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  • 351.
    Grahn, Tomas
    Örebro University, School of Science and Technology. Örebro University, Försvarshögskolan.
    Utökning av funktionaliteten hos och tillägg av en ny typ av test till ett automattestsystem för Ethernet-switchar2009Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report documents my work on a 10 week project performed at Westermo Research and Development AB in Västerås, Sweden, during the spring of 2009. The project consisted of extending the functionality of an automated test system for Westermo's Ethernet switches as well as designing and implementing a new type of test case for said test system. The report is addressed towards readers with knowledge of Ethernet and computer networks, TCP/IP, programming and software testing.

  • 352.
    Grantner, Janos L.
    et al.
    Western Michigan University, Department of Electrical and Computer, Kalamazoo, USA .
    Fodor, George
    ABB Industrial Systems AB, ISY/AMC, Västerås; Western Michigan University, Department of Electrical and Computer, Kalamazoo, USA .
    Driankov, Dimiter
    University of Linköping, Department of Information and Computer Science, Linköping.
    Using fuzzy logic for bounded recovery of autonomous agents1997In: 1997 Annual Meeting of the North American Fuzzy Information Processing Society: NAFIPS, New York, USA: IEEE conference proceedings, 1997, p. 317-322Conference paper (Refereed)
    Abstract [en]

    The solution to the problem of application-independent fault recovery of autonomous agents requires a specification method for the agent's capacity to act outside of its normal operational limits. This paper presents a recovery method based upon the theory of a fuzzy finite state machine. A fuzzy specification is given for the bounds within which an autonomous agent is capable to recover after an unexpected situation has occurred in its environment. It has been shown that the three main components of the recovery problem: fault detection, fault recovery, and the properties of the actuator/sensor gear of an autonomous agent are interrelated. The suggested method can be implemented either by an application-independent software algorithm, or by fuzzy logic hardware

  • 353.
    Grantner, J.L.
    et al.
    Western Michigan University, Kalamazoo, USA.
    Fodor, George
    George Fodor, Al3B Industrial Systems AB, ISY/AMC, Västerås.
    Driankov, Dimiter
    University of Linköping, Linköping.
    Hybrid fuzzy-Boolean automata for ontological controllers1998In: The 1998 IEEE International Conference on Fuzzy Systems Proceedings: IEEE World Congress on Computational Intelligence  (Volume:1), New York, USA: IEEE conference proceedings, 1998, p. 400-404Conference paper (Refereed)
    Abstract [en]

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

  • 354.
    Gritti, Marco
    et al.
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    A self-configuration mechanism for software components distributed in an ecology of robots2008In: Intelligent Autonomous Systems 10 / [ed] W. Burgard, R. Dillmann, C. Plagemann, N. Vahrenkamp, Amsterdam: IOS press , 2008, p. 100-109Conference paper (Refereed)
    Abstract [en]

    Distributed heterogeneous robotic systems are often organized in component-based software architectures. The strong added value of these systems comes from their potential ability to dynamically self-configure the interactions of their components, in order to adapt to new tasks and unforeseen situations. However, no satisfactory solutions exist to the problem of automatic self-configuration. We propose a self-configuration mechanism where a special component generates, establishes and monitors the system configurations. We illustrate our approach on a distributed robotic system, and show an experiment in which the configuration component dynamically changes the configuration in response to a component failure.

  • 355.
    Grosinger, Jasmin
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Making Robots Proactive through Equilibrium Maintenance2016In: 25th International Joint Conference on Artificial Intelligence, 2016Conference paper (Refereed)
  • 356.
    Grosinger, Jasmin
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Robots that Maintain Equilibrium: Proactivity by Reasoning About User Intentions and Preferences2018In: Pattern Recognition Letters, ISSN 0167-8655, E-ISSN 1872-7344Article in journal (Refereed)
    Abstract [en]

    Robots need to exhibit proactive behavior if they are to be accepted in human-centered environments. A proactive robot must reason about the actions it can perform, the state of the environment, the state and the intentions of its users, and what the users deem desirable. This paper proposes a computational framework for proactive robot behavior that formalizes the above ingredients. The framework is grounded on the notion of Equilibrium Maintenance: current and future states are continuously evaluated to identify opportunities for acting that steer the system into more desirable states. We show that this process leads a robot to proactively generate its own goals and enact them, and that the obtained behavior depends on a model of user intentions, preferences, and the temporal horizon used in prediction. A number of examples show that our framework accounts for even slight variations in user preference models and perceived user intentions. We also show how the level of informedness of the system is easily customizable.

