration maps from integral concentration and depth measurements. The Gasbot platform has been tested in two different scenarios: an underground corridor, where a pipeline leak was simulated and in a decommissioned landfill site, where an artificial methane emission source was introduced.

  • 353.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Fan, Han
    Örebro University, School of Science and Technology.
    Kucner, Tomasz Piotr
    Örebro University, School of Science and Technology.
    Andersson, Lena
    Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden.
    Johansson, Anders
    Department of Occupational and Environmental Medicine, Örebro University Hospital, Örebro, Sweden.
    Towards occupational health improvement in foundries through dense dust and pollution monitoring using a complementary approach with mobile and stationary sensing nodes2016In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2016, 131-136 p., 7759045Conference paper (Refereed)
    Abstract [en]

    In industrial environments, such as metallurgic facilities, human operators are exposed to harsh conditions where ambient air is often polluted with quartz, dust, lead debris and toxic fumes. Constant exposure to respirable particles can cause irreversible health damages and thus it is of high interest for occupational health experts to monitor the air quality on a regular basis. However, current monitoring procedures are carried out sparsely, with data collected in single day campaigns limited to few measurement locations. In this paper we explore the use and present first experimental results of a novel heterogeneous approach that uses a mobile robot and a network of low cost sensing nodes. The proposed system aims to address the spatial and temporal limitations of current monitoring techniques. The mobile robot, along with standard localization and mapping algorithms, allows to produce short term, spatially dense representations of the environment where dust, gas, ambient temperature and airflow information can be modelled. The sensing nodes on the other hand, can collect temporally dense (and usually spatially sparse) information during long periods of time, allowing in this way to register for example, daily variations in the pollution levels. Using data collected with the proposed system in an steel foundry, we show that a heterogeneous approach provides dense spatio-temporal information that can be used to improve the working conditions in industrial facilities.

  • 354.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Pomadera Sese, Victor
    Institute of Bioengineering of Catalonia, Barcelona, Spain.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Marco, Santiago
    Signal and Information Processing for Sensing Systema, Institute for Bioengineering of Catalonia, Barcelona, Spain; Departament d’Electrònica, Universitat de Barcelona, Barcelona, Spain.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Combining Non Selective Gas Sensors on a Mobile Robot for Identification and Mapping of Multiple Chemical Compounds2014In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 14, no 9, 17331-17352 p.Article in journal (Refereed)
    Abstract [en]

    In this paper, we address the task of gas distribution modeling in scenarios where multiple heterogeneous compounds are present. Gas distribution modeling is particularly useful in emission monitoring applications where spatial representations of the gaseous patches can be used to identify emission hot spots. In realistic environments, the presence of multiple chemicals is expected and therefore, gas discrimination has to be incorporated in the modeling process. The approach presented in this work addresses the task of gas distribution modeling by combining different non selective gas sensors. Gas discrimination is addressed with an open sampling system, composed by an array of metal oxide sensors and a probabilistic algorithm tailored to uncontrolled environments. For each of the identified compounds, the mapping algorithm generates a calibrated gas distribution model using the classification uncertainty and the concentration readings acquired with a photo ionization detector. The meta parameters of the proposed modeling algorithm are automatically learned from the data. The approach was validated with a gas sensitive robot patrolling outdoor and indoor scenarios, where two different chemicals were released simultaneously. The experimental results show that the generated multi compound maps can be used to accurately predict the location of emitting gas sources.

  • 355.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Pomadera Sese, Victor
    Institute of Bioengineering of Catalonia, Spain.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    A Novel Approach for Gas Discrimination in Natural Environments with Open Sampling Systems2014In: Proceedings of the IEEE Sensors Conference 2014, IEEE conference proceedings, 2014, -2049 p.Conference paper (Refereed)
    Abstract [en]

    This work presents a gas discrimination approachfor Open Sampling Systems (OSS), composed of non-specificmetal oxide sensors only. In an OSS, as used on robots or insensor networks, the sensors are exposed to the dynamics of theenvironment and thus, most of the data corresponds to highlydiluted samples while high concentrations are sparse. In addition,a positive correlation between class separability and concentra-tion level can be observed. The proposed approach computes theclass posteriors by coupling the pairwise probabilities betweenthe compounds to a confidence model based on an estimation ofthe concentration. In this way a rejection posterior, analogous tothe detection limit of the human nose, is learned. Evaluation wasconducted in indoor and outdoor sites, with an OSS equippedrobot, in the presence of two gases. The results show that theproposed approach achieves a high classification performancewith a low sensitivity to the selection of meta parameters.

  • 356.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Robot assisted gas tomography: an alternative approach for the detection of fugitive methane emissions2014In: Workshop on Robot Monitoring, 2014Conference paper (Refereed)
    Abstract [en]

    Methane (CH4) based combustibles, such as Natural Gas (NG) and BioGas (BG), are considered bridge fuels towards a decarbonized global energy system. NG emits less CO2 during combustion than other fossil fuels and BG can be produced from organic waste. However, at BG production sites, leaks are common and CH4 can escape through fissures in pipes and insulation layers. While by regulation BG producers shall issue monthly CH4 emission reports, measurements are sparsely collected, only at a few predefined locations. Due to the high global warming potential of CH4, efficient leakage detection systems are critical. We present a robotics approach to localize CH4 leaks. In Robot assisted Gas Tomography (RGT), a mobile robot is equipped with remote gas sensors to create gas distribution maps, which can be used to infer the location of emitting sources. Spectroscopy based remote gas sensors report integral concentrations, which means that the measurements are spatially unresolved, with neither information regarding the gas distribution over the optical path nor the length of the s beam. Thus, RGT fuses different sensing modalities, such as range sensors for robot localization and ray tracing, in order to infer plausible gas distribution models that explain the acquired integral concentration measurements.

