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  • 751.
    Rahayem, Mohamed
    et al.
    Örebro University, Department of Technology.
    Kjellander, Johan
    Örebro University, Department of Technology.
    Larsson, Sören
    Örebro University, Department of Technology.
    Accuracy analysis of a 3D measurement system based on a laser profile scanner mounted on an industrial robot with a turntable2007In: Proceedings of ETFA 12th IEEE conference on Emerging technologies and Factory Automation, 2007, p. 880-883Conference paper (Other academic)
    Abstract [en]

    High accuracy 3D laser measurment systems are used in applications like inspection and reverse engineering (RE). With automatic RE in mind, we have designed and built a system that is based on a laser profile scanner mounted on a standard industrial robot with a turntable. This paper is concerned with the relatively complex accuracy issues of such a system. The different parts of the system are analyzed individually and a brief discussion of how they interact is given. Finally a detailed analysis of the scanner head along with experimental results is presented.

  • 752.
    Rajan, Kanna
    et al.
    Department of Engineering Cybernetics, Center for Autonomous Marine Operations and Systems (AMOS), Norges teknisk-naturvitenskapelige universitet (NTNU), Trondheim, Norway.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Towards a science of integrated AI and Robotics2017In: Artificial Intelligence, ISSN 0004-3702, E-ISSN 1872-7921, Vol. 247, p. 1-9Article in journal (Refereed)
    Abstract [en]

    The early promise of the impact of machine intelligence did not involve the partitioning of the nascent field of Artificial Intelligence. The founders of AI envisioned the notion of embedded intelligence as being conjoined between perception, reasoning and actuation. Yet over the years the fields of AI and Robotics drifted apart. Practitioners of AI focused on problems and algorithms abstracted from the real world. Roboticists, generally with a background in mechanical and electrical engineering, concentrated on sensori-motor functions. That divergence is slowly being bridged with the maturity of both fields and with the growing interest in autonomous systems. This special issue brings together the state of the art and practice of the emergent field of integrated AI and Robotics, and highlights the key areas along which this current evolution of machine intelligence is heading.

  • 753.
    Rashid, Jayedur
    Örebro University, School of Science and Technology.
    Towards the development of an ubiquitous networked robot systems for ambient assisted living2010In: 2010 IEEE international workshop on ubiquitous and mobile computing, IEEE conference proceedings, 2010, p. 359-366Conference paper (Refereed)
    Abstract [en]

    Robotic middlewares increasingly allow the seamless integration of multiple heterogeneous robots into one distributed system. With the inclusion of ambient intelligence and pervasive computing, very simple devices such as WSN motes mounted sensors and actuators, rfid-tag attached everyday objects or smart objects should also be considered as part of this incorporation. Humans should also be a part of this NRS since one of the main objectives of this integrated robot systems is to serve humans. We argue that this inclusion of motes like tiny sensoractuator devices, simple everyday objects and humans as part of the NRS brings many advantages when tasks are performed by cooperation. In order to achieve the goal, presenting all them in a robot middleware, my research (PhD) study has been started since Aug 2006. This paper represents our approach and achievement till today. In this study, models are inherited as well as proposed depending on the existing works. As the proof-ofconcept, an illustrative experiment demonstrates how tiny devices and everyday objects become part of a NRS by adapting the proposed/inherited techniques, during this study, and cooperate to perform complex tasks.

  • 754.
    Rashid, Jayedur
    et al.
    Örebro University, School of Science and Technology.
    Broxvall, Mathias
    Örebro University, School of Science and Technology.
    Indirect reference: reconfiguring distributed sensors and actuators2010In: 2010 IEEE international conference on sensor networks, ubiquitous, and trustworthy computing: SUTC 2010, IEEE conference proceedings, 2010, p. 284-290Conference paper (Refereed)
    Abstract [en]

