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  • 51.
    Arunachalam, Ajay
    et al.
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    Sornil, Ohm
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    A broadcast based random query gossip algorithm for resource search in non-DHT mobile Peer-to-Peer networks2017Inngår i: Diànnǎo xuékān (Journal of Computers), ISSN 1991-1599, Vol. 28, nr 1, s. 209-223Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 52.
    Arunachalam, Ajay
    et al.
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    Sornil, Ohm
    Department of Computer Science, Graduate School of Applied Statistics, National Institute of Development Administration, Thailand.
    Minimizing Redundant Messages and Improving Search Efficiency under Highly Dynamic Mobile P2P Network2016Inngår i: Journal of Engineering Science and Technology Review, ISSN 1791-9320, E-ISSN 1791-2377, Vol. 9, nr 1, s. 23-35Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 53.
    Arunachalam, Ajay
    et al.
    Department of Computer Science, School of Applied Statistics, National Institute of Development Administration, Bangkok, Thailand.
    Sornil, Ohm
    Department of Computer Science, School of Applied Statistics, National Institute of Development Administration, Bangkok, Thailand.
    Reducing Routing Overhead in random walk protocol under MP2P Network2016Inngår i: International Journal of Electrical and Computer Engineering, ISSN 2088-8708, Vol. 6, nr 6, s. 3121-3130Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

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

  • 54.
    Asadi, Sahar
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Pashami, Sepideh
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Lilienthal, Achim J.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    TD Kernel DM+V: time-dependent statistical gas distribution modelling on simulated measurements2011Inngår i: Olfaction and Electronic Nose: proceedings of the 14th International Symposium on Olfaction and Electronic Nose (ISOEN) / [ed] Perena Gouma, Springer Science+Business Media B.V., 2011, s. 281-282Konferansepaper (Fagfellevurdert)
    Abstract [en]

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

    Fulltekst (pdf)
    fulltext
  • 55.
    Asnafi, Nader
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Proceedings of the International Conference on Mechanical, Electric and Industrial Engineering (MEIE2018)2018Konferanseproceedings (Fagfellevurdert)
  • 56.
    Asnafi, Nader
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    The Second International Conference on Mechanical, Electric and Industrial Engineering, 25–27 May 2019, Hangzhou, China2019Konferanseproceedings (Fagfellevurdert)
  • 57. Bacciu, D.
    et al.
    Broxvall, Mathias
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Coleman, S.
    Dragone, M.
    Gallicchio, C.
    Gennaro, C.
    Guzmán, R.
    Lopez, R.
    Lozano-Peiteado, H.
    Ray, A.
    Renteria, A.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Vairo, C.
    Self-sustaining learning for robotic ecologies2012Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The most common use of wireless sensor networks (WSNs) is to collect environmental data from a specificarea, and to channel it to a central processing node for on-line or off-line analysis. The WSN technology,however, can be used for much more ambitious goals. We claim that merging the concepts and technology ofWSN with the concepts and technology of distributed robotics and multi-agent systems can open new waysto design systems able to provide intelligent services in our homes and working places. We also claim thatendowing these systems with learning capabilities can greatly increase their viability and acceptability, bysimplifying design, customization and adaptation to changing user needs. To support these claims, we illus-trate our architecture for an adaptive robotic ecology, named RUBICON, consisting of a network of sensors,effectors and mobile robots.

  • 58.
    Bacciu, Davide
    et al.
    Dipartimento di Informatica, Università di Pisa, Pisa, Italy.
    Gallicchio, Claudio
    Dipartimento di Informatica, Università di Pisa, Pisa, Italy.
    Micheli, Alessio
    Dipartimento di Informatica, Università di Pisa, Pisa, Italy.
    Di Rocco, Maurizio
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Learning context-aware mobile robot navigation in home environments2014Inngår i: IISA 2014: The 5th International Conference on Information, Intelligence, Systems and Applications, New York: Institute of Electrical and Electronics Engineers (IEEE), 2014, s. 57-62, artikkel-id 6878733Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We present an approach to make planning adaptive in order to enable context-aware mobile robot navigation. We integrate a model-based planner with a distributed learning system based on reservoir computing, to yield personalized planning and resource allocations that account for user preferences and environmental changes. We demonstrate our approach in a real robot ecology, and show that the learning system can effectively exploit historical data about navigation performance to modify the models in the planner, without any prior information oncerning the phenomenon being modeled. The plans produced by the adapted CL fail more rarely than the ones generated by a non-adaptive planner. The distributed learning system handles the new learning task autonomously, and is able to automatically identify the sensorial information most relevant for the task, thus reducing the communication and computational overhead of the predictive task.

  • 59.
    Banaee, Hadi
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Ahmed, Mobyen Uddin
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Towards NLG for Physiological Data Monitoring with Body Area Networks2013Inngår i: 14th European Workshop on Natural Language Generation, 2013, s. 193-197Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This position paper presents an on-goingwork on a natural language generationframework that is particularly tailored fornatural language generation from bodyarea networks. We present an overview ofthe main challenges when considering thistype of sensor devices used for at homemonitoring of health parameters. The paperpresents the first steps towards the implementationof a system which collectsinformation from heart rate and respirationusing a wearable sensor.

    Fulltekst (pdf)
    fulltext
  • 60.
    Bandaru, Vamsi Krishna
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Balasubramanian, Rajasekaran
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    OBJECT RECOGNITION USINGDIALOGUES AND SEMANTICANCHORING2013Independent thesis Advanced level (degree of Master (Two Years)), 20 poäng / 30 hpOppgave
    Abstract [en]

    This report explains in detail the implemented system containing a robot and a sensor

    network that is deployed in a test apartment in an elderly residence area. The report

    focuses on the creation and maintenance (anchoring) of the connection between the

    semantic information present in the dialog with perceived actual physical objects in the

    home. Semantic knowledge about concepts and their correlations are retrieved from online

    resources and ontologies, e.g. Word-Net and sensors information are provided by

    cameras distributed in the apartment.