  • 357.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Robot assisted gas tomography: localizing methane leaks in outdoor environments2014In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2014Conference paper (Refereed)
    Abstract [en]

    In this paper we present an inspection robot to produce gas distribution maps and localize gas sources in large outdoor environments. The robot is equipped with a 3D laser range finder and a remote gas sensor that returns integral concentration measurements. We apply principles of tomography to create a spatial gas distribution model from integral gas concentration measurements. The gas distribution algorithm is framed as a convex optimization problem and it models the mean distribution and the fluctuations of gases. This is important since gas dispersion is not an static phenomenon and furthermore, areas of high fluctuation can be correlated with the location of an emitting source. We use a compact surface representation created from the measurements of the 3D laser range finder with a state of the art mapping algorithm to get a very accurate localization and estimation of the path of the laser beams. In addition, a conic model for the beam of the remote gas sensor is introduced. We observe a substantial improvement in the gas source localization capabilities over previous state-of-the-art in our evaluation carried out in an open field environment.

  • 358.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Pomadera Sese, Victor
    Institute of Bioengineering of Catalonia, Spain.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Online parameter selection for gas distribution mapping2013In: Proceedings of the ISOEN conference 2013, 2013Conference paper (Refereed)
  • 359.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Online parameter selection for gas distribution mapping2014In: Sensor Letters, ISSN 1546-198X, E-ISSN 1546-1971, Vol. 12, no 6-7, 1147-1151 p.Article in journal (Refereed)
    Abstract [en]

    The ability to produce truthful maps of the distribution of one or more gases is beneficial for applications ranging from environmental monitoring to mines and industrial plants surveillance. Realistic environments are often too complicated for applying analytical gas plume models or performing reliable CFD simulations, making data-driven statistical gas distribution models the most attractive alternative. However, statistical models for gas distribution modelling, often rely on a set of meta-parameters that need to be learned from the data through Cross Validation (CV) techniques. CV techniques are computationally expensive and therefore need to be computed offline. As a faster alternative, we propose a parameter selection method based on Virtual Leave-One-Out Cross Validation (VLOOCV) that enables online learning of meta-parameters. In particular, we consider the Kernel DM+V, one of the most well studied algorithms for statistical gas distribution mapping, which relies on a meta-parameter, the kernel bandwidth. We validate the proposed VLOOCV method on a set of indoor and outdoor experiments where a mobile robot with a Photo Ionization Detector (PID) was collecting gas measurements. The approximation provided by the proposed VLOOCV method achieves very similar results to plain Cross Validation at a fraction of the computational cost. This is an important step in the development of on-line statistical gas distribution modelling algorithms.

  • 360.
    Hernández Bennetts, Victor Manuel
    Örebro University, School of Science and Technology.
    Mobile robots with in-situ and remote sensors for real world gas distribution modelling2015Doctoral thesis, monograph (Other academic)
  • 361.
    Herrero-Perez, D.
    et al.
    Univ Murcia, Dept Informat & Communicat Engn, E-30100 Murcia, Spain.
    Martinez-Barbera, H.
    Univ Murcia, Dept Informat & Communicat Engn, E-30100 Murcia, Spain.
    LeBlanc, Kevin
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Fuzzy uncertainty modeling for grid based localization of mobile robots2010In: International Journal of Approximate Reasoning, Amsterdam: Elsevier , 2010, Vol. 51, no 8, 912-932 p.Conference paper (Other academic)
    Abstract [en]

    This paper presents a localization method using fuzzy logic to represent the different facets of uncertainty present in sensor data. Our method follows the typical predict-update cycle of recursive state estimators to estimate the robot's location. The method is implemented on a fuzzy position grid, and several simplifications are introduced to reduce computational complexity. The main advantages of this fuzzy logic method compared to most current ones are: (i) only an approximate sensor model is required, (ii) several facets of location uncertainty can be represented, and (iii) ambiguities in the sensor information are directly represented, thus avoiding having to solve the data association problem separately. Our method has been validated experimentally on two different platforms, a legged robot equipped with vision and a wheeled robot equipped with range sensors. The experiments show that our method can solve both the tracking and the global localization problem. They also show that this method can successfully cope with ambiguous observations, when several features may be associated to the same observation, and with robot kidnapping situations. Additional experiments are presented that compare our approach with a state-of-the-art probabilistic method. (C) 2010 Elsevier Inc. All rights reserved.

  • 362.
    Herrero-Pérez, David
    et al.
    University of Murcia, Spain.
    Martínez-Barberá, Humberto
    University of Murcia, Spain.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Fuzzy self-localization using natural features in the four-legged league2004In: RoboCup 2004: Lisbon, Portugal, 2004 / [ed] Daniele Nardi, Martin Riedmiller, Claude Sammut, José Santos-Victor, Springer Berlin/Heidelberg, 2004, 110-121 p.Conference paper (Refereed)
    Abstract [en]

    In the RoboCup four-legged league, robots mainly rely on artificial coloured landmarks for localisation. As it was done in other leagues, artificial landmarks will soon be removed as part of the RoboCup push toward playing in more natural environments. Unfortunately, the robots in this league have very unreliable odometry due to poor modeling of legged locomotion and to undetected collisions. This makes the use of robust sensor-based localization a necessity. We present an extension of our previous technique for fuzzy self-localization based on artificial landmarks, by including observations of features that occur naturally in the soccer field. In this paper, we focus on the use of corners between the field lines. We show experimental results obtained using these features together with the two nets. Eventually, our approach should allow us to migrate from landmarks-only to line-only localisation.

  • 363.
    Herring, Susan C.
    et al.
    Indiana University, Bloomington, USA.
    Fussel, Susan R.
    Cornell University, Ithaca, USA.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Mutlu, Bilge
    University of Wisconsin-Madison, Madison, USA.
    Neustaedter, Carman
    Simon Fraser University, Surrey, Canada.
    Tsui, Katherine
    Yale University, New Haven, USA.
    The Future of Robotic Telepresence: Visions, Opportunities and Challenges2016In: Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, New York: ACM , 2016, 1038-1042 p.Conference paper (Refereed)
    Abstract [en]

    This panel will bring together experts on robotic telepresence from HCI and related fields. Panelists will engage the audience in a discussion of visions, opportunities and challenges for the future of telepresence robots.