    Many sensor networks have lately included actuation as an important property of the nodes. With the introduction of actuation, new requirements are posed on these nodes in terms of reconfiguration of collaboration patterns. The sensors/actuators are very often connected to various heterogeneous hardware that have a few KBs of memory, low processing power and communication range, such as WSN motes. Also, for many applications networks of small and simple sensor and actuator nodes need to cooperate with networked robotic devices, which leads to further requirements to enable collaboration between devices of different scales. In this networked robot and sensor/actuator infrastructure, tasks are performed by the cooperation of multiple devices. Dynamically changing availability of devices as well as changes of tasks lead to a need of reconfiguration of the devices at runtime. Therefore a mechanism should be available in the communication level, which affords reconfiguration ability to the sensor/actuator nodes as well as robots. In this article, a concept called indirect reference is proposed, which facilitates dynamic reconfiguration of sets of distributed devices. We describe here also an implementation of the concept on a ubiquitous robotic middleware, which offers seamless integration of robots and WSN motes like tiny embedded devices with an example.

  • 755.
    Rashid, Jayedur
    et al.
    Örebro University, School of Science and Technology.
    Broxvall, Mathias
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    A middleware to integrate robots, simple devices and everyday objects into an ambient ecology2012In: Pervasive and Mobile Computing, ISSN 1574-1192, E-ISSN 1873-1589, Vol. 8, no 4, p. 522-541Article in journal (Refereed)
    Abstract [en]

    The fields of ambient intelligence, distributed robotics and wireless sensor networks are converging toward a common vision, in which ubiquitous sensing and acting devices cooperate to provide useful services in the home. These devices can range from sophisticated mobile robots to simple sensor nodes and even simpler tagged everyday objects. In this vision, a milkbox left on the table after the user has left the home could ask the service of a mobile robot to be placed back in the refrigerator. A missing ingredient to realize this vision is a mechanism that enables the communication and interoperation among such highly heterogeneous entities. In this paper, we propose such a mechanism in the form of a middleware able to integrate robots, tiny devices and augmented everyday objects into one and the same system. The key moves to cope with heterogeneity are: the definition of a tiny, compatible version of the middleware, that can run on small devices; and the concept of object proxy, used to make everyday object accessible within the middleware. We describe the concepts and implementation of our middleware, and show a number of experiments that illustrate its performance.

  • 756.
    Rashid, Jayedur
    et al.
    Örebro University, School of Science and Technology.
    Broxvall, Mathias
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Digital representation of everyday objects in a robot ecology via proxies2008In: IEEE/RSJ international conference on intelligent robots and systems, 2008, IROS 2008, 2008, p. 1908-1914Conference paper (Refereed)
    Abstract [en]

    Robotic middlewares increasingly allow the seamless integration of multiple heterogeneous robots into one distributed system. Unfortunately, very simple devices like tagged everyday objects and smart objects are left orphan in this otherwise pervasive trend. We claim that the inclusion of simple everyday objects as part of distributed robot systems would have many advantages, and propose a design pattern to allow this inclusion. We make this pattern concrete by describing an implementation of it using a specific multi-robot middleware, called PEIS-Ecology Middleware. We also show an illustrative experiment which integrates everyday objects in a smart home equipped with mobile robots as well as more advanced distributed sensor nodes.

  • 757.
    Rashid, Md. Jayedur
    Örebro University, School of Science and Technology.
    Extending a networked robot system to include humans, tiny devices, and everyday objects2011Doctoral thesis, monograph (Other academic)
    Abstract [en]

    In networked robot systems (NRS), robots and robotic devices are distributed in the environment; typically tasks are performed by cooperation and coordination of such multiple networked components. NRS offer advantages over monolithic systems in terms of modularity, flexibility and cost effectiveness, and they are thus becoming a mainstream approach to the inclusion of robotic solutions in everyday environments.

    The components of a NRS are usually robots and sensors equipped with rich computational and communication facilities. In this thesis, we argue that the capabilities of a NRS would greatly increase if it could also accommodate among its nodes simpler entities, like small ubiquitous sensing and actuation devices, home appliances, or augmented everyday objects. For instance, a domestic robot needs to manipulate food items and interact with appliances. Such a robot would benefit from the ability to exchange information with those items and appliances in a direct way, in the same way as with other networked robots and sensors.