  • 357.
    Grosinger, Jasmin
    et al.
    Vienna Uni. of Technology, Vienna, Austria.
    Vetere, Frank
    University of Melbourne, Melbourne, Australia.
    Fitzpatrick, Geraldine
    Vienna University of Technology, Vienna, Austria.
    Agile Life: addressing knowledge and social motivations for active aging2012In: Proceedings of the 24th Australian Computer-Human Interaction Conference, Association for Computing Machinery (ACM), 2012, p. 162-165Conference paper (Refereed)
    Abstract [en]

    Despite the inter-relationship between physical, cognitive and social factors for older people, the frequency of physical activity typically decreases with age. In this paper, we focus on two specific issues related to physical activity and older people - overcoming the knowledgebarrier and promoting social motivation. We develop a tablet-based prototype called Agile Life that provides ‘Physical Activity Information Chunks’ (PAICs) and also promotes awareness of friends’ activities and opportunities to join in. The results of a user study, including a think-aloud walkthrough and an adapted technology probe, suggest that the social engagement with friends is a strong motivator but that the content of information chunks need to be carefully tailored to the participant. We provide suggestions for further developing an activity application for this age group.

  • 358.
    Guarino, Donatella
    et al.
    CNR, CNR, ICAR, Palermo, Italy.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Monitoring the state of a ubiquitous robotic system: A fuzzy logic approach2007In: 2007 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS 1-4, 2007, p. 1902-1907Conference paper (Refereed)
    Abstract [en]

    A trend is emerging in the fields of ambient intelligence (AmI) and autonomous robotics, which points in the direction of a merger between these two fields. The inclusion of robotic devices in AmI system, sometimes named ubiquitous robotics, makes one of the hard problems in this field even harder: how can we provide a comfortable, natural interface between the everyday user and a complex system which consists of a large multitude of highly heterogeneous devices? In this paper, we address a specific, important aspect of this problem: to monitor the state of the ubiquitous system by the user of the system. The solution that we propose is based on two mechanisms: an expression-based semantics to represent in a uniform way the status of heterogeneous devices; and a common interface point to aggregate the information from all devices into a summary status presented to the user. For both mechanisms, we propose to use the tools of fuzzy logic. We justify this choice by arguments grounded in the semantics and formal properties of fuzzy logic. We also illustrate our approach on a specific type of ubiquitous robotic system called Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology.

  • 359.
    Guarino, Donatella
    et al.
    ICAR-CNR, National Council of Research, Palermo, Italy.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Using Fuzzy Logic to Monitor the State of an Ubiquitous Robotic System2008In: Journal of Uncertain Systems, ISSN 1752-8909, Vol. 2, no 2, p. 123-132Article in journal (Refereed)
    Abstract [en]

    A trend is emerging in the fields of ambient intelligence (AmI) and autonomous robotics, which points in the direction of a merger between these two fields. The inclusion of robotic devices in AmI system, sometimes named ubiquitous robotics, makes one of the hard problems in this field even harder: how can we provide a comfortable, natural interface between the everyday user and a complex system which consists of a large multitude of highly heterogeneous devices? In this paper, we address a specific, important aspect of this problem: to enable the user of an ubiquitous robotic system to monitor the state of this system in a natural way. The solution that we propose is based on two mechanisms: an expression-based semantics to represent in a uniform way the status of heterogeneous devices; and a common interface point to aggregate the information from all devices into a summary status presented to the user. For both mechanisms, we propose to use the tools of fuzzy logic. We justify this choice by arguments grounded in the semantics and formal properties of fuzzy logic. We also illustrate our approach on a specific type of ubiquitous robotic system called Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology.