  • 364.
    Hertzberg, Joachim
    et al.
    University of Osnabrück, Inst. of Computer Science, Knowledge-Based Systems Research Group Osnabrück, Germany.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Using semantic knowledge in robotics2008In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, no 11, 875-877 p.Article in journal (Refereed)
    Abstract [en]

    There is a growing tendency to introduce high-level semantic knowledge into robotic systems and beyond. This tendency is visible in different forms within several areas of robotics. Recent work in mapping and localization tries to extract semantically meaningful structures from sensor data during map building, or to use semantic knowledge in the map building process, or both. A similar trend characterizes the cognitive vision approach to scene understanding. Recent efforts in human–robot interaction try to endow the robot with some understanding of the human meaning of words, gestures and expressions. Ontological knowledge is increasingly being used in distributed systems in order to allow automatic re-configuration in the areas of flexible automation and of ubiquitous robotics. Ontological knowledge was also used recently to improve the inter-operability of robotic components developed for different systems.

    While these trends have many questions and issues in common, work on each one of them is often pursued in isolation within a specific area, without being aware of the related achievements in other areas. The aim of this special issue is to collect in a single place a set of advanced, high-quality papers that tackle the problem of using semantic knowledge in robotics in many of its different forms.

    The submissions to this special issue made it clear that there are many ways in which semantic knowledge may play a role in robotics. Interestingly, they also revealed that there are many ways in which the term semantic knowledge is being interpreted. Before turning to the technical papers, then, it is worth spending a few words on this matter.

  • 365.
    Hertzberg, Joachim
    et al.
    Osnabrück University, Osnabrück, Germany .
    Zhang, Jianwei
    Hamburg University, Hamburg, Germany .
    Zhang, Liwei
    Hamburg University, Hamburg, Germany .
    Rockel, Sebastian
    Hamburg University, Hamburg, Germany .
    Neumann, Bernd
    Hamburg University, Hamburg, Germany .
    Lehmann, Jos
    Hamburg University, Hamburg, Germany .
    Dubba, Krishna S.R.
    University of Leeds, Leeds, England .
    Cohn, Anthony G.
    University of Leeds, Leeds, England .
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Mansouri, Masoumeh
    Örebro University, School of Science and Technology.
    Konečný, Štefan
    Örebro University, School of Science and Technology.
    Günther, Martin
    Osnabrück University, Osnabrück, Germany .
    Stock, Sebastian
    Osnabrück University, Osnabrück, Germany .
    Seabra Lopes, Luis
    University of Aveiro, Aveiro, Portugal .
    Oliveira, Miguel
    University of Aveiro, Aveiro, Portugal .
    Lim, Gi Hyun
    University of Aveiro, Aveiro, Portugal .
    Kasaei, Hamidreza
    University of Aveiro, Aveiro, Portugal .
    Mokhtari, Vahid
    University of Aveiro, Aveiro, Portugal .
    Hotz, Lothar
    HITeC Hamburger Informatik Technologie-Center e. V., Hamburg, Germany .
    Bohlken, Wilfried
    HITeC Hamburger Informatik Technologie-Center e. V., Hamburg, Germany .
    The RACE Project: Robustness by Autonomous Competence Enhancement2014In: Künstliche Intelligenz, ISSN 0933-1875, E-ISSN 1610-1987, Vol. 28, no 4, 297-304 p.Article in journal (Refereed)
    Abstract [en]

    This paper reports on the aims, the approach, and the results of the European project RACE. The project aim was to enhance the behavior of an autonomous robot by having the robot learn from conceptualized experiences of previous performance, based on initial models of the domain and its own actions in it. This paper introduces the general system architecture; it then sketches some results in detail regarding hybrid reasoning and planning used in RACE, and instances of learning from the experiences of real robot task execution. Enhancement of robot competence is operationalized in terms of performance quality and description length of the robot instructions, and such enhancement is shown to result from the RACE system.

  • 366.
    Hois, Joana
    et al.
    SFB/TR 8 Spatial Cognition, University of Bremen, Bremen, Germany.
    Bhatt, Mehul
    SFB/TR 8 Spatial Cognition, University of Bremen, Bremen, Germany.
    Kutz, Oliver
    SFB/TR 8 Spatial Cognition, University of Bremen, Bremen, Germany.
    Modular Ontologies for Architectural Design2009In: Formal Ontologies Meet Industry: Proceedings of the 4th Workshop FOMI 2009, September 2, 2009, Vicenza, Italy, in association with the 10th European Conference on Knowledge Management / [ed] Roberta Ferrario, Alessandro Oltramari, IOS Press , 2009, Vol. 198, 66-77 p.Conference paper (Refereed)
    Abstract [en]

    Designs of architectural environments have to take into account various sources of heterogeneous information. Not only quantitative spatial constraints and qualitative relations but also functionally-dependent and abstract conceptualizations are relevant aspects for an architectural design. We aim at a modular ontological approach based on the theory of E-connections to formally present and bring together these different perspectives on the domain. Modularity here allows a flexible integration of the various sources while keeping their thematically different aspects apart. We show how modular ontologies reflect the domain for architectural design and how they can be applied.

  • 367.
    Hägglund, Maria
    et al.
    Health Informatics Centre, Karolinska Institutet, Stockholm, Sweden.
    Scandurra, Isabella
    Örebro University, Örebro University School of Business. APRI eHealth, Själevad, Sweden.
    Does user centred design work in homecare for elderly?: a retrospective on the OLD@HOME case2011In: International Journal of Integrated Care, ISSN 1568-4156, E-ISSN 1568-4156, Vol. 11Article in journal (Refereed)
    Abstract [en]

    Introduction: Mobile information and communication technology (ICT) has been suggested to improve collaboration in integrated homecare, yet, few successful implementations are available. User centred design (UCD) can improve the usefulness of ICT, however, it is often claimed to be expensive and difficult to use in healthcare. In the action research project OLD@HOME (Sweden 2002–2005) a user centred approach was adapted to the specific context of integrated homecare for elderly.

    Aim: To revisit OLD@HOME and explore what methodological adjustments were needed to adapt UCD to integrated homecare of elderly, and what the long-term effects of using UCD were.

    Results: Our collaborative design method included all stakeholders and enabled development of both new work situations and new tools. Five years after implementation, the system is still used by home help service personnel, for both homecare- and office-based work, as it provides ubiquitous access to information and communication. Technical support is rarely needed; experienced users handle occurring problems, training and introduction of new users.