    Combining such highly heterogeneous devices inside one NRS is challenging, and one of the major challenges is to provide a common communication and collaboration infrastructure. In the field of NRS, this infrastructure is commonly provided by a shared middleware. Unfortunately, current middlewares lack the generality needed to allow heterogeneous entities such as robots, simple ubiquitous devices and everyday objects to coexist in the same system.

    In this thesis we show how an existing middleware for NRS can be extended to include three new types of “citizens” in the system, on peer with the other robots. First, we include computationally simple embedded devices, like ubiquitous sensors and actuators, by creating a fully compatible tiny version of the existing robotic middleware. Second, we include augmented everyday objects or home appliances which are unable to run the middleware on board, by proposing a generic design pattern based on the notion of object proxy. Finally,we go one step further and include humans as nodes in the NRS by defining the notion of human proxy. While there exist a few other NRS which are able to include both robots and simple embedded devices in the same system, the use of proxies to include everyday objects and humans in a generic way is a unique feature of this work.

    In order to verify and validate the above concepts, we have implemented them in the Peis-Ecology NRS model. We report a number of experiments based on this implementation, which provide both quantitative and qualitative evaluations of its performance, reliability, and interoperability.

  • 758.
    Reggente, Matteo
    Örebro University, School of Science and Technology.
    Statistical gas distribution modelling for mobile robot applications2014Doctoral thesis, monograph (Other academic)
    Abstract [en]

    In this dissertation, we present and evaluate algorithms for statistical gas distribution modelling in mobile robot applications. We derive a representation of the gas distribution in natural environments using gas measurements collected with mobile robots. The algorithms fuse different sensors readings (gas, wind and location) to create 2D or 3D maps.

    Throughout this thesis, the Kernel DM+V algorithm plays a central role in modelling the gas distribution. The key idea is the spatial extrapolation of the gas measurement using a Gaussian kernel. The algorithm produces four maps: the weight map shows the density of the measurements; the confidence map shows areas in which the model is considered being trustful; the mean map represents the modelled gas distribution; the variance map represents the spatial structure of the variance of the mean estimate.

    The Kernel DM+V/W algorithm incorporates wind measurements in the computation of the models by modifying the shape of the Gaussian kernel according to the local wind direction and magnitude.

    The Kernel 3D-DM+V/W algorithm extends the previous algorithm to the third dimension using a tri-variate Gaussian kernel.

    Ground-truth evaluation is a critical issue for gas distribution modelling with mobile platforms. We propose two methods to evaluate gas distribution models. Firstly, we create a ground-truth gas distribution using a simulation environment, and we compare the models with this ground-truth gas distribution. Secondly, considering that a good model should explain the measurements and accurately predicts new ones, we evaluate the models according to their ability in inferring unseen gas concentrations.

    We evaluate the algorithms carrying out experiments in different environments. We start with a simulated environment and we end in urban applications, in which we integrated gas sensors on robots designed for urban hygiene. We found that typically the models that comprise wind information outperform the models that do not include the wind data.

  • 759.
    Reggente, Matteo
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Statistical evaluation of the kernel DM+V/W algorithm for building gas distribution maps in uncontrolled environments2009In: Proceedings of Eurosensors XXIII conference / [ed] Juergen Brugger, Danick Briand, Elsevier, 2009, Vol. 1, p. 481-484Conference paper (Refereed)
    Abstract [en]

    In this paper we present a statistical evaluation of the Kernel DM+V/W algorithm to build two-dimensional gas distribution maps with a mobile robot. In addition to gas sensor measurements from an "e-nose" the Kernel DM+V/W algorithm also takes into account wind information received from an ultrasonic anemometer. We evaluate the method based on real measurements in three uncontrolled environments with very different properties. As a measure for the model quality we compute how well unseen measurements are predicted in terms of the data likelihood. A paired Wilcoxon signed rank test shows a significant improvement (at a confidence level of 95%) of the model quality when using wind information.