    Fulltekst (pdf)
    fulltext
  • 61.
    Beeson, Patrick
    et al.
    TRACLabs Inc., Webster TX, USA.
    Kortenkamp, David
    TRACLabs Inc., Webster TX, USA.
    Bonasso, R. Peter
    TRACLabs Inc., Webster TX, USA.
    Persson, Andreas
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Bona, Jonathan P
    State University of New York, Buffalo, USA.
    An Ontology-Based Symbol Grounding System for Human-Robot Interaction2014Inngår i: Artificial Intelligence for Human-Robot Interaction: 2014 AAAI Fall Symposium, AAAI Press, 2014Konferansepaper (Fagfellevurdert)
    Abstract [en]

    This paper presents an ongoing collaboration to develop a perceptual anchoring framework which creates and maintains the symbol-percept links concerning household objects. The paper presents an approach to non-trivialize the symbol system using ontologies and allow for HRI via enabling queries about objects properties, their affordances, and their perceptual characteristics as viewed from the robot (e.g. last seen). This position paper describes in brief the objective of creating a long term perceptual anchoring framework for HRI and outlines the preliminary work done this far.

  • 62.
    Bennetts, Victor Hernandez
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Schaffernicht, Erik
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lilienthal, Achim J.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Trincavelli, Marco
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Robot Assisted Gas Tomography - Localizing Methane Leaks in Outdoor Environments2014Inngår i: 2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE conference proceedings, 2014, s. 6362-6367Konferansepaper (Fagfellevurdert)
    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.

  • 63.
    Bennewitz, Maren
    et al.
    University of Freiburg.
    Burgard, Wolfram
    University of Freiburg.
    Cielniak, Grzegorz
    Örebro universitet, Institutionen för teknik.
    Thrun, Sebastian
    Carnegie Mellon University.
    Learning motion patterns of people for compliant robot motion2005Inngår i: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, Vol. 24, nr 1, s. 31-48Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Whenever people move through their environments they do not move randomly. Instead, they usually follow specific trajectories or motion patterns corresponding to their intentions. Knowledge about such patterns enables a mobile robot to robustly keep track of persons in its environment and to improve its behavior. This paper proposes a technique for learning collections of trajectories that characterize typical motion patterns of persons. Data recorded with laser-range finders is clustered using the expectation maximization algorithm. Based on the result of the clustering process we derive a Hidden Markov Model (HMM) that is applied to estimate the current and future positions of persons based on sensory input. We also describe how to incorporate the probabilistic belief about the potential trajectories of persons into the path planning process. We present several experiments carried out in different environments with a mobile robot equipped with a laser range scanner and a camera system. The results demonstrate that our approach can reliably learn motion patterns of persons, can robustly estimate and predict positions of persons, and can be used to improve the navigation behavior of a mobile robot.

  • 64.
    Bergsten, Pontus
    et al.
    Örebro universitet, Institutionen för teknik.
    Palm, Rainer
    Siemens AG Corporate Technology, Munich, Germany.
    Driankov, Dimiter
    Örebro universitet, Institutionen för teknik.
    Fuzzy Observers2001Inngår i: The 10th IEEE International Conference on Fuzzy Systems (Volym:3): Meeting the grand challenge: Machines that serve people, New York, USA: IEEE conference proceedings, 2001, s. 700-703Konferansepaper (Fagfellevurdert)
    Abstract [en]

    We consider the analysis and design of three different types of nonlinear observers for dynamic Takagi-Sugeno fuzzy systems. Our approach is based on extending existing nonlinear observer schemes, namely Thau-Luenberger and sliding mode observers, to the case of interpolated multiple local affine linear models. Then linear matrix inequality based techniques are used for observer analysis and design.

  • 65.
    Bergstrand, Simon
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Programmering av styrutrustning för vridbord vid radarmätplats2012Independent thesis Basic level (university diploma), 10 poäng / 15 hpOppgave
    Abstract [sv]

    Vid kalibrering av en radars antenn placeras radarn på ett vridbord som kan rikta in den mot en mast. På masten sitter ett kors som används som riktpunkt. Huvuduppgiften i examensarbetet var att skriva ett program i National Instruments programmeringsmiljö LabVIEW som kan ställa in vridbordet med en noggrannhet på 0,1 milliradianer. Programmet ska kunna användas som ett DLL (Dynamic-link library) i LabWindows/CVI där ett antal olika funktioner ska kunna anropas för styrning av vridbordet. Eftersom nästan all maskinvara är från National Instruments blev programmet väldigt lätt att skriva. Det som istället blev en utmaning var att mäta upp längder och vinklar för vridbordet samt att vid testning kunna mäta så exakt som behövs. Alla krav uppfylldes men bristen på noggrannhet vid testning gör att resultaten har en viss osäkerhet.En annan del av examensarbetet var att skriva dokument som specificerar krav och gränssnitt samt beskriver hur programvaran kommer konstrueras, testas och kalibreras. Här följdes mallar enligt MIL-STD-498 som var en amerikansk militärstandard.

    Fulltekst (pdf)
    fulltext
  • 66.
    Bergström, Per
    et al.
    Department of Engineering Sciences and Mathematics, Luleå University of Technology, Luleå, Sweden.
    Khodadad, Davood
    Department of Engineering Sciences and Mathematics, Luleå University of Technology, Luleå, Sweden.
    Hällstig, Emil
    Optronic Partner Dp AB, Skellefteå, Sweden.
    Sjödahl, Mikael
    Department of Engineering Sciences and Mathematics, Luleå University of Technology, Luleå, Sweden.
    Dual-wavelength digital holography: single-shot shape evaluation using speckle displacements and regularization2014Inngår i: Applied Optics, ISSN 1559-128X, E-ISSN 2155-3165, Vol. 53, nr 1, s. 123-131Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper discusses the possibility of evaluating the shape of a free-form object in comparison with its shape prescribed by a CAD model. Measurements are made based on a single-shot recording using dual-wavelength holography with a synthetic wavelength of 1.4 mm. Each hologram is numerically propagated to different focus planes and correlated. The result is a vector field of speckle displacements that is linearly dependent on the local distance between the measured surface and the focus plane. From these speckle displacements, a gradient field of the measured surface is extracted through a proportional relationship. The gradient field obtained from the measurement is then aligned to the shape of the CAD model using the iterative closest point (ICP) algorithm and regularization. Deviations between the measured shape and the CAD model are found from the phase difference field, giving a high precision shape evaluation. The phase differences and the CAD model are also used to find a representation of the measured shape. The standard deviation of the measured shape relative the CAD model varies between 7 and 19 μm, depending on the slope.