    Conclusions: We consider the development method a key factor for the OLD@HOME system’s success as it enabled the design of a homecare system that is not only easy to use, but adapted to the context of integrated homecare for elderly

  • 368. Hägglund, Maria
    et al.
    Scandurra, Isabella
    Centre for eHealth, Uppsala University, Uppsala, Sweden.
    Studying intersection points – an analysis of information needs in shared homecare of elderly2009In: Journal on Information Technology in Healthcare, ISSN 1479-649X, The journal on information technology in healthcare, ISSN 1479-649X, Vol. 7, no 1, 23-42 p.Article in journal (Refereed)
    Abstract [en]

    Objectives: Elderly patients are increasingly receiving care in their own homes but this process is not well supported by existing systems which suffer from limited integration of health and social care services. The result is fragmentation of care, lack of coordination between services, duplication of services, and limited participation of patients and informal carers in the care process. In this study we attempt to identify the key intersection points, i.e. where different actors involved in the homecare of elderly patients interact, and to analyse their individual information requirements. How these requirements can be met using information and communication technology (ICT) is discussed.

    Methods: The study involved 13 participants representing professional health and social careworkers, patients and relatives. Their interactions and information needs were obtained using a variety of methods including multi-disciplinary thematic seminars, participatory observations, interviews, inventory of current information systems, scenarios, sketching and prototyping. 

    Results: The key intersection points where information exchange between different actors isneeded are (i) Initiation of patient specific changes in homecare provision, (ii) Consultations, (iii) Delegation of duties, (iv) Referrals, (v) Important health events and general care (vi) Coordination of planned activities. Shared information objects which would be beneficial include(i) Contact information of all parties, (ii) Patient care plan, (iii) Patient's medication list, (iv) Risk factors, (v) Updates to medical records, (vi) Patient medical summaries, (vii) Patient centred calendar (viii) Assessment of their homecare needs. An ICT solution implemented to meet these requirements must be integrated with existing systems to minimise any additional work that staff will have to do and also address major issues such as security, design of mobile applications (including both interface design and synchronisation issues), interoperability and ethical and legal aspects. 

    Conclusion: This study has identified the information that needs to be shared at key intersection points between different actors involved in providing homecare for the elderly. It has also indicated how this information can be made available through ICT and highlighted the challenges that will have to be overcome in order to support patient centred care.

  • 369. Hägglund, Maria
    et al.
    Scandurra, Isabella
    Centre for eHealth, Uppsala University, Akademiska sjukhuset, Uppsala, Sweden.
    Koch, Sabine
    Scenarios to Capture Work Processes in Shared Home Care – from analysis to application2010In: International Journal of Medical Informatics, ISSN 1386-5056, E-ISSN 1872-8243, Vol. 79, no 6, 126-134 p.Article in journal (Refereed)
    Abstract [en]

    Background

    Shared homecare is increasingly common, and in order to develop ICT that support such complex cooperative and interdisciplinary work it is crucial to obtain an understanding of work processes at the clinical level before the development is initiated. It is also crucial, but difficult, to correctly transfer this insight to the development team.

    Method

    User-centered scenario building in interdisciplinary working groups is applied for capturing cooperative work routines, information demands, and other central preconditions in shared homecare.

    Results

    Use of scenarios for analysis of cooperative work and as information carrier is described via a case from the multi-disciplinary OLD@HOME project. Both current and future work scenarios were elicited. To illustrate the process of transforming scenarios into more technical descriptions (use cases), and finally into an application, examples showing the transparency in resulting use cases and in the implemented system are provided.

    Conclusion

    In this case study, scenarios proved to be useful not only in initial system development phases but throughout the entire development process, improving accessibility and assessment of end user needs. For the development team, scenarios assisted in solving usability issues, and served as a basis for describing use cases and for further system development. More importantly, the shared care scenarios ensured the provision of different perspectives on common work processes, which are often neglected in conventional requirements specifications. This also improved understanding between different clinical groups and between clinicians and developers.

  • 370.
    Hägglund, Maria
    et al.
    Dept of Medicial Sciences, Uppsala University, University Hospital, Uppsala, Sweden; Centre for EHealth, Uppsala University, Uppsala, Sweden.
    Scandurra, Isabella
    Dept of Medicial Sciences, Uppsala University, University Hospital, Uppsala, Sweden; Centre for EHealth, Uppsala University, Uppsala, Sweden.
    Koch, Sabine
    Dept of Medicial Sciences, Uppsala University, University Hospital, Uppsala, Sweden; Centre for EHealth, Uppsala University, Uppsala, Sweden.
    Using Scenarios to Capture Work Processes in Shared Home Care2007In: Information Technology in Health Care 2007: Proceedings of the 3rd International Conference on Information Technology in Health Care -- Socio-technical Approaches / [ed] E. Coiera, J.I. Westbrook, J.L. Callen, IOS Press, 2007, 233-239 p.Chapter in book (Refereed)
    Abstract [en]

    Shared home care is increasingly common, and in order to develop ICT that support such complex cooperative work it is crucial obtain an understanding of the work routines, information demands, and other central preconditions at the clinical level before the development is initiated. Scenarios are proposed as a technique that can be useful for capturing work processes in shared home care and experiences from the Old@Home project are presented. The scenarios are useful not only in the initial phases of the development project but throughout the development process, improving the accessibility of end user requirements and usability issues for the design team, and as a basis for use cases and further design.

  • 371.
    Iliev, Boyko
    et al.
    Örebro University, Department of Technology.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    Improved sliding mode robot control: a fuzzy approach2002In: Proceedings of the third international workshop on robot motion and control, 2002. RoMoCo '02, 2002, 393-398 p.Conference paper (Refereed)
    Abstract [en]

    An approach to the design of high performance sliding mode controllers for robot manipulators is presented. It employs a Takagi-Sugeno fuzzy system to describe the sliding surface. Each rule of this system represents the maximum slope sliding line for a certain set of parameters given in the premise part. Hence, the slope of the surface is adapted according to the current state of the manipulator. This new algorithm provides nearly time-optimal performance and still retains the robustness, typical for systems in sliding mode. The maximum slope sliding surfaces are designed using knowledge about robot's physical properties.