  • 760.
    Reggente, Matteo
    et al.
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    The 3D-kernel DM+V/W algorithm: using wind information in three dimensional gas distribution modelling with a mobile robot2010In: 2010 IEEE SENSORS, 2010, p. 999-1004Conference paper (Other academic)
    Abstract [en]

    In this paper we present a statistical method to build three-dimensional gas distribution maps from gas sensor and wind measurements obtained with a mobile robot in uncontrolled environments. The particular contribution of this paper is to introduce and evaluate an algorithm for 3D statistical gas distribution mapping, that takes into account airflow information. 3D-Kernel DM+V/W algorithm uses a multivariate Gaussian weighting function to model the information provided by the gas sensors and an ultrasonic anemometer. The proposed algorithm is evaluated with respect to the ability of the obtained models to predict unseen measurements. The results based on 15 trials with a mobile robot in an indoor environment show improvements in the model performance when using the 3D kernel DM+V/W algorithm. Moreover the model is able to adapt to the dynamical changes of the environment learning the hyper-parameter from the sensors readings.

  • 761.
    Reggente, Matteo
    et al.
    Örebro University, School of Science and Technology.
    Mondini, Alessio
    CRIM Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy .
    Ferri, Gabriele
    CRIM Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy .
    Mazzolai, Barbara
    Centre in MicroBioRobotics IIT at SSSA, Italian Institute of Technology, Pisa, Italy .
    Manzi, Alessandro
    Arts Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy .
    Gabelletti, Matteo
    Arts Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy .
    Dario, Paolo
    CRIM Laboratory, Scuola Superiore Sant'Anna, Pisa, Italy .
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    The DustBot System: Using Mobile Robots to Monitor Pollution in Pedestrian Area2010In: Chemical Engineering Transactions, ISSN 1974-9791, E-ISSN 2283-9216, Vol. 23, p. 273-278Article in journal (Refereed)
    Abstract [en]

    The EU project DustBot addresses urban hydeience. Two types of robots were designed, the DustClean robot to autonomously clean pedestrian areas, and the DustCart robot for door-to-door garbage collection. Three prototype robots were built and equipped with electronic noses so as to enable them to collect environmental data while performing their urban hygiene tasks. Essentially, the robots act as a mobile, wirless node in a sensor network. In this paper we give an overview of the DusBot platform focusig on the Air Monitoring Module (AMM). We descibe the data flow between the robots throught the ubiquitous network to a gas distribution modelling server, where a gas deisribution model is computed. We descibe the Kernel DM+V algorithn, an approach to create statistical gas disdtribution models in the form of predictive mean and variance discrtized onto a grid map. Finally we present and discuss results obtained with the DustBot AMM during experimental trails performex in outdoor public places; a courtyard in Pontedera, Italy and a pedestrian square in Örebro, Sweden.

  • 762.
    Reicher, Robin
    Örebro University, School of Science and Technology.
    Genetisk multikriteriaoptimering inom tillståndsbaserat underhåll2009Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In this report I explain how the algorithm NSGA-II could be used to optimize condition based maintenance on a vehicle fleet. In the report result part some graphs and numbers are shown but these are thought to be an example more than absolute answer. The report is a material for deciding if a genetic multi criteria algorithm like NSGA-II could be useful in optimization problems such as the condition based maintenance problem presented by BAE systems.

    I explain how genetic algorithms mimic nature in its process and what benefits and drawbacks comes with that, more precise about how NSGA-II works, what type of answers you should expect and what to make off them. Lastly some results are given from the simplified version of problem given to me from BAE system.

  • 763.
    Reicher, Robin
    Örebro University, School of Science and Technology.
    Robot based 3D scanning and recognition of workpieces2011Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Quality inspection of a product is central of many manufacturing processes.