  • 360.
    Guesgen, Hans W.
    et al.
    Massey University, Palmerston North, New Zealand.
    Bhatt, Mehul
    SFB/TR 8 Spatial Cognition, University of Bremen, Bremen, Germany.
    Advances in Spatial and Temporal Reasoning2010In: Journal of universal computer science (Online), ISSN 0948-695X, E-ISSN 0948-6968, Vol. 16, no 11, p. 1388-1389Article in journal (Refereed)
  • 361.
    Gummus, Fredrik
    Örebro University, School of Science and Technology.
    Utveckling av bokningssystem för Moridge AB2016Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report describes the development of a new booking system for the company Moridge AB. The booking system is composed of a driver section where drivers can handle their bookings and work schedule as well as an administration section for the management of all drivers and statistics showing customers and drivers bookings. The report goes through the entire development process from system requirements to design planning to the final finished system, and a concluding discussion.

     

    The booking system is a web application for mobile devices developed with ASP.NET MVC Razor and jQuery Mobile. The system consists of a secure login system with a connection to a database using Entity Framework and booking management via Google Calendar API.

     

    The project placed great importance on user experience design (UX) and security. The user interfaces were developed with contemporary technologies and user experience were controlled by user test. Safety is ensured by the use of a powerful cryptographic algorithm for password management and authentication through ASP.NET Identity and Forms Authentication, which limit access to only authorized users.

  • 362.
    Gunnarsson, Anders
    et al.
    Örebro University, School of Science and Technology.
    Steenbuch, Tomas
    Örebro University, School of Science and Technology.
    Integration av system2018Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report will be about the update of multiple consultant systems for Ninetech AB. The systems are divided so one could plan, implement and follow up on a project. In this case they wanted to have a stronger link between these systems to accomplish a more effective system with more shared data. The update was built with the help of the ASP.NET Web Forms framework.A theoretical study within ORM, Object-Relational Mapping is broadened, with focus on NHibernate since this technology constitutes an important part in the structure of one of the systems.

  • 363.
    Guo, Hong
    et al.
    Anhui University, Hefei, China.
    Gao, Shang
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway .
    Krogstie, John
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway .
    Trætteberg, Hallvard
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway .
    Wang, Alf Inge
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway .
    An evaluation of ontology based domain analysis for model driven development2015In: International Journal on Semantic Web and Information Systems, ISSN 1552-6283, E-ISSN 1552-6291, Vol. 11, no 4, p. 41-63Article in journal (Refereed)
    Abstract [en]

    Although Domain Analysis DA is important for Model Driven Development MDD, traditional DA methods are demanding and not practical in many situations. When computer games are developed, game design problem domain is usually decided in a gradual way within iterations where software prototypes are constructed and playtest are performed. In such a case, it is not practical to fit a heavyweight DA in the highly iterative process. Researchers indicated that vocabularies were expected to automate game design. Such vocabularies can be reused in another form in DA tasks. In this research, the authors developed an ontology and a DA procedure based on it. To evaluate them, theoretical analysis, case studies, and a user acceptance survey were used. The results indicated that the ontology met the general requirement as a domain vocabulary, and it enhanced the DA process in an expected way. Most of external potential users 46 in total considered the ontology useful and easy to use.

  • 364.
    Guo, Hong
    et al.
    School of Business, Anhui University, China.
    Gao, Shang
    Örebro University, Örebro University School of Business.
    Traetteberg, Hallvard
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Wang, Alf Inge
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Jaccheri, Letizia
    Department of Computer and Information Science, Norwegian University of Science and Technology, Trondheim, Norway.
    Ontology-Based Domain Analysis for Model Driven Pervasive Game Development2018In: Information Science and Technology, ISSN 2078-2489, E-ISSN 2078-2489, Vol. 9, no 5, article id 109Article in journal (Refereed)
    Abstract [en]

    Domain Analysis (DA) plays an important role in Model Driven Development (MDD) and Domain-Specific Modeling (DSM). However, most formal DA methods are heavy weight and not practical sometimes. For instance, when computer games are developed, the problem domain (game design) is decided gradually within numerous iterations. It is not practical to fit a heavy-weight DA in such an agile process. In this research, we propose a light-weight DA which can be embedded in the original game development process. The DA process is based on a game ontology which serves for both game design and domain analysis. In this paper, we introduce the ontology and demonstrate how to use it in the domain analysis process. We discuss the quality and evaluate the ontology with a user acceptance survey. The test result shows that most potential users considered the ontology useful and easy to use.