  • 67.
    Bergström, Per
    et al.
    Department of Engineering Sciences and Mathematics, Luleå University of Technology, Luleå, Sweden.
    Khodadad, Davood
    Department of Engineering Sciences and Mathematics, Luleå University of Technology, Luleå, Sweden.
    Hällstig, Emil
    Optronic Partner dp AB, Skellefteå, Sweden.
    Sjödahl, Mikael
    Department of Engineering Sciences and Mathematics, Luleå University of Technology, Luleå, Sweden.
    Single Shot Shape Evaluation Using Dual-Wavelength Holographic Reconstructions and Regularization2014Inngår i: Fringe 2013: 7th International Workshop on Advanced Optical Imaging and Metrology / [ed] Wolfgang Osten, Springer Berlin/Heidelberg, 2014, s. 103-108Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The aim of this work is to evaluate the shape of a free form object using single shot digital holography. The digital holography results in a gradient field and wrapped phase maps representing the shape of the object. The task is then to find a surface representation from this data which is an inverse problem. To solve this inverse problem we are using regularization with additional shape information from the CAD-model of the measured object.

  • 68.
    Berna, Amalia
    et al.
    CSIRO Ecosystem Sciences and CSIRO Food Futures Flagship, Canberra, Australian Capital Territory (ACT), Australia.
    Vergara, Alexander
    University of California, San Diego, USA.
    Trincavelli, Marco
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Huerta, Ramon
    University of California, San Diego, USA.
    Afonja, Ayo
    Department of Chemistry, University College London, London, UK.
    Parkin, Ivan
    Binions, Russell
    Trowell, Stephen
    Evaluating zeolite-modified sensors: towards a faster set of chemical sensors2011Inngår i: Olfaction and electronic nose: proceedings of the 14th International Symposium on Olfaction and Electronic Nose (ISOEN 2011), May 2-5, 2011, New York City, USA, American Institute of Physics (AIP), 2011, s. 50-52Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The response of zeolite-modified sensors, prepared by screen printing layers of chromium titanium oxide (CTO), were compared to unmodified tin oxide sensors using amplitude and transient responses. For transient responses we used a family of features, derived from the exponential moving average (EMA), to characterize chemo-resistive responses. All sensors were tested simultaneously against 20 individual volatile compounds from four chemical groups. The responses of the two types of sensors showed some independence. The zeolite modified CTO sensors discriminated compounds better using either amplitude response or EMA features and CTO-modified sensors also responded three times faster.

  • 69. Birk, Andreas
    et al.
    Poppinga, Jann
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Nevatia, Yashodhan
    Planetary Exploration in USARSim: A Case Study including Real World Data from Mars2009Inngår i: RoboCup 2008: Robot Soccer World Cup XII / [ed] Volume editors: Luca Iocchi, Hitoshi Matsubara, Alfredo Weitzenfeld, Changjiu Zhou, Springer Berlin Heidelberg , 2009, s. 463-472Konferansepaper (Fagfellevurdert)
    Abstract [en]

     Intelligent Mobile Robots are increasingly used in unstructured domains; one particularly challenging example for this is, planetary exploration. The preparation of according missions is highly non-trivial, especially as it is difficult to carry out realistic experiments without, very sophisticated infrastructures. In this paper, we argue that, the, Unified System for Automation and Robot Simulation (USARSim) offers interesting opportunities for research on planetary exploration by mobile robots. With the example of work on terrain classification, it, is shown how synthetic as well as real world data, from Mars call be used to test an algorithm's performance in USARSim. Concretely, experiments with an algorithm for the detection of negotiable ground oil a, planetary surface are presented. It is shown that the approach performs fast; and robust on planetary surfaces.

  • 70. Birk, Andreas
    et al.
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Nevatia, Yashodhan
    Ambrus, Rares
    Poppinga, Jan
    Pathak, Kaustubh
    Terrain Classification for Autonomous Robot Mobility: from Safety, Security Rescue Robotics to Planetary Exploration2008Konferansepaper (Fagfellevurdert)
  • 71.
    Birkelöf, Jonas
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Framtagning av demonstratorer2009Independent thesis Basic level (university diploma), 10 poäng / 15 hpOppgave
    Abstract [sv]

    På Alfred Nobelmuseet i Karlskoga finns en avdelning som kallas Fiffiga huset. Där finns många experiment som besökare kan prova på, samt montrar som visar hur olika tekniska och maskinella apparater fungerar. Till utställningen och öppnandet sommaren 2009 ville de ha två nya demonstratorer. I rapporten kallas dem för reaktionstidsväggen och baklängesprataren. Reaktionstidsväggen skulle mäta besökarens reaktionstid genom att tryckknappar, med inbyggda dioder som slumpvis tänds, trycks ned i rätt ordning. Baklängesprataren skulle spela in besökarens tal och sedan spela upp det baklänges. Tanken var att besökaren skulle försöka prata baklänges och få det att låta rätt vid uppspelning. Arbetet gick ut på att bygga dessa demonstratorer och montera dem i Fiffiga huset. Reaktionstidsväggen styrdes med hjälp av en mikroprocessor ATMega16 från Atmel. Dess jobb var att läsa av knapptryckningar samt skicka information till dioder och display. Även baklängesprataren skulle styras med hjälp av mikroprocessorn ATMega16. En enkel mikrofonförstärkare samt filter till högtalarna skulle anslutas till processorn. Det inbyggda minnet skulle inte räcka till så ett extern minne behövde anslutas.Endast reaktionstidsväggen hann bli färdig inom projektets ramar eftersom all gammal elektronik som medföljde från Nobelmuseet var komplex, samt att många kortslutningar och avbrott gjorde felsökning till en tidskrävande procedur.