    While inspection on flat surfaces can be made fairly autonomous today, highly

    reflective free-form objects is problematic in many ways. This thesis is one part

    out of a two-part project investigating in an autonomous way to recognize,

    model, store relevant information and inspect these kind of work pieces. This

    part will focus on the recognition, modeling and database design. The system,

    established in this thesis will use a robotic manipulator, an industrial camera

    and the handheld 3-D scanner Exascanner. We present a methodology for

    preparing a work piece to be inspected autonomously and a simple implementation

    of the proposed methodology. The implementation recognizes workpieces

    with a support vector machine trained on histogram of oriented gradients features.

    These features are extracted from several pictures taken from different

    angles around the workpiece. The use of different angles are to make the classifier

    more versatile and robust to object being rotated or moved. If the workpeice

    is not recognized a spiral shaped dome path is created, scaled with the help of

    the pictures already taken. This shape helps ensuring a high quality scan of objects

    were there is no shape information to be used. The robotic manipulator is

    used to move the scanner along the path around the object, creating a surface

    profile of the object. This profile is built up of triangular facets of various size

    and needs to be processed before inspection of the surface can be made. A recursive

    splitting algorithm is used to make the facets as equilateral as possible

    and to make their size more suitable for the viewing range of the surface inspection

    camera. As a final step this information is stored in a database to be

    used later as support during inspection.

     

  • 764.
    Remes, Johan
    Örebro University, School of Science and Technology.
    Tidsuppfattning för dövblinda2010Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This project is about the development of a application to aid deafblind people with time understanding. The application is written in C# language and have multiple functions to alarm the user. The application can alarm deafblind persons through a combination of sounds, pictures and vibrations. This makes the application very flexible and can be used by many different groups like deaf, blind and older people. This application have been evaluated by staff from Mo Gård resurscenter.

  • 765.
    Renoux, Jennifer
    Örebro University, School of Science and Technology.
    Active Situation Reporting: Definition and Analysis2017Conference paper (Refereed)
  • 766. Renoux, Jennifer
    Contribution to multiagent planning for active information gathering2015Doctoral thesis, monograph (Other academic)
    Abstract [en]

    In this thesis, we address the problem of performing event exploration. We define event exploration as the process of exploring a topologically known environment to gather information about dynamic events in this environment. Multiagent systems are commonly used for information gathering applications, but bring important challenges such as coordination and communication. This thesis proposes a new fully decentralized model of multiagent planning for information gathering. In this model, called MAPING (Multi-Agent Planning for INformation Gathering ), the agents use an extended belief state that contains not only their own beliefs but also approximations of other agents’ beliefs. With this extended belief state they are able to quantify the relevance of a piece of information for themselves but also for others. They can then decide to explore a specific area or to communicate a specific piece of information according to the action that brings the most information to the system in its totality. The major drawback of this model is its complexity: the size of the belief states space increases exponentially with the number of agents and the size of the environment. To overcome this issue, we also suggest a solving algorithm that uses the well-known adopted assumption of variable independence.

    Finally we consider the fact that event exploration is usually an open-ended problem. Therefore the agents need to check again their beliefs even after they reached a good belief state. We suggest a smoothing function that enables the agents to forget gradually old observations that can be obsolete.

    We evaluated our model on different scenarios inspired by real-type applications. These experiments show the ability of MAPING to tackle the event exploration problem with limited communications.

  • 767.
    Renoux, Jennifer
    et al.
    Örebro University, School of Science and Technology.
    Alirezaie, Marjan
    Örebro University, School of Science and Technology.
    Karlsson, Lars
    Örebro University, School of Science and Technology.
    Köckemann, Uwe
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Context Recognition in Multiple Occupants Situations: Detecting the Number of Agents in a Smart Home Environment with Simple Sensors2017In: Knowledge-based techniques for problem solving and reasoning(KnowProS 2017): A workshop at AAAI 2017, February 5, 2017, San Francisco, U.S.A., Palo Alto: AAAI Press, 2017, Vol. ws17, p. 758-764, article id WS-17-12Conference paper (Refereed)
    Abstract [en]