  • 365.
    Gustafsson, Patrik
    et al.
    Örebro University, School of Science and Technology.
    Lindholm, Jonas
    Örebro University, School of Science and Technology.
    Sales and Product Configurator: A Comparative Study2010Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Today companies in the manufacturing industries need to do everything possible to stay ahead in their market, in order to make a profit. This means that they have to slim the organization and every employee has to be more efficient. In other words the companies have to accomplish more with less people.

    One way to rationalize the sales process is by using a sales and product configurator which is a software tool for handling products and its various variants by using rules and constraints in the configuration process.

    In this paper a background on why configurators are needed is presented, along with some theory behind the configurator software.

    Logica – a business and technology service company – gave us the task to make a comparative study of OTS (of the shelf) sales and product configurators, due to the increasing interest from the market.

    Originally the study should have been done on configuration software but this could not be arranged. Instead information was gathered from the Internet, literature, scientific journals, and proceedings from international conferences in order to make a comparative study.

    Interviews with persons from two Swedish companies, Tacton Systems AB and In-process AB, which develop and sell configurators, were also conducted to get this information.

    The report accounts for the result of the answers and their value.

  • 366.
    Hacker, Benjamin Alexander
    et al.
    Kyoto University, Japan.
    Wankerl, Thomas
    Kyoto University, Japan.
    Kiselev, Andrey
    Kyoto University, Japan.
    Huang, Hung-Hsuan
    Kyoto University, Japan.
    Schlichter, Johann
    Technische Universität München, Germany.
    Abdikeev, Niyaz
    Plekhanov University, Moscow.
    Nishida, Toyoaki
    Kyoto University, Japan.
    Incorporating intentional and emotional behaviors into a Virtual Human for Better Customer-Engineer-Interaction2009Conference paper (Refereed)
    Abstract [en]

    Providing customer support for technical products means an essential effort for enterprises to satisfy the customer's needs and to challenge rivals in business. This paper introduces a virtual human framework for a better customer engineer interaction. We put emphasis on a preferably natural conversation achieved by continuously analyzing behaviors and emotions of the human user, suggesting his or her intentions and diversification of active and passive intentional behaviors. The underlying architecture is an extension to the generic embodied conversational agent framework which was developed to ease the integration of heterogeneous components into an embodied conversational agent system. These extensions are mainly influenced by SAIBA's architecture for a multimodal behavior generation framework. Although the system has only been accomplished to about 50% partial results show that our approach has the potential to create a more natural like conversational situation.

  • 367.
    Haider, Zulqarnain
    Örebro University, School of Science and Technology.
    Rich 2D Mapping2014Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Fire fighting operations, sometimes, can put the life of fire fighters in threat. For example

    an environment with potential fire risk and with the presence of gas bottles can

    cause an explosion, besides other dangers, and certainly put the life of both the victims

    and fire fighters at risk. Recent advancements in the field of robotics enabled to

    develop a robotic system which can assist the fire fighters to avoid any human injury

    and property damage. The live update of the map displayed on the operator’s screen,

    while teleoperating the robot for search process, can help to properly plan the rescue

    operation. This thesis details the implementation of a rich 2D mapping system for

    FUMO2 a fire fighting assistant robot developed by AB Realisator. Rich 2D mapping

    system produces an occupancy grid map, having the geometry and temperature of the

    environment with position of fire extinguishers, by fusing different sensor modalities.

    By rich we mean any type of additional information on top of the standard, geometric

    only, 2D maps. A sensor fusion method is proposed to integrate the distance measurements

    reported by a laser range finder, temperature readings acquired by a thermal IR

    camera and the position of fire extinguishers delivered by visible spectrum camera

    based object detector. The object detector detects the object in real time and is developed

    utilizing the technique of cascade of boosted classifiers using MB-LBP features.