  • 372.
    Islam, Asif Moinul
    Örebro University, School of Science and Technology.
    Case Based Reasoning method for analysing Physiological sensor data2012Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Remote healthcare is a demanding as well as emergent research area. The rise of healthcare costs in the developed countries have made the policy makers for trying to find an alternate model of healthcare rather than relying on traditional healthcare system. Although advancement in the sensor technology, forthcomingness of devices like smart phones and improvement in artificial intelligence technology have made the remote healthcare close to reality but still there are plenty of issues to be solved before it becomes a commonly used healthcare model. In this thesis, studies of two vital physiological parameters pulse rate and oxygen saturation were done to unearth some patterns using Case-Based Reasoning technique. A three-tiered application is developed focusing remote healthcare. The results of the thesis could be used as a starting point of further research of two above mentioned physiological parameters in order to detect anomalous condition of health.

  • 373.
    Islam, Asif Moinul
    Örebro University, School of Science and Technology.
    Case Based Reasoning method for analysis of Physiological sensor data2012Independent thesis Advanced level (degree of Master (Two Years)), 30 credits / 45 HE creditsStudent thesis
    Abstract [en]

    Remote healthcare is a demanding as well as emergent research area. The rise of healthcare costs in the developed countries have made the policy makers for trying to find an alternate model of healthcare rather than relying on traditional healthcare system. Although advancement in the sensor technology, forthcomingness of devices like smart phones and improvement in artificial intelligence technology have made the remote healthcare close to reality but still there are plenty of issues to be solved before it becomes a commonly used healthcare model. In this thesis, studies of two vital physiological parameters pulse rate and oxygen saturation were done to unearth some patterns using Case-Based Reasoning technique. A three-tiered application is developed focusing remote healthcare. The results of the thesis could be used as a starting point of further research of two above mentioned physiological parameters in order to detect anomalous condition of health.

  • 374.
    Jakobsson, David
    et al.
    Örebro University, School of Science and Technology.
    König, Bettina
    Örebro University, School of Science and Technology.
    Kvalitetsregister för epikutantestning2010Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Introduction: Epicutaneous patch testing is used to evaluate contact allergies. Every year approximately 3000 tests are performed in Sweden and the results are entered in a quality registry. The aim of the project was to develop a web application and a corresponding database for managing and storage of a national dermatologic quality registry (The Swedish Patch Test Register). The database will be located on a central server at the University hospital, Örebro.

    Methods: The solution required programming of an application for web browsers in the language C# with the help of Microsoft Visual Studio 2008 and the web framework ASP.NET 3.5. The .NET connector tool 6.2.2 enabled the connection between ASP.NET and the database created on the open source database server MySQL Server 5.1. Web server hosting was tested with IIS 7.

    Results: A web application in a design equivalent to the Örebro Läns Landsting web site and with the following functionalities was created: Secure Login (https, SSL-certificate), recording of test results, managing of user accounts and eligibility, creating test series and adding new substances for allergic skin testing respectively, and a help page. The input of data was standardised by means of the calendar component and DropDownLists with pre-selected answers for test reactions, evaluation, relevance of test results and a predefined standard test system in order to reduce possible handling errors. The database includes eight tables and information is preferably stored as integer values to facilitate future statistical calculation.'

    Discussion: Due to a lack of license for Microsoft SQL server 2008, the project was accomplished by means of an open source solution, and has full functionality in the corresponding environment. A solution in a Microsoft SQL server 2008 environment requires certain adapting of the source code.

  • 375.
    Jakobsson, Patrik
    Örebro University, School of Science and Technology.
    WEBBAPPLIKATIONER: En praktisk tillämpning för ammunitionsindustrin2009Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report discusses the process of developing a web application for Gyttorp Cartridge Company with the aim of making it easier and create new possibilities to handle data gathered during the production. Gyttorp Cartridge Company is a manufacturer of sports and hunting ammunition. The main requirements where to create an application with the same work flow as their previous proceedings. One of the problems that where solved was the possibility for the users to work with shared data. The goal was to solve the problems in a money efficient and platform independent way and to be able to deliver a stable, well tested and user friendly solution.

    The report explains a number of suitable methods that will be included in the application to satisfy the demands of the employer. An explanation of the need for a client/server solution and the choice of software (LAMP) is given. A web application was chosen for the task and the need for handling events with asynchronous communication is explained.

    To simplify the process for the software engineer a program library was written that handles events and provides widgets. An addition to the library was added which handles dialog windows, warnings and errors. With the goal of making a user-friendly application the subject of interaction between human and computer is discussed. The application is user based which gives the possibility to adapt the visuals according to the user. The application also gives the possibility for generating reports to the person in charge of the production.

    The project showed that the application does ease the task for the employer. It reduces the risk for errors during the production. It satisfies the demands and makes it possible for further enhancements in the future.

    I the final discussion alternatives for building a web application are given. Shortcomings of the written library and how to solve them are given. Suggestions on how to improve the value of the application for the employer is also discussed.

  • 376.
    Jansson, Chris
    Örebro University, School of Science and Technology.
    Automatiskt bygge av FUS39A2011Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This paper describes the design and implementation of an automated build system for the JAS39A simulator FUS39A at HiQ:s offices in Arboga. The assignment was to automate the process in which modules are built; the simulator is composed of a number of modules which are built manually at the end of each week, this process takes about a day of manual labor. The system can automatically build a module as either a scheduled service or by manual invocation. The system contains functionality for reporting the build results to any given recipient by e-mail. The purpose of the system is to free up the time put into manually building the modules for better suited tasks by automating the build of FUS39A.

    The assignment was split into two parts, an analysis part where information of the old system was gathered, tools and methods were chosen and the new system was designed. In the second part the system was implemented and tested.

  • 377.
    Jennergren, Lars
    Örebro University, Department of Technology.
    Flexible assembly of ready-to-eat meals2004Licentiate thesis, monograph (Other academic)
  • 378.
    Johansson, Andreas
    et al.
    Örebro University, School of Science and Technology.
    Dahlbäck, Peter
    Örebro University, School of Science and Technology.
    Mobil trygghetsapplikation för operativsystemet  Android2010Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report details the development of an application for personal safety for the Android operating system. Android is a relatively new platform, primarily used on mobile phones.

    The purpose of the developed application is to give the user the possibility to easily and quickly alert a number of contacts by phone in case of emergencies, and to show the user’s location on a map. This is not only used during emergencies, but for other purposes as well – for example to monitor a jogging round.

    The project was carried out in co-operation with the company D-Safety, the developer of the "SoftAlarm" – the product on which the developed application is based.