    Fulltekst (pdf)
    FULLTEXT01
  • 72.
    Bonaccorsi, Manuele
    et al.
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Fiorini, Laura
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Cavallo, Filippo
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    Saffiotti, Alessandro
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dario, Paolo
    The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy.
    A cloud robotics solution to improve social assistive robots for active and healthy aging2016Inngår i: International Journal of Social Robotics, ISSN 1875-4791, E-ISSN 1875-4805, Vol. 8, nr 3, s. 393-408Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Technological innovation in robotics and ICT represents an effective solution to tackle the challenge of providing social sustainable care services for the ageing population. The recent introduction of cloud technologies is opening new opportunities for the provisioning of advanced robotic services based on the cooperation of a number of connected robots, smart environments and devices improved by the huge cloud computational and storage capability. In this context, this paper aims to investigate and assess the potentialities of a cloud robotic system for the provisioning of assistive services for the promotion of active and healthy ageing. The system comprised two different smart environments, located in Italy and Sweden, where a service robot is connected to a cloud platform for the provisioning of localization based services to the users. The cloud robotic services were tested in the two realistic environments to assess the general feasibility of the solution and demonstrate the ability to provide assistive location based services in a multiple environment framework. The results confirmed the validity of the solution but also suggested a deeper investigation on the dependability of the communication technologies adopted in such kind of systems.

  • 73.
    Bouguerra, Abdelbaki
    Örebro universitet, Institutionen för teknik.
    A reactive approach for object finding in real world environments2006Inngår i: Intelligent Autonomous Systems 9 / [ed] Tamio Arai, Rolf Pfeifer, Tucker Balch, Hiroshi Yokoi, 2006, s. 391-398Konferansepaper (Annet vitenskapelig)
    Abstract [en]

    In this paper we propose an approach to handle requests of finding objects in real world environments by mobile robots. The proposed approach checks candidate objects based on the likelihood they constitute an answer to the requests in a reactive way. As a result, run-time perceived objects are handled “on the fly” without extra cost. We present the theoretical concepts of the proposed approach, and describe the experiments we run to validate it.

  • 74.
    Boustedt, Katarina
    Örebro universitet, Institutionen för teknik.
    Flip chip for high frequency applications: materials aspects2007Doktoravhandling, monografi (Annet vitenskapelig)
    Abstract [en]

    Flip chip has since decades been the primary choice for chip interconnect for high performance circuits. Over the last few years, interest from the microwave arena has increased, and at this point in time microwave flip chip is a possible option for volume production.

    This thesis is based on an extensive literature survey in combination with experiments done in collaboration with Ericsson, Flextronics in Linköping and Chalmers University of Technology in Gothenburg. The backbone of the literature survey was published as a chapter on high frequency interconnects in the reference book “Area Array Interconnection Handbook” (2002), edited by Karl Puttlitz and Paul A. Totta, who are known as the fathers of flip chip. This literature study has since then been expanded and the latest search was

    done in June 2007.

    Four groups of experiments are reported in this thesis. The fi rst experiments are on stud bumping thin film substrates for subsequent fl ip-chip bonding. The wire was 17-μm diameter Au1Pd and bumping was uniform and successful, after some initial equipment problems.

    The second is a set of tests on flip-chip bonding using gold stud bumps, gold tin solder-on-substrate, and plated gold pillars on alumina carriers. To evaluate the joining process using these different bumps, chips made of alumina

    with coplanar waveguide transmission lines were thermocompression bonded to the bumped carriers. Bonder parameters were assessed related to the different bump types and materials. The bonding results were analyzed using shear tests, transmissive x-ray and scanning electron microscopy on

    cross-sections.

    The third experiment lot contains early results on reliability of stud-bump flip chip of gallium arsenide microstrip chips. Since the sample availability was very low and the joining process still under development, the results are vague, although it was fruitful to establish adequate methods of analysis and test.

    The fourth set of experiments involved the same alumina on alumina assembly, and flip-chip underfill and its impact measured up to 70 GHz. Three different underfill materials were applied to the test vehicles described above. Before and after underfilling, the test vehicles were measured for S parameters and compared.

    This study concludes that for flip chip on gold pads, the preferred joining process is soldering, just as for silicon chips with aluminum or copper pads. Since solder bumping on gold pads is hard to come by, the second best choice is plated pillars, on carrier or chip, and thirdly, gold wire stud bumping.

    Underfill for microwave applications should not necessarily be dreaded to the extent that it is today. This study has proven that the matching of lines isnot affected and the changes in dips can be considered in the early phases of the design process for chip and carrier.

  • 75.
    Boustedt, Katarina
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Persson, Katrin
    IMEGO, Gothenburg, Sweden.
    Stranneby, Dag
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Flip chip as an enabler for MEMS packaging2002Inngår i: 52nd Electronic Components and Technology Conference, 2002. Proceedings., 2002, s. -128Konferansepaper (Fagfellevurdert)
    Abstract [en]

    With the recent trends in microelectronics to move more and more towards incorporating MEMS (micro electro mechanical systems) structures, lowering the overall cost becomes vital. One major cost driver in today's MEMS is the packaging. Many of the MEMS structures require some level of low pressure for full quality operation, and some may even need vacuum to function properly. Different MEMS packaging strategies exist on the market and they can be divided into two different approaches. The first one protects the wafer temporarily during wafer scribing or dicing and the second one provides a permanent seal to the wafer through full wafer bonding before scribing and dicing. The latter, permanent methods allows for selecting very low cost packaging without hermeticity as a requirement, whereas in the temporary seal methods the seal is removed after dicing and the sensitive structures become unprotected again. Using flip chip for MEMS has the benefit of providing MEMS structures with a covering lid, the chip itself. A number of flip chip MEMS interconnection methods presented in literature are described.