    The proposed system is implemented on both FUMO2 a fire fighting assistant robot

    and in Gazebo simulator for testing and evaluation.

  • 368.
    Hallengren, Viktor
    et al.
    Örebro University, School of Science and Technology.
    Granath, Måns
    Örebro University, School of Science and Technology.
    Virtuellt klassrum i virtuell verklighet2016Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This project was created from the desire to provide a virtual training environment for teachers-intraining to practice and improve their non-verbal communication with students. The project worked by capturing the user’s movements and rendering the virtual agent’s to a screen in front of the user. Standing in front of a static screen to hold a lecture might however not feel entirely realistic. This report covers the implementation of a head-mounted display, specifically the Oculus Rift, to create a virtual reality as well as the extension of the virtual agent’s behavior and new ways to interact with the virtual agent’s. It also covers the results of an experiment where the new functionality was evaluated. The experiment was done by allowing 18 persons to test the system in both the old and new configurations and fill in questionnaires afterwards.

  • 369.
    Hamander, Jonathan
    Örebro University, School of Science and Technology.
    Uppgradering av stabilitetsberäkningsprogrammet NYSTAB2011Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This is a report founded on a project by Atlas Copco called NYSTAB.  The application Nystab is a calculation program that can calculate the stability of the rockdrill-rigs made by Atlas Copco. The original version of Nystab is stored in a database from 1997 and the code is made in an old version of Visual Basic. My assignment was to develop the application in to a newer programming environment and make it last better in the upcoming years. The software I decided to use to accomplish this project is C# .NET in Visual Studio and Microsoft Access 2010. All the code is written in C# with some insertions from ADO.NET which helped me to easier connect the code with the database.

    The coding part was split into two pieces; the first was to develop the application scale done with Windows Forms, the second was to write the code for calculations in the application. This report will cover some methods of how you can connect the database to an application and why Microsoft Access was the best alternative for database in this project. The report also shows the difference between VB and C# to get an overview on why  people today often chose to develop their applications in C#. Exceptions is a big part of the handling of errors or search for errors in the application and the report shows concrete examples on how you use exceptions in different situations and why.

  • 370.
    HASSANZADEH, Aidin
    Örebro University, School of Science and Technology.
    Mobile Robot Wind Mapping2014Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Statistical gas distribution mapping has recently become a prominent research area in

    the robotics community. Gas distribution mapping using mobile robots aims for building

    map of gas dispersion in an unknown environment using the sampled gas concentrations

    accompanied by the corresponding atmospheric variables. In this context, wind is considered

    as one of the main driving forces and recently exploited as an environmental

    bias in the the modelling process. However, the existing approaches utilizing the wind

    data are based on very simple averaging window methods which do not take the specic

    spatio-temporal wind variations into account appropriately.

    In the current thesis work, under the heading of statistical wind modelling, the various

    aspects of the existing approaches to model both temporal and spatial wind variations

    are studied. Accordingly, in the undertaking of

    Mobile Robot Wind Mapping (MRWM)

    task, three individual methods for statistically

    wind speed modelling, wind direction

    modelling

    and spatial wind mapping are proposed and implemented.

    Particularly, wind speed is modelled in form of a Gaussian distribution where the valid

    averaging scale is dened using an online adaptive approach, namely

    Time-Dependent

    Memory Method (TDMM)

    . The wind direction is modelled by means of the mixturemodel

    of Von-Mises distribution and for the spatial mapping of modelled wind data, a

    recursive approach based on Linear Kalman lter is utilized. The proposed approaches

    for statistically wind speed and direction modelling are applied to and evaluated by

    real wind data, collected specically for this project. The wind mapping algorithm is

    implemented and tested using simulated data.

  • 371.
    Hastings, Janna
    et al.
    European Bioinformatics Institute, Cambridge, UK; University of Geneva, Geneva, Switzerland.
    Kutz, OliverUniversity of Bremen, Bremen, Germany.Bhatt, MehulÖrebro University, School of Science and Technology. University of Bremen, Bremen, Germany.Borgo, StefanoLaboratory of Applied Ontology, Trento, Italy.
    SHAPES 1.0: The Shape Of Things 2011: Proceedings of the First Interdisciplinary Workshop on SHAPES, Karlsruhe, Germany, September 27, 20112011Conference proceedings (editor) (Other academic)
  • 372.
    Hedlund, Victor
    et al.
    Örebro University, School of Science and Technology.
    Sevon, Max
    Örebro University, School of Science and Technology.
    Skapandet av en visuell programmeringslösning för Appivo-plattformen2016Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report describes the development of a visual programming solution for the Appivo platform.