  • 379.
    Johansson, Erik
    Örebro University, School of Science and Technology.
    Automatiserad GUI-testning2009Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In today’s software development environment, testing has become more vital than before. More technology is constantly being developed, new standards arise and upgrades and patches are released. This is were software testing becomes relevant.

    This report involves an analysis of GUI (Graphical User Interface) testing and a implementation using GUI-testing in an automated fashion. The implementation was done at the Data Engineering group at Network Management ABB in Västerås, Sweden. The implementation was part of a project where automated GUI-testing was of interest.

  • 380.
    Johansson, Fredrik
    Örebro University, School of Science and Technology.
    Evaluating the performance of TEWA systems2010Doctoral thesis, monograph (Other academic)
    Abstract [en]

    It is in military engagements the task of the air defense to protect valuable assets such as air bases from being destroyed by hostile aircrafts and missiles. In order to fulfill this mission, the defenders are equipped with sensors and firing units. To infer whether a target is hostile and threatening or not is far from a trivial task. This is dealt with in a threat evaluation process, in which the targets are ranked based upon their estimated level of threat posed to the defended assets. Once the degree of threat has been estimated, the problem of weapon allocation comes into the picture. Given that a number of threatening targets have been identified, the defenders need to decide on whether any firing units shall be allocated to the targets, and if so, which firing unit to engage which target. To complicate matters, the outcomes of such engagements are usually stochastic. Moreover, there are often tight time constraints on how fast the threat evaluation and weapon allocation processes need to be executed. There are already today a large number of threat evaluation and weapon allocation (TEWA) systems in use, i.e. decision support systems aiding military decision makers with the threat evaluation and weapon allocation processes. However, despite the critical role of such systems, it is not clear how to evaluate the performance of the systems and their algorithms. Hence, the work in thesis is focused on the development and evaluation of TEWA systems, and the algorithms for threat evaluation and weapon allocation being part of such systems. A number of algorithms for threat evaluation and static weapon allocation are suggested and implemented, and testbeds for facilitating the evaluation of these are developed. Experimental results show that the use of particle swarm optimization is suitable for real-time target-based weapon allocation in situations involving up to approximately ten targets and ten firing units, while it for larger problem sizes gives better results to make use of an enhanced greedy maximum marginal return algorithm, or a genetic algorithm seeded with the solution returned by the greedy algorithm.

  • 381.
    Johansson, Fredrik
    et al.
    Örebro University, School of Science and Technology.
    Falkman, Göran
    Performance evaluation of TEWA systems for improved decision support2009In: Modeling decisions for artificial intelligence, Berlin: Springer , 2009, Vol. 5861, 205-216 p.Conference paper (Other academic)
    Abstract [en]

    In air defense situations, decision makers have to protect defended assets through assigning available firing units to threatening targets in real-time. To their help they have decision support systems known as threat evaluation and weapon allocation (TEWA) systems. The problem of performance evaluation of such systems is of great importance, due to their critical role. Despite this research on this problem is close to non-existing. We are discussing the use of survivability and resource usage cost as comparative performance metrics, which can be used for comparing the effectiveness of different system configurations, by using simulations. These metrics have been implemented into a testified, in which we have performed some comparative experiments. Our results show that changes of individual parts of the threat evaluation and weapon allocation system configuration can have a large effect on the effectiveness of the system as a whole, and illustrate how the metrics and the testbed can be used.

  • 382.
    Johansson, Robert
    et al.
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Navigating by stigmergy: a realization on an RFID floor for minimalistic robots2009In: IEEE international conference on robotics and automation: ICRA '09, New York, NY: IEEE conference proceedings, 2009, 245-252 p.Conference paper (Refereed)
    Abstract [en]

    Stigmergy is a mechanism that allows the coordination of actions within the same agent or across different agents by means of traces left in the environment. We propose a stigmergetic approach to robot navigation in which a robot sets values in a hexagonal grid of RFID tags buried under the floor. This approach only requires minimal resources on the robot. The RFID floor will eventually contain a distance map that can guide the robot to a given goal (or set of goals) without the use of any localization system. The same map can be used or improved by other robots or by the same robot at later times. We define algorithms for building the RFID-floor map and for navigating on this map, we prove the convergence of the map building algorithm, and we show an empirical validation of our results using a small robot in a domestic environment.

  • 383.
    Johansson, Stefan
    et al.
    Blekinge Institute of Technology.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Using the electric field approach in the RoboCup domain2002In: RoboCup 2001: Robot Soccer World Cup V / [ed] Andreas Birk, Silvia Coradeschi, Satoshi Tadokoro, 2002, Vol. 2377/2002, 117-138 p.Conference paper (Refereed)
    Abstract [en]

    In autonomous robotics, so-called artificial potential fields are often used to plan and control the motion of a physical robot. In this paper, we propose to use an artificial electric field to address the problem or real time action selection in embodied, autonomous agents. We attach positive and negative electric charges to the relevant objects in the agent's domain, and use the resulting electric field to estimate the heuristic value of a given configuration. This value is used to select the action that results in the best configuration. This allows us to consider in the same framework both navigation and manipulation actions. We apply the electric field approach in the RoboCup domain, and present results drawn from our experience in the Sony legged robots league

  • 384.
    Jun, Li
    et al.
    Örebro University, Department of Technology.
    Duckett, Tom
    Örebro University, Department of Technology.
    Q-Learning with a growing RBF network for behavior learning in mobile robotics2005In: Proceedings,  IASTED International Conference on Robotics and Applications: RA 2005 / [ed] L. A. Gerhardt, 2005Conference paper (Refereed)
    Abstract [en]

    The use of artificial neural networks for approximating value functions in reinforcement learning is a common practice, but usually requires much work on designing the network architecture and refining of the network parame ters. In this paper we present a simple learning system that uses Q-learning with a resource allocating network (RAN) for behaviour learning in mobile robotics. The resource allocating network is used as a function approximator to dynamically represent the continuous sensory space, thus acquiring the sensorimotor mapping for generalization; and Q-learning is used to learn the control policy in ‘off-policy’ fashion that enables the human operator to guide the initial learning process, thus speeding up the reinforcement learn ing. We illustrate our approach using a PeopleBot robot to acquire a wall-following behaviour, and discuss some ob servations on the convergence and online training of our learning algorithm in the experiments.