  • 76.
    Boustedt, Katarina
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Persson, Katrin
    IMEGO, Gothenburg, Sweden.
    Stranneby, Dag
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Bohman, Sofie
    IMEGO, Gothenburg, Sweden.
    Wafer Bonding Technologies for MEMS Packaging2002Inngår i: Proceedings : the IMAPS Nordic Annual Conference : Stockholm, 2002, 29 September-2 October 2002., 2002, s. -127Konferansepaper (Annet vitenskapelig)
  • 77.
    Burgués, Javier
    et al.
    Institute for Bioengineering of Catalonia (IBEC),The Barcelona Institute of Science and Technology, Baldiri Reixac, Barcelona, Spain; Department of Electronics and Biomedical Engineering, Universitat de Barcelona, Barcelona, Spain.
    Hernandez Bennetts, Victor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lilienthal, Achim J.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Marco, Santiago
    Institute for Bioengineering of Catalonia (IBEC),The Barcelona Institute of Science and Technology, Baldiri Reixac, Barcelona, Spain; Department of Electronics and Biomedical Engineering, Universitat de Barcelona, Barcelona, Spain.
    Smelling Nano Aerial Vehicle for Gas Source Localization and Mapping2019Inngår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 19, nr 3, artikkel-id 478Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    This paper describes the development and validation of the currently smallest aerial platform with olfaction capabilities. The developed Smelling Nano Aerial Vehicle (SNAV) is based on a lightweight commercial nano-quadcopter (27 g) equipped with a custom gas sensing board that can host up to two in situ metal oxide semiconductor (MOX) gas sensors. Due to its small form-factor, the SNAV is not a hazard for humans, enabling its use in public areas or inside buildings. It can autonomously carry out gas sensing missions of hazardous environments inaccessible to terrestrial robots and bigger drones, for example searching for victims and hazardous gas leaks inside pockets that form within the wreckage of collapsed buildings in the aftermath of an earthquake or explosion. The first contribution of this work is assessing the impact of the nano-propellers on the MOX sensor signals at different distances to a gas source. A second contribution is adapting the ‘bout’ detection algorithm, proposed by Schmuker et al. (2016) to extract specific features from the derivative of the MOX sensor response, for real-time operation. The third and main contribution is the experimental validation of the SNAV for gas source localization (GSL) and mapping in a large indoor environment (160 m2) with a gas source placed in challenging positions for the drone, for example hidden in the ceiling of the room or inside a power outlet box. Two GSL strategies are compared, one based on the instantaneous gas sensor response and the other one based on the bout frequency. From the measurements collected (in motion) along a predefined sweeping path we built (in less than 3 min) a 3D map of the gas distribution and identified the most likely source location. Using the bout frequency yielded on average a higher localization accuracy than using the instantaneous gas sensor response (1.38 m versus 2.05 m error), however accurate tuning of an additional parameter (the noise threshold) is required in the former case. The main conclusion of this paper is that a nano-drone has the potential to perform gas sensing tasks in complex environments.

    Fulltekst (pdf)
    Smelling Nano Aerial Vehicle for Gas Source Localization and Mapping
  • 78.
    Burgués, Javier
    et al.
    Department of Electronic and Biomedical Engineering, Universitat de Barcelona, Barcelona, Spain; Institute for Bioengineering of Catalonia (IBEC), Barcelona, Spain.
    Hernandez Bennetts, Victor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lilienthal, Achim
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Marco, Santiago
    Department of Electronic and Biomedical Engineering, Universitat de Barcelona, Barcelona, Spain; Institute for Bioengineering of Catalonia (IBEC), Barcelona, Spain.
    3D Gas Distribution with and without Artificial Airflow: An Experimental Study with a Grid of Metal Oxide Semiconductor Gas Sensors2018Inngår i: Proceedings, E-ISSN 2504-3900, Vol. 2, nr 13, artikkel-id 911Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Gas distribution modelling can provide potentially life-saving information when assessing the hazards of gaseous emissions and for localization of explosives, toxic or flammable chemicals. In this work, we deployed a three-dimensional (3D) grid of metal oxide semiconductor (MOX) gas sensors deployed in an office room, which allows for novel insights about the complex patterns of indoor gas dispersal. 12 independent experiments were carried out to better understand dispersion patters of a single gas source placed at different locations of the room, including variations in height, release rate and air flow profiles. This dataset is denser and richer than what is currently available, i.e., 2D datasets in wind tunnels. We make it publicly available to enable the community to develop, validate, and compare new approaches related to gas sensing in complex environments.

    Fulltekst (pdf)
    3D Gas Distribution with and without Artificial Airflow: An Experimental Study with a Grid of Metal Oxide Semiconductor Gas Sensors
  • 79.
    Canelhas, Daniel Ricão
    et al.
    Univrses AB, Strängnäs, Sweden.
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Lilienthal, Achim J.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry2018Inngår i: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA),, IEEE Computer Society, 2018, s. 6337-6343Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Voxel volumes are simple to implement and lend themselves to many of the tools and algorithms available for 2D images. However, the additional dimension of voxels may be costly to manage in memory when mapping large spaces at high resolutions. While lowering the resolution and using interpolation is common work-around, in the literature we often find that authors either use trilinear interpolation or nearest neighbors and rarely any of the intermediate options. This paper presents a survey of geometric interpolation methods for voxel-based map representations. In particular we study the truncated signed distance field (TSDF) and the impact of using fewer than 8 samples to perform interpolation within a depth-camera pose tracking and mapping scenario. We find that lowering the number of samples fetched to perform the interpolation results in performance similar to the commonly used trilinear interpolation method, but leads to higher framerates. We also report that lower bit-depth generally leads to performance degradation, though not as much as may be expected, with voxels containing as few as 3 bits sometimes resulting in adequate estimation of camera trajectories.

    Fulltekst (pdf)
    A Survey of Voxel Interpolation Methods and an Evaluation of Their Impact on Volumetric Map-Based Visual Odometry
  • 80.
    Carletti, Cristina
    et al.
    Marche Polytechnic University Ancona, Ancona, Italy.
    Di Rocco, Maurizio
    Roma Tre University, Rome, Italy.
    Gasparri, Andrea
    Roma Tre University, Rome, Italy.
    Ulivi, Giovanni
    Roma Tre University, Rome, Italy.
    A distributed transferable belief model for collaborative topological map-building in multi-robot systems2010Inngår i: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2010, s. 554-560Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In this paper the problem of multi-robot collaborative topological map-building is addressed. In this framework, a team of robots is supposed to move in an indoor office-like environment. Each robot, after building a local map by using infrared range-finders, achieves a topological representation of the environment by extracting the most significant features via the Hough transform and comparing them with a set of predefined environmental patterns. The local view of each robot which is significantly constrained by its limited sensing capabilities is then strengthened by a collaborative aggregation schema based on the Transferable Belief Model (TBM). In this way, a better representation of the environment is achieved by each robot with a minimal exchange of information. A preliminary experimental validation carried out by exploiting data collected from a self-made team of robots is proposed.