     

    The visual programming solution, connected to Appivo’s APIs, is a tool to help Appivo’s users (who may have little-to-no prior experience of programming) with defining the logic needed to program web and mobile applications.

     

    The report also describes the various design choices made in order to make the block-based visual language more user-friendly, many of which could also apply to other similar visual languages.

     

    The report will further explain how the visual language is automatically generated during the Appivo platform’s build process. The automatic generation is done based on annotations in Appivo’s source code, annotations that define the look and behaviour of the generated blocks. The annotations were introduced with the aim of reducing the workload needed to keep the visual language compatible with Appivo’s APIs.

  • 373.
    Hellberg, Ann-Sofie
    Örebro University, Örebro University School of Business.
    A Storytelling Approach for Electronic Government Research2016In: 2016 49th Hawaii International Conference on System Sciences (HICSS), IEEE Computer Society, 2016, p. 2657-2666Conference paper (Refereed)
    Abstract [en]

    Electronic government has a history of repeating projects that previously proved difficult to implement. One possible reason for this is that we do not learn enough from past experiences. Lessons are not widely shared and we do not always get the "full story". Only a narrow group have the ability to understand and access research findings. The use of a storytelling approach could make electronic government research more comprehensible, and accessible. It could also be used as an analytical tool to bridge theory and practice. However, storytelling approaches are currently not used within this research field. In this paper, I present an analysis of the value of using storytelling to show how including multiple voices, examining myths, and writing stories could play an important role in dealing with electronic government challenges.

  • 374.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Kucner, Tomasz Piotr
    Örebro University, School of Science and Technology.
    Schaffernicht, Erik
    Örebro University, School of Science and Technology.
    Neumann, Patrick P.
    Bundesanstalt für Materialforschung und -prüfung, Berlin, Germany.
    Fan, Han
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots2017In: IEEE Robotics and Automation Letters, ISSN 2377-3766, E-ISSN 1949-3045, Vol. 2, no 2, p. 1117-1123Article in journal (Refereed)
    Abstract [en]

    For mobile robots that operate in complex, uncontrolled environments, estimating air flow models can be of great importance. Aerial robots use air flow models to plan optimal navigation paths and to avoid turbulence-ridden areas. Search and rescue platforms use air flow models to infer the location of gas leaks. Environmental monitoring robots enrich pollution distribution maps by integrating the information conveyed by an air flow model. In this paper, we present an air flow modelling<?brk?> algorithm that uses wind data collected at a sparse number of locations to estimate joint probability distributions over wind speed and direction at given query locations. The algorithm uses a novel extrapolation approach that models the air flow as a linear combination of laminar and turbulent components. We evaluated the prediction capabilities of our algorithm with data collected with an aerial robot during several exploration runs. The results show that our algorithm has a high degree of stability with respect to parameter selection while outperforming conventional extrapolation approaches. In addition, we applied our proposed approach in an industrial application, where the characterization of a ventilation system is supported by a ground mobile robot. We compared multiple air flow maps recorded over several months by estimating stability maps using the Kullback&ndash;Leibler divergence between the distributions. The results show that, despite local differences, similar air flow patterns prevail over time. Moreover, we corroborated the validity of our results with knowledge from human experts.