    Context-recognition and activity recognition systems in multi-user environments such as smart homes, usually assume to know the number of occupants in the environment. However, being able to count the number of users in the environment is important in order to accurately recognize the activities of (groups of) agents. For smart environments without cameras, the problem of counting the number of agents is non-trivial. This is in part due to the difficulty of using a single non-vision based sensors to discriminate between one or several persons, and thus information from several sensors must be combined in order to reason about the presence of several agents. In this paper we address the problem of counting the number of agents in a topologically known environment using simple sensors that can indicate anonymous human presence. To do so, we connect an ontology to a probabilistic model (a Hidden Markov Model) in order to estimate the number of agents in each section of the environment. We evaluate our methods on a smart home setup where a number of motion and pressure sensors are distributed in various rooms of the home.

  • 768.
    Renoux, Jennifer
    et al.
    GREYC Laboratory, Université de Caen, Caen, France.
    Mouaddib, Abdel-Illah
    GREYC Laboratory, Université de Caen, Caen, France.
    Gloannec, Simon Le
    Airbus Defence and Space, Val de Reuil, France.
    A decision-theoretic planning approach for multi-robot exploration and event search2015In: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2015Conference paper (Refereed)
    Abstract [en]

    Event exploration is the process of exploring a topologically known environment to gather information about dynamic events in this environment. Using multi-robot systems for event exploration brings major challenges such as finding and communicating relevant information. This paper presents a solution to these challenges in the form of a distributed decision-theoretic model called MAPING (Multi-Agent Planning for INformation Gathering), in which each agent computes a communication and an exploration strategy by assessing the relevance of an observation for another agent. The agents use an extended belief state that contains not only their own beliefs but also approximations of other agents’ beliefs. MAPING includes a forgetting mechanism to ensure that the event-exploration remains open-ended. To overcome the resolution complexity due to the extended belief state we use a method based on the well-known adopted assumption of variables independence. We evaluate our approach on different event exploration problems with varying complexity. The experimental results on simulation show the effectiveness of MAPING, its ability to scale up and its ability to face real-word applications.

  • 769.
    Renoux, Jennifer
    et al.
    University of Caen, Caen, France.
    Mouaddib, Abdel-Illah
    University of Caen, Caen, France.
    LeGloannec, Simon
    Airbus Defence and Space, Val de Reuil, France.
    Distributed Decision-Theoretic Active Perception for Multi-robot Active Information Gathering2014In: Modeling Decisions for Artificial Intelligence: 11th International Conference, MDAI 2014, Tokyo, Japan, October 29-31, 2014: Proceedings / [ed] Torra, V.; Narukawa, Y., Endo, Y., Springer , 2014, Vol. 8825, p. 60-71Conference paper (Refereed)
    Abstract [en]

    Multirobot systems have made tremendous progress in exploration and surveillance. In that kind of problem, agents are not required to perform a given task but should gather as much information as possible. However, information gathering tasks usually remain passive. In this paper, we present a multirobot model for active information gathering. In this model, robots explore, assess the relevance, update their beliefs and communicate the appropriate information to relevant robots. To do so, we propose a distributed decision process where a robot maintains a belief matrix representing its beliefs and beliefs about the beliefs of the other robots. This decision process uses entropy and Kullback-Leibler in a reward function to access the relevance of their beliefs and the divergence with each other. This model allows the derivation of a policy for gathering information to make the entropy low and a communication policy to reduce the divergence. An experimental scenario has been developed for an indoor information gathering mission.

  • 770.
    Renoux, Jennifer
    et al.
    Airbus Defence and Space,Toulouse, France.
    Mouaddib, Abdel-Illah
    Université de Caen, Caen, France.
    LeGloannec, Simon
    Airbus Defence and Space,Toulouse, France.
    Method For Obtaining A System For Active, Decentralized Multi-agent Situation Control2015Patent (Other (popular science, discussion, etc.))
  • 771.
    Rituerto, Alejandro
    et al.
    Instituto de Investigación en Ingeniería de Aragón, Deptartmento de Informática e Ingeniería de Sistemas, University of Zaragoza, Zaragoza, Spain.
    Andreasson, Henrik
    Örebro University, School of Science and Technology.
    Murillo, Ana C.
    Instituto de Investigación en Ingeniería de Aragón, Deptartmento de Informática e Ingeniería de Sistemas, University of Zaragoza, Zaragoza, Spain.
    Lilienthal, Achim
    Örebro University, School of Science and Technology.
    Jesus Guerrero, Jose
    Instituto de Investigación en Ingeniería de Aragón, Deptartmento de Informática e Ingeniería de Sistemas, University of Zaragoza, Zaragoza, Spain.
    Building an Enhanced Vocabulary of the Robot Environment with a Ceiling Pointing Camera2016In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 16, no 4, article id 493Article in journal (Refereed)
    Abstract [en]