  • 385.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Behavior abstraction robustness in agent modeling2012In: Web Intelligence and Intelligent Agent Technology (WIIAT), IEEE Computer Society Digital Library, 2012, 228-235 p.Conference paper (Refereed)
    Abstract [en]

    Due to the "generative" nature of the macro phenomena, agent-based systems require experience from the modeler to determine the proper low-level agent behavior. Adaptive and learning agents can facilitate this task: Partial or preliminary learnt versions of the behavior can serve as inspiration for the human modeler. Using a simulation process we develop agents that explore sensors and actuators inside a given environment. The exploration is guided by the attribution of rewards to their actions, expressed in an objective function. These rewards are used to develop a situation-action mapping, later abstracted to a human-readable format. In this contribution we test the robustness of a decision-tree-representation of the agent's decision-making process with regards to changes in the objective function. The importance of this study lies on understanding how sensitive the definition of the objective function is to the final abstraction of the model, not merely to a performance evaluation.

  • 386.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University.
    Evaluation of techniques for a learning-driven modeling methodology in multiagent simulation2010In: Multiagent system technologies / [ed] Jürgen Dix, Cees Witteveen, Berlin, Germany: Springer, 2010, 185-196 p.Conference paper (Refereed)
    Abstract [en]

    There have been a number of suggestions for methodologies supporting the development of multiagent simulation models. In this contribution we are introducing a learning-driven methodology that exploits learning techniques for generating suggestions for agent behavior models based on a given environmental model. The output must be human-interpretable. We compare different candidates for learning techniques - classier systems, neural networks and reinforcement learning - concerning their appropriateness for such a modeling methodology.

  • 387.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Evolution for modeling: a genetic programming framework for SeSAm2011In: GECCO '11: Proceedings of the 13th annual conference companion on Genetic and evolutionary computation, 2011, 551-558 p.Conference paper (Refereed)
    Abstract [en]

    Developing a valid agent-based simulation model is not always straight forward, but involves a lot of prototyping, testing and analyzing until the right low-level behavior is fully specified and calibrated. Our aim is to replace the try and error search of a modeler by adaptive agents which learn a behavior that then can serve as a source of inspiration for the modeler. In this contribution, we suggest to use genetic programming as the learning mechanism. For this aim we developed a genetic programming framework integrated into the visual agent-based modeling and simulation tool SeSAm, providing similar easy-to-use functionality.

  • 388.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Generating inspiration for multi-agent simulation design by Q-Learning2010In: MALLOW-2010: proceedings of  the multi-agent logics, languages, and organisations federated workshops 2010, 2010Conference paper (Refereed)
    Abstract [en]

    One major challenge in developing multiagent simulations is to find the appropriate agent design that is able to generate the intended overall phenomenon dynamics, but does not contain unnecessary details. In this paper we suggest to use agent learning for supporting the development of an agent model: the modeler defines the environmental model and the agent interfaces. Using rewards capturing the intended agent behavior, reinforcement learning techniques can be used for learning the rules that are optimally governing the agent behavior. However, for really being useful in a modeling and simulation context, a human modeler must be able to review and understand the outcome of the learning. We propose to use additional forms of learning as post-processing step for supporting the analysis of the learned model. We test our ideas using a simple evacuation simulation scenario.

  • 389.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Learning Agent Models in SeSAm: (Demonstration)2013In: / [ed] Ito, Jonker, Gini and Shehory, The International Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS), 2013Conference paper (Refereed)
    Abstract [en]

    Designing the agent model in a multiagent simulation is a challenging task due to the generative nature of such systems. In this contribution we present an extension to the multiagent simulation platform SeSAm, introducing a learning-based design strategy for building agent behavior models.

  • 390.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Learning convergence and agent behavior interpretation for designing agent-based simulations2010Conference paper (Refereed)
    Abstract [en]

    Designing a proper agent behavior for a multiagent simulation is a complex task as it is not obvious how the agents actions, and interactions among them and with their environment, result in an intended macro-phenomenon. To cope with the complexity involved in this challenge, and to achieve the intended overall result, the modeler may benefit from using agent learning techniques. In this contribution we focus on testing different configurations of the interface between the learning algorithm and the simulation scenario. The learned result is post-processed by a decision tree learner, to derive a comprehensible model for the agent behavior.

  • 391.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Learning Tools for Agent-based Modeling and Simulation2013In: Künstliche Intelligenz, ISSN 0933-1875, E-ISSN 1610-1987, Vol. 27, no 3, 273-280 p.Article in journal (Refereed)
    Abstract [en]

    In this project report, we describe ongoing research on supporting the development of agent-based simulation models. The vision is that the agents themselves should learn their (individual) behavior model, instead of letting a human modeler test which of the many possible agent-level behaviors leads to the correct macro-level observations. To that aim, we integrate a suite of agent learning tools into SeSAm, a fully visual platform for agent-based simulation models. This integration is the focus of this contribution.

  • 392.
    Junges, Robert
    et al.
    Örebro University, School of Science and Technology.
    Klügl, Franziska
    Örebro University, School of Science and Technology.
    Modeling agent behavior through online evolutionary and reinforcement learning2011In: Federated Conference on Computer Science and Information Systems (FedCSIS), 2011, IEEE, 2011, 643-650 p.Conference paper (Refereed)
    Abstract [en]

    The process of creation and validation of an agentbased simulation model requires the modeler to undergo a number of prototyping, testing, analyzing and re-designing rounds. The aim is to specify and calibrate the proper low level agent behavior that truly produces the intended macro level phenomena. We assume that this development can be supported by agent learning techniques, specially by generating inspiration about behaviors as starting points for the modeler. In this contribution we address this learning-driven modeling task and compare two methods that are producing decision trees: reinforcement learning with a post-processing step for generalization and Genetic Programming.