  • 375.
    Hernandez Bennetts, Victor
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Neumann, Patrick P.
    BAM Federal Institute for Materials Research and Testing, Berlin, Germany.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    Mobile robots for localizing gas emission sources on landfill sites: is bio-inspiration the way to go?2012In: Frontiers in Neuroengineering, ISSN 1662-6443, Vol. 4, no 20, p. 1-12Article in journal (Refereed)
    Abstract [en]

    Roboticists often take inspiration from animals for designing sensors, actuators, or algorithms that control the behavior of robots. Bio-inspiration is motivated with the uncanny ability of animals to solve complex tasks like recognizing and manipulating objects, walking on uneven terrains, or navigating to the source of an odor plume. In particular the task of tracking an odor plume up to its source has nearly exclusively been addressed using biologically inspired algorithms and robots have been developed, for example, to mimic the behavior of moths, dung beetles, or lobsters. In this paper we argue that biomimetic approaches to gas source localization are of limited use, primarily because animals differ fundamentally in their sensing and actuation capabilities from state-of-the-art gas-sensitive mobile robots. To support our claim, we compare actuation and chemical sensing available to mobile robots to the corresponding capabilities of moths. We further characterize airflow and chemosensor measurements obtained with three different robot platforms (two wheeled robots and one flying micro-drone) in four prototypical environments and show that the assumption of a constant and unidirectional airflow, which is the basis of many gas source localization approaches, is usually far from being valid. This analysis should help to identify how underlying principles, which govern the gas source tracking behavior of animals, can be usefully translated into gas source localization approaches that fully take into account the capabilities of mobile robots. We also describe the requirements for a reference application, monitoring of gas emissions at landfill sites with mobile robots, and discuss an engineered gas source localization approach based on statistics as an alternative to biologically inspired algorithms.

  • 376.
    Hernandez Bennetts, Victor
    et al.
    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.
    Ferrari, Silvia
    Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca NY, USA.
    Albertson, John
    School of Civil and Environmental Engineering, Cornell University, Ithaca NY, USA.
    Integrated Simulation of Gas Dispersion and Mobile Sensing Systems2015In: Workshop on Realistic, Rapid and Repeatable Robot Simulation, 2015Conference paper (Refereed)
    Abstract [en]

    Accidental or intentional releases of contaminants into the atmosphere pose risks to human health, the environment, the economy, and national security. In some cases there may be a single release from an unknown source, while in other cases there are fugitive emissions from multiple sources. The need to locate and characterize the sources efficiently - whether it be the urgent need to evacuate or the systematic need to cover broad geographical regions with limited resources - is shared among all cases. Efforts have begun to identify leaks with gas analyzers mounted on Mobile Robot Olfaction (MRO) systems, road vehicles, and networks of fixed sensors, such as may be based in urban environments. To test and compare approaches for gas-sensitive robots a truthful gas dispersion simulator is needed. In this paper, we present a unified framework to simulate gas dispersion and to evaluate mobile robotics and gas sensing technologies using ROS. This framework is also key to developing and testing optimization and planning algorithms for determining sensor placement and sensor motion, as well as for fusing and connecting the sensor measurements to the leak locations.

  • 377.
    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, p. 554-557Conference 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.

  • 378.
    Hernandez Bennetts, Victor Manuel
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Khaliq, Ali Abdul
    Örebro University, School of Science and Technology.
    Pomareda Sese, Victor
    Institute of Bioengineering of Catalonia, Barcelona, Spain.
    Trincavelli, Marco
    Örebro University, School of Science and Technology.
    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, p. 2335-2340Conference 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.

  • 379.
    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, p. 131-136, article id 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.

  • 380.
    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, p. 17331-17352Article 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.

  • 381.
    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.
    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, p. -2049Conference 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.

  • 382.
    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.

  • 383.
    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, Barcelona, 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)
  • 384.
    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, p. 1147-1151Article 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.

  • 385.
    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)
  • 386.
    Herrero-Perez, D.
    et al.
    Dept Informat & Communicat Engn, Univ Murcia, Murcia, Spain.
    Martinez-Barbera, H.
    Dept Informat & Communicat Engn, Univ Murcia, 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, p. 912-932Conference 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.

  • 387.
    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, p. 110-121Conference 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.

  • 388.
    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: Association for Computing Machinery (ACM), 2016, p. 1038-1042Conference 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.

  • 389.
    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, p. 875-877Article 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.

  • 390.
    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, p. 297-304Article 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.