  • 81.
    Carlson, Jan
    et al.
    Department of Computer Science and Engineering, Mälardalen University, Västerås, Sweden.
    Lennvall, Tomas
    Department of Computer Science and Engineering, Mälardalen University, Västerås, Sweden.
    Fohler, Gerhard
    Department of Computer Science and Engineering, Mälardalen University, Västerås, Sweden.
    Enhancing time triggered scheduling with value based overload handling and task migration2003Inngår i: Sixth IEEE International Symposium on Object-Oriented Real-Time Distributed Computing, 2003: Proceedings, IEEE Computer Society, 2003, s. 121-128Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Time triggered methods provide deterministic behaviour suitable for critical real-time systems. The), perform less favourably, however if the arrival times of some activities are not known in advance, in particular if overload situations have to be anticipated. In many systems, the criticality of only a subset of activities justify the cost associated with the time triggered methods.

    In this paper we consider distributed systems where a subset of critical activities are handled in a time triggered fashion, via an offline schedule. At runtime, the arrival of aperiodic tasks may cause overload that demands to be handled in such a way that i) time triggered activities still meet all their original constraints, ii) execution of high-valued tasks are prioritised over tasks with lower value, iii) tasks can be quickly migrated to balance the overall system load.

    We give a precise formulation of overload detection and value based task rejection in the presence of offline scheduled tasks, and present a heuristic algorithm to handle overload. To benefit from the distributed setting, the overload handling includes an algorithm that integrates migration of rejected tasks with resource reclaiming and an acceptance test of newly arrived tasks.

    Simulation results underline the effectiveness of the presented approach.

  • 82.
    Carlsson, Johannes
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Digital ljudkvalitetsoptimering för hörlurar.2011Independent thesis Basic level (university diploma), 10 poäng / 15 hpOppgave
    Abstract [sv]

    Detta examensarbete har utförts hos Dirac Research AB i Uppsala. Dirac Research är en världsledande programvaruspecialist inom ljudoptimering, rumskorrigering och ljudfältssyntes.

    Dirac har nu velat utreda hur man på bästa sätt kan använda deras programvara Dirac Live för att förbättra ljudet hos hörlurar. I examensarbetet ingick en teoretisk del om örat, hörlurar, mätmetoder och hur en frekvenskurva bör se ut. Det ingick också att mäta impulssvaret för några olika hörlurar. Impulssvaret användes sedan till att förbättra ljudet hos hörlurarna genom att designa digitala filter som användes genom programvaran Dirac Live. När filterdesignen var klar utfördes ett lyssningstest för att få åsikter om hur andra upplevde filtrena.

    Mätningarna utfördes på Karolinska Institutet i Huddingen på ett KEMAR-huvud. Det är ett konsthuvud som ska efterlikna en människas huvud till form och storlek. Där mättes fyra earbuds (intra-concha), tre in-ear (insert), två omslutande (circum-aural) och ett par utanpåliggande (supra-aural) hörlurar upp. Med filterdesignen visade det sig att förbättringar upplevdes på de flesta av hörlurarna. Dock så kompenserades inte de omslutande- och utanpåliggande hörlurarna något. Dessa var endast tänkta att ha som referens.

    Det var en del skillnader mellan de olika hörlurarnas frekvenssvar. Det beror delvis på hörselgångens resonansfrekvens. När omslutande hörlurar mäts kan hörselgången ses som en kvartsvågsresonator medan den vid mätning av in-ear-hörlurar kan ses som halvvågsresonator. Även hörlurarnas konstruktion påverkar skillnaderna för de olika hörlurstyperna.

    Som målkurvor till hörlurarna användes bland annat högtalarmätningar i form av frifältsmätningar och diffusfältsmätningar utöver de hörlurar som användes som referens. Dock upplevdes en frekvensgång med en mjuk topp vid 3 kHz och i övrigt ganska rak frekvensgång som bäst. Vid lyssningstestet var det även den kurvan som fick flest röster hos tre av de fyra hörlurarna som användes vid lyssningstestet.

    Fulltekst (pdf)
    fulltext
  • 83. Carpin, Stefano
    et al.
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Nevatia, Yashodhan
    Lewis, M.
    Wang, J.
    Quantitative Assessments of USARSim Accuracy2006Konferansepaper (Fagfellevurdert)
  • 84.
    Chakraborty, Subham
    et al.
    Innopolis University, Universitetskaya, Innopolis, Russia.
    Thapaliya, Ananga
    Innopolis University, Universitetskaya, Innopolis, Russia.
    Above the Clouds: A Brief Study2019Inngår i: Software Technology: Methods and Tools / [ed] Manuel MazzaraJean-Michel BruelBertrand MeyerAlexander Petrenko, Springer, 2019, Vol. 11771, s. 326-333Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Cloud Computing is a versatile technology that can support a broad-spectrum of applications. The low cost of cloud computing and its dynamic scaling renders it an innovation driver for small companies, particularly in the developing world. Cloud deployed enterprise resource planning (ERP), supply chain management applications (SCM), customer relationship management (CRM) applications, medical applications, business applications and mobile applications have potential to reach millions of users. In this paper, we explore the different concepts involved in cloud computing and we also examine clouds from technical aspects. We highlight some of the opportunities in cloud computing underlining the importance of clouds showing why that technology must succeed and we have provided additional cloud computing problems that businesses may need to address. Finally, we discuss some of the issues that this area should deal with.