    Mobile robots are of great help for automatic monitoring tasks in different environments. One of the first tasks that needs to be addressed when creating these kinds of robotic systems is modeling the robot environment. This work proposes a pipeline to build an enhanced visual model of a robot environment indoors. Vision based recognition approaches frequently use quantized feature spaces, commonly known as Bag of Words (BoW) or vocabulary representations. A drawback using standard BoW approaches is that semantic information is not considered as a criteria to create the visual words. To solve this challenging task, this paper studies how to leverage the standard vocabulary construction process to obtain a more meaningful visual vocabulary of the robot work environment using image sequences. We take advantage of spatio-temporal constraints and prior knowledge about the position of the camera. The key contribution of our work is the definition of a new pipeline to create a model of the environment. This pipeline incorporates (1) tracking information to the process of vocabulary construction and (2) geometric cues to the appearance descriptors. Motivated by long term robotic applications, such as the aforementioned monitoring tasks, we focus on a configuration where the robot camera points to the ceiling, which captures more stable regions of the environment. The experimental validation shows how our vocabulary models the environment in more detail than standard vocabulary approaches, without loss of recognition performance. We show different robotic tasks that could benefit of the use of our visual vocabulary approach, such as place recognition or object discovery. For this validation, we use our publicly available data-set.

  • 772.
    Riveiro, María José
    Örebro University, School of Science and Technology.
    Visual analytics for maritime anomaly detection2011Doctoral thesis, monograph (Other academic)
    Abstract [en]

    The surveillance of large sea areas typically involves  the analysis of huge quantities of heterogeneous data.  In order to support the operator while monitoring maritime traffic, the identification of anomalous behavior or situations that might need further investigation may reduce operators' cognitive load. While it is worth acknowledging that existing mining applications support the identification of anomalies, autonomous anomaly detection systems are rarely used for maritime surveillance. Anomaly detection is normally a complex task that can hardly be solved by using purely visual or purely computational methods. This thesis suggests and investigates the adoption of visual analytics principles to support the detection of anomalous vessel behavior in maritime traffic data. This adoption involves studying the analytical reasoning process that needs to be supported,  using combined automatic and visualization approaches to support such process, and evaluating such integration. The analysis of data gathered during interviews and participant observations at various maritime control centers and the inspection of video recordings of real anomalous incidents lead to a characterization of the analytical reasoning process that operators go through when monitoring traffic. These results are complemented with a literature review of anomaly detection techniques applied to sea traffic. A particular statistical-based technique is implemented, tested, and embedded in a proof-of-concept prototype that allows user involvement in the detection process. The quantitative evaluation carried out by employing the prototype reveals that participants who used the visualization of normal behavioral models outperformed the group without aid. The qualitative assessment shows that  domain experts are positive towards providing automatic support and the visualization of normal behavioral models, since these aids may reduce reaction time, as well as increase trust and comprehensibility in the system. Based on the lessons learned, this thesis provides recommendations for designers and developers of maritime control and anomaly detection systems, as well as guidelines for carrying out evaluations of visual analytics environments.