  • 391.
    Hjalmarsson, Martin
    et al.
    Örebro University, School of Science and Technology.
    Björkman, Mikael
    Örebro University, School of Science and Technology.
    Bedömning av fakturor med hjälp av maskininlärning2017Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Today, companies can sell their invoices to a third party in order to to quickly capitalize them. This is called factoring. For the financial institute which serve as the third party, the purchase of an invoice infers a certain risk in case the invoice is not paid, a risk the financial institute would like to minimize. Aros Kapital is a financial institute that offers factoring as one of their services. This project at Aros Kapital evaluated the possibility of using machine learning to determine whether or not an invoice will be good investment for the financial institute. If the machine learning algorithm performs better than manual handling and by minimizing credit losses and buying more invoices this could lead to an increase in profit for Aros. Four machine learning algorithms have been compared: decision trees, random forest, Adaboost and deep neural network. Beyond the comparison between the four algorithms, the algorithms were also compared with Aros actual decision and Aros current rule engine solution. The  results show that random forest is the best performing algorithm and it also shows a slight improvement on performance compared to Aros actual decision, random forest got an F1- core of 0.35 and Aros 0.22.

  • 392.
    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, p. 66-77Conference 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.

  • 393.
    Huvila, Isto
    et al.
    Department of ALM, Uppsala University, Uppsala, Sweden; Information Studies, Åbo Akademi University, Finland.
    Enwald, Heidi
    Information Studies, University of Oulu, Oulu, Finland; Åbo Akademi University, Åbo, Finland.
    Eriksson-Backa, Kristina
    Information Studies, Åbo Akademi University, Åbo, Finland.
    Hirvonen, Noora
    Information Studies, University of Oulu, Oulu, Finland; Åbo Akademi University, Åbo, Finland.
    Nguyen, Hai
    Information Studies, Åbo Akademi University, Åbo, Finland.
    Scandurra, Isabella
    Örebro University, Örebro University School of Business.
    Anticipating ageing: Older adults reading their medical records2018In: Information Processing & Management, ISSN 0306-4573, E-ISSN 1873-5371, Vol. 54, no 3, p. 394-407Article in journal (Refereed)
    Abstract [en]

    In spite of the general interest in health information behaviour, there is little earlier research on how older adults, who are still active in working life but approaching retirement, differ from other age groups. A survey with Swedish patients who had ordered and read their medical record was conducted to map the preferences and motivations of older adults (born 1946-1960) ordering a copy of their medical record, and using medical records based e-health and information services in the future. The results do not indicate an obvious linear relationship between age and motivation to use online health information but show several differences between the age groups. Older adults were less interested in communication with their medical doctor by e-mail. Yet, they had searched health information in the Internet during the last week more likely than young. They were more inclined to read medical record to get an overview of their health than young, but less confident that they understood most of the content or turn to their family and friends to seek help than the elderly. When compared to younger adults and elderly people, older adults are the least confident and least motivated to use online health information. It is suggested that older adulthood can be seen as a transitory stage of life when the need of health information increases and engagement with health changes. The results agree with prior research on the potential usefulness of (online) medical records as a way to inform citizens. However, specific provision strategies may be necessary to match the needs and motivations of different age groups.

  • 394.
    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

  • 395. 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, p. 23-42Article 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.

  • 396. 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, p. 126-134Article 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.

  • 397.
    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, p. 233-239Chapter 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.

  • 398.
    Hällkvist, Erik
    Örebro University, School of Science and Technology.
    Platina Webapp - Skapandet av en mobil version av Enterprise content management affärssystemet Platina2018Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Platina webapp was created as a mobile version of the Enterprise Content Management (ECM) business system Platina. Platina webapp covers the mobile application of a case and document management system, directly in the mobilephone. In order to be able to handle unstructured information in the form of cases, documents and tasks, Platina webapp expands the application area of the existing ECM-system Platina. The Platina webapp solution consists of a web application where Platina users can handle the system and a web API that manages the information flow between the web application and Platina. Platina webapp connects to any Platina business system that gives the Platina users the expanded usage area to handle Platina directly in the mobile phone. Platina users can handle the most essential features available in Platina in the mobile version and the remaining features are handled directly in Platina’s own non-mobile systems.

  • 399.
    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, p. 393-398Conference 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.

  • 400.
    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.

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