  • 85.
    Charusta, Krzysztof
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Krug, Robert
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dimitrov, Dimitar
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Independent contact regions based on a patch contact model2012Inngår i: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, s. 4162-4169Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The synthesis of multi-fingered grasps on nontrivial objects requires a realistic representation of the contact between the fingers of a robotic hand and an object. In this work, we use a patch contact model to approximate the contact between a rigid object and a deformable anthropomorphic finger. This contact model is utilized in the computation of Independent Contact Regions (ICRs) that have been proposed as a way to compensate for shortcomings in the finger positioning accuracy of robotic grasping devices. We extend the ICR algorithm to account for the patch contact model and show the benefits of this solution.

  • 86.
    Charusta, Krzysztof
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Krug, Robert
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Stoyanov, Todor
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Dimitrov, Dimitar
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Iliev, Boyko
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Generation of independent contact regions on objects reconstructed from noisy real-world range data2012Inngår i: 2012 IEEE International Conference on Robotics and Automation (ICRA), IEEE conference proceedings, 2012, s. 1338-1344Konferansepaper (Fagfellevurdert)
    Abstract [en]

    The synthesis and evaluation of multi-fingered grasps on complex objects is a challenging problem that has received much attention in the robotics community. Although several promising approaches have been developed, applications to real-world systems are limited to simple objects or gripper configurations. The paradigm of Independent Contact Regions (ICRs) has been proposed as a way to increase the tolerance to grasp positioning errors. This concept is well established, though only on precise geometric object models. This work is concerned with the application of the ICR paradigm to models reconstructed from real-world range data. We propose a method for increasing the robustness of grasp synthesis on uncertain geometric models. The sensitivity of the ICR algorithm to noisy data is evaluated and a filtering approach is proposed to improve the quality of the final result.

  • 87.
    Chatzipetrou, Panagiota
    et al.
    Software Research Engineering Lab (SERL), Blekinge Institute of Technology, Karlskrona, Sweden.
    Alégroth, Emil
    Software Research Engineering Lab (SERL), Blekinge Institute of Technology, Karlskrona, Sweden.
    Papatheocharous, Efi
    RISE SICS AB, Lund, Sweden.
    Borg, Markus
    RISE SICS AB, Lund, Sweden.
    Gorschek, Tony
    Software Research Engineering Lab (SERL), Blekinge Institute of Technology, Karlskrona, Sweden.
    Wnuk, Krzysztof
    Software Research Engineering Lab (SERL), Blekinge Institute of Technology, Karlskrona, Sweden.
    Component selection in Software Engineering: Which attributes are the most important in the decision process?2018Inngår i: 44th Euromicro Conference on Software Engineering and Advanced Applications, SEAA 2018: Proceedings / [ed] Bures, T; Angelis, L, IEEE conference proceedings , 2018, s. 198-205Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Component-based software engineering is a common approach to develop and evolve contemporary software systems where different component sourcing options are available: 1)Software developed internally (in-house), 2)Software developed outsourced, 3)Commercial of the shelf software, and 4) Open Source Software.

    However, there is little available research on what attributes of a component are the most important ones when selecting new components. The object of the present study is to investigate what matters the most to industry practitioners during component selection. We conducted a cross-domain anonymous survey with industry practitioners involved in component selection. First, the practitioners selected the most important attributes from a list. Next, they prioritized their selection using the Hundred-Dollar ($100) test. We analyzed the results using Compositional Data Analysis. The descriptive results showed that Cost was clearly considered the most important attribute during the component selection. Other important attributes for the practitioners were: Support of the component, Longevity prediction, and Level of off-the-shelf fit to product. Next, an exploratory analysis was conducted based on the practitioners' inherent characteristics. Nonparametric tests and biplots were used. It seems that smaller organizations and more immature products focus on different attributes than bigger organizations and mature products which focus more on Cost.

  • 88.
    Cirillo, Marcello
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Planning in inhabited environments: human-aware task planning and activity recognition2011Inngår i: Künstliche Intelligenz, ISSN 0933-1875, E-ISSN 1610-1987, Vol. 25, nr 4, s. 355-358Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    Our work addresses issues related to the cohabitation of service robots and people in unstructured environments. We propose new planning techniques to empower robot means-end reasoning with the capability of taking into account human intentions and preferences. We also address the problem of human activity recognition in instrumented environments. We employ a constraint-based approach to realize a continuous inference process to attach a meaning to sensor traces as detected by sensors distributed in the environment.

  • 89.
    Cirillo, Marcello
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Andreasson, Henrik
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Uras, Tansel
    Department of Computer Science, University of Southern California, Los Angeles, USA.
    Koenig, Sven
    Department of Computer Science, University of Southern California, Los Angeles, USA.
    Integrated Motion Planning and Coordination for Industrial Vehicles2014Inngår i: Proceedings of the 24th International Conference on Automated Planning and Scheduling, AAAI Press, 2014Konferansepaper (Fagfellevurdert)
    Abstract [en]

    A growing interest in the industrial sector for autonomous ground vehicles has prompted significant investment in fleet management systems. Such systems need to accommodate on-line externally imposed temporal and spatial requirements, and to adhere to them even in the presence of contingencies. Moreover, a fleet management system should ensure correctness, i.e., refuse to commit to requirements that cannot be satisfied. We present an approach to obtain sets of alternative execution patterns (called trajectory envelopes) which provide these guarantees. The approach relies on a constraint-based representation shared among multiple solvers, each of which progressively refines trajectory envelopes following a least commitment principle.

  • 90.
    Cirillo, Marcello
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Pecora, Federico
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Saffiotti, Alessandro
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Proactive assistance in ecologies of physically embedded intelligent systems: a constraint-based approach2011Inngår i: Handbook of research on ambient intelligence and smart environments: trends and perspectives / [ed] Nak-Young Chong, Fulvio Mastrogiovanni, IGI Global, 2011, s. 534-557Kapittel i bok, del av antologi (Fagfellevurdert)
    Abstract [en]

    The main goal of this Chapter is to introduce SAM, an integrated architecture for concurrent activity recognition, planning and execution. SAM provides a general framework to define how an intelligent environment can assess contextual information from sensory data. The architecture builds upon a temporal reasoning framework operating in closed-loop between physical sensing and actuation components in a smart environments. The capabilities of the system as well as possible examples of its use are discussed in the context of the PEIS-Home, a smart environment integrated with robotic components.