  • 393.
    Jussila, Jari J.
    et al.
    Laboratory of Industrial and Information Management Tampere University of Technology, Tampere, Finland.
    Mustafee, Navonil
    The Business School, University of Exeter, Exeter, UK.
    Aramo-Immonen, Heli
    Laboratory of Industrial and Information Management, Tampere University of Technology, Tampere, Finland.
    Menon, Karan
    Laboratory of Industrial and Information Management, Tampere University of Technology, Tampere, Finland.
    Hajikhani, Arash
    Lappeenranta University of Technology, Lappeenranta, Finland.
    Helander, Nina
    Laboratory of Industrial and Information Management, Tampere University of Technology, Tampere, Finland.
    A bibliometric study on authorship trends and research themes in knowledge management literature2017In: 12th International Forum on Knowledge Asset Dynamics, St. Petersburg, Russia 7-9 June 2017: Knowledge Management in the 21th Century: Resilience, Creativity and Co-creation. Proceedings / [ed] JC Spender, Giovanni Schiuma, Tatiana Gavrilova, St. Petersburg, Russia: St. Petersburg University , 2017, Vol. 12, 389-397 p.Conference paper (Refereed)
    Abstract [en]

    The aim of the study is to identify the contribution of authors in the domain of Knowledge Management (KM). The underlying data is from two leading KM journals,namely, the Journal of Knowledge Management (JKM)and the Journal of Intellectual Capital (JIC). We downloaded articles from Thomson Reuters Web of Science (WoS), with JKM and JIC-specific searches resulting in 508 and 73 citing articles respectively. The timeframe of analysis was 2009-2016. This dataset was used to create co-citation network visualisations to provide insights into the clusters of authors and research topics. Measures such as Betweenness centrality and hubs-authorities (HITS) were used to identify significant authors and their key themes of interest. More specifically, network analysis identified six dominant research themes, it revealed a total of 14,422 authors being cited (depicted as nodes in the visualisation) with a total of 1,023,123 citations (edges). Based on the findings of this study, the paper will explore the specific themes and the intellectual turning points in KM research and its evolution. Our bibliometric analysis has practical significance for researchers since it recognises the dominant research areas, and by extension, it identifies those that are still in their infancy; the latter having the potential of representing an interesting research gap. The limitation of the study is that the underlying data is only from two journals (albeit, from the top two journals in KM), which may lead to partially biased results. In future, the aim is to also leverage the analysis to more KM journals, e.g., the top ten journals within the Serenko & Bontis (2013) most updated list.

  • 394.
    Kadmiry, Bourhane
    et al.
    Linköpings universitet, Tekniska högskolan.
    Driankov, Dimiter
    Linköpings universitet, Tekniska högskolan.
    A Fuzzy Flight Controller Combining Linguistic and Model-based Fuzzy Control2004In: Fuzzy sets and systems (Print), ISSN 0165-0114, E-ISSN 1872-6801, Vol. 146, no 3, 313-347 p.Article in journal (Refereed)
    Abstract [en]

    In this paper we address the design of a fuzzy flight controller that achieves stable and robust -aggressive- manoeuvrability for an unmanned helicopter. The fuzzy flight controller proposed consists of a combination of a fuzzy gain scheduler and linguistic (Mamdani-type) controller. The fuzzy gain scheduler is used for stable and robust altitude, roll, pitch, and yaw control. The linguistic controller is used to compute the inputs to the fuzzy gain scheduler, i.e., desired values for roll, pitch, and yaw at given desired altitude and horizontal velocities. The flight controller is obtained and tested in simulation using a realistic nonlinear MIMO model of a real unmanned helicopter platform, the APID-MK

  • 395.
    Kadmiry, Bourhane
    et al.
    Linköping University, Linköping SE-58183, Sweden.
    Driankov, Dimiter
    Örebro University, School of Science and Technology.
    A fuzzy gain-scheduler for the attitude control of an unmanned helicopter2004In: IEEE transactions on fuzzy systems, ISSN 1063-6706, E-ISSN 1941-0034, ISSN 1063-6706/04, Vol. 12, no 4, 502-515 p.Article in journal (Refereed)
    Abstract [en]

    In this paper, we address the design of an attitude controller that achieves stable, and robust aggressive maneuverability for an unmanned helicopter. The controller proposed is in the form of a fuzzy gain-scheduler, and is used for stable and robust altitude, roll, pitch, and yaw control. The controller is obtained from a realistic nonlinear multiple-input-multiple-output model of a real unmanned helicopter platform, the APID-MK3. The results of this work are illustrated by extensive simulation, showing that the objective of aggressive, and robust maneuverability has been achieved.

  • 396.
    Kalaykov, Ivan
    Örebro University, Department of Technology.
    New speed limits of the fuzzy controller hardware1999Conference paper (Refereed)
    Abstract [en]

    Implementation of very fast fuzzy controllers is proposed. The state of fuzzy control system is presented by moving fired-rules-hyper-cube (FRHC) in phase space. Only rules inside FRHC are fired and processed in parallel, thus speeding up the fuzzy inference. Some fuzzy controller structures are discussed with estimation of the speed

  • 397.
    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, 62-65 p.Conference paper (Refereed)
  • 398.
    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)
  • 399.
    Kalaykov, Ivan
    et al.
    Örebro University, Department of Technology.
    Iliev, Boyko
    Örebro University, Department of Technology.
    Time-optimal sliding mode control of robot manipulator2000In: 26th annual conference of the IEEE industrial electronics society: IECON 2000, 2000, 265-270 p.Conference paper (Refereed)
    Abstract [en]

    We demonstrate a time-optimal control algorithm based on the sliding mode control principle to control a robot manipulator. A designed time-optimal trajectory during the reaching phase is combined with fast sliding dynamics. The discontinuous algorithm gives a time response closer to the analytical time-optimal control solution based on the Pontryagin principle, and robust performance in the presence of plant parameter uncertainties.

  • 400.
    Kalaykov, Ivan
    et al.
    Örebro University, Department of Technology.
    Tolt, Gustav
    Örebro University, Department of Technology.
    Fast fuzzy signal and image processing hardware2002In: Proceedings, NAFIPS 2002: Annual meeting of the North American fuzzy information processing society, 2002, 2002, 7-12 p.Conference paper (Refereed)
    Abstract [en]

    The paper presents the development of fast fuzzy logic based hardware for various applications such as controllers for very fast processes, real-time image processing and pattern recognition. It is based on the fired-rules-hyper-cube (FRHC) concept, characterized by extremely simple way of the fuzzy inference in a layered parallel architecture. The processing time slightly depends on the number of inputs of the fuzzy system and does not depend on the number of rules and fuzzy partitioning of all variables. Most important is the inherent high speed of processing because of the parallelism and pipelining, implemented in all layers.

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