  • 773.
    Rockel, Sebastian
    et al.
    University of Hamburg, Hamburg, Germany.
    Konečný, Štefan
    Örebro University, School of Science and Technology.
    Stock, Sebastian
    Osnabrück University, Osnabrück, Germany; DFKI Robotics Innovation Center, Osnabrück, Germany.
    Hertzberg, Joachim
    Osnabrück University, Osnabrück, Germany; DFKI Robotics Innovation Center, Osnabrück, Germany.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Zhang, Jianwei
    University of Hamburg, Hamburg, Germany.
    Integrating physics-based prediction with semantic plan execution monitoring2015In: 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), IEEE , 2015, p. 2883-2888Conference paper (Refereed)
    Abstract [en]

    Real-world robotic systems have to deal with uncertain and dynamic environments to reliably perform tasks. State-of-the-art cognitive robotic systems use an abstract symbolic representation of the real world that is used for high level reasoning. Some aspects of the world, such as object dynamics, are inherently difficult to capture in an abstract symbolic form, yet they influence whether the executed action will succeed or fail. This paper presents an integrated system that uses a physics-based simulation for predicting robot action results and durations, combined with a Hierarchical Task Network (HTN) planner and semantic execution monitoring. We describe a fully integrated system performing functional imagination, which is essentially contributed by a Semantic Execution Monitor (SEM). Based on information obtained from functional imagination, the robot control decides whether it is necessary to adapt the plan that is currently being executed. As a proof of concept, we demonstrate PR2 able of carrying objects on a tray without the objects toppling. Our approach achieves this by considering the robot and object dynamics in simulation. A validation shows that robot action results in simulation can be transferred to the real world. The system improves on state-of-the-art AI plan-based systems by feeding simulated prediction results back into the execution system.

  • 774.
    Rodesten, Stephan
    Örebro University, School of Science and Technology.
    Program för frekvensanalys2017Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report will cover the work process behind creating a spectrum analyzer. The reader will be able to read about the chosen method but also the alternative methods. Apart from this the theoretical parts behind every moment will also be covered and compared to potential alternative solutions.

    The project has been carried out on behalf of KA Automation. The purpose of the project was to create a base for analyzing sound frequencies. The goal was to be able to identify sound properties in the form of frequencies in servo motors in for example water pumps. The idea was to be able to in a later development stage be able to identify when new frequencies have entered the audio profile which might result in the motor to be in need of service. The base is created with the help of C# and the sound library NAudio.

    From the result one can conclude that this program can analyze sound and display the magnitude of its frequency components and is therefore a suitable base for future development.

  • 775.
    Saarinen, Jari
    et al.
    Örebro University, School of Science and Technology.
    Andreasson, Henrik
    Örebro University, School of Science and Technology.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Ala-Luhtala, Juha
    Aalto University of Technology, Aalto, Finland.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Normal distributions transform occupancy maps: application to large-scale online 3D mapping2013In: IEEE International Conference on Robotics and Automation, New York: IEEE conference proceedings, 2013, p. 2233-2238Conference paper (Refereed)
    Abstract [en]

    Autonomous vehicles operating in real-world industrial environments have to overcome numerous challenges, chief among which is the creation and maintenance of consistent 3D world models. This paper proposes to address the challenges of online real-world mapping by building upon previous work on compact spatial representation and formulating a novel 3D mapping approach — the Normal Distributions Transform Occupancy Map (NDT-OM). The presented algorithm enables accurate real-time 3D mapping in large-scale dynamic nvironments employing a recursive update strategy. In addition, the proposed approach can seamlessly provide maps at multiple resolutions allowing for fast utilization in high-level functions such as localization or path planning. Compared to previous approaches that use the NDT representation, the proposed NDT-OM formulates an exact and efficient recursive update formulation and models the full occupancy of the map.

  • 776.
    Saarinen, Jari
    et al.
    Örebro University, School of Science and Technology.
    Andreasson, Henrik
    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.
    3D normal distributions transform occupancy maps: an efficient representation for mapping in dynamic environments2013In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176, Vol. 32, no 14, p. 1627-1644Article in journal (Refereed)
    Abstract [en]

    In order to enable long-term operation of autonomous vehicles in industrial environments numerous challenges need to be addressed. A basic requirement for many applications is the creation and maintenance