  • 91.
    Cirillo, Marcello
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Uras, Tansel
    Department of Computer Science, University of Southern California, Los Angeles, USA.
    Koenig, Sven
    Department of Computer Science, University of Southern California, Los Angeles, USA.
    A lattice-based approach to multi-robot motion planning for non-holonomic vehicles2014Inngår i: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, s. 232-239Konferansepaper (Fagfellevurdert)
    Abstract [en]

    Coordinating fleets of autonomous, non-holonomic vehicles is paramount to many industrial applications. While there exists solutions to efficiently calculate trajectories for individual vehicles, an effective methodology to coordinate their motions and to avoid deadlocks is still missing. Decoupled approaches, where motions are calculated independently for each vehicle and then centrally coordinated for execution, have the means to identify deadlocks, but not to solve all of them. We present a novel approach that overcomes this limitation and that can be used to complement the deficiencies of decoupled solutions with centralized coordination. Here, we formally define an extension of the framework of lattice-based motion planning to multi-robot systems and we validate it experimentally. Our approach can jointly plan for multiple vehicles and it generates kinematically feasible and deadlock-free motions.

  • 92.
    Coradeschi, Silvia
    et al.
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Akademin för naturvetenskap och teknik.
    Kristoffersson, Annica
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Cortellessa, Gabriella
    Consiglio Nazionale delle Ricerche (CNR), Rome, Italy; Istituto di Scienze e Tecnologie della Cognizione (ISTC-CNR), Rome, Italy.
    Severinson Eklundh, Kerstin
    KTH, Royal Institute of Technology, Stockholm, Sweden.
    Social robotic telepresence2011Inngår i: the 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2011).HRI, ACM Digital Library , 2011, s. 5-6Konferansepaper (Fagfellevurdert)
    Download (pdf)
    sammanfattning
  • 93.
    Dandan, Kinan
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Ananiev, Anani
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Ivan, Kalaykov
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    SIRO: the silos surface cleaning robot concept2013Konferansepaper (Fagfellevurdert)
    Abstract [en]

    A concept of a suspended robot for surface cleaning in silos is presented in this paper. The main requirements and limitations resulting from the specific operational conditions are discussed. Due to the large dimension of the silo as a confined space, specific kinematics of the robot manipulator is proposed. The major problems in its design are highlighted and an approach to resolve them is proposed. The suggested concept is a reasonable compromise between the basic contradicting factors in the design: small entrance and large surface of the confined space, suspension and stabilization of the robot

    Fulltekst (pdf)
    fulltext
  • 94.
    Daoutis, Marios
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Coradeschi, Silvia
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Loutfi, Amy
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Towards concept anchoring for cognitive robots2012Inngår i: Intelligent Service Robotics, ISSN 1861-2784, Vol. 5, nr 4, s. 213-228Artikkel i tidsskrift (Fagfellevurdert)
    Abstract [en]

    We present a model for anchoring categorical conceptual information which originates from physical perception and the web. The model is an extension of the anchoring framework which is used to create and maintain over time semantically grounded sensor information. Using the augmented anchoring framework that employs complex symbolic knowledge from a commonsense knowledge base, we attempt to ground and integrate symbolic and perceptual data that are available on the web. We introduce conceptual anchors which are representations of general, concrete conceptual terms. We show in an example scenario how conceptual anchors can be coherently integrated with perceptual anchors and commonsense information for the acquisition of novel concepts.

  • 95.
    Daoutis, Marios
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik.
    Mavridis, Nikolaos
    Towards a Model for Grounding Semantic Composition2014Konferansepaper (Fagfellevurdert)
    Fulltekst (pdf)
    grounding-compositionality
  • 96.
    Di Rocco, Maurizio
    Roma Tre University.
    Formation control through environment pattern recognition for a multi-robotarchitecture2009Konferansepaper (Fagfellevurdert)
  • 97.
    Di Rocco, Maurizio
    et al.
    Örebro universitet, Institutionen för naturvetenskap och teknik. Roma Tre University, Rome, Italy.
    La Gala, Francesco
    Marine Technology Research Institute (INSEAN), Rome, Italy.
    Ulivi, Giovanni
    Roma Tre University, Rome, Italy.
    Testing Multirobot Algorithms SAETTA: A Small and Cheap Mobile Unit2013Inngår i: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 20, nr 2, s. 52-62Artikkel i tidsskrift (Annet vitenskapelig)
  • 98.
    Di Rocco, Maurizio
    et al.
    Roma Tre University, Rome, Italy.
    Pascucci, Federica
    Probabilistic localization in sensor networks using distributed Kalman filter2010Inngår i: 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010, Lecce, Italy / [ed] Giovanni Indiveri, Antonio M. Pascoal, 2010Konferansepaper (Fagfellevurdert)
    Abstract [en]

    In recent years sensor networks have interested fields such as environment monitoring, surveillance and other distributed applications for data elaboration. This interest has been based on the decentralized approach in treating the information. However it is still a challenge to manipulate such streams of data when the dimension of the net becomes large despite computational capabilities and consumption constraints. In most of applications, location awareness is fundamental to accomplish common tasks. In this paper a probabilistic approach to solve localization problem in wireless sensor networks is presented. The algorithm, based on the Kalman Filter, estimates the sensors' location by an adaptive behavior. The technique proposed allows a reduction of the computation burden respect to the traditional Kalman Filter showing, as explained in simulations and real world experiments, good performances.

  • 99.
    Di Rocco, Maurizio
    et al.
    Roma Tre University.
    Pascucci, Federica
    Roma Tre University.
    Sensor network localization using distributed extended Kalman filter2007Konferansepaper (Fagfellevurdert)
  • 100.
    Di Rocco, Maurizio
    et al.
    Roma Tre University.
    Pascucci, Federica
    Roma Tre University.
    Perillo, David
    Roma Tre University.
    Consensus filter for sensor networks localization and tracking2007Konferansepaper (Fagfellevurdert)
1234567 51 - 100 of 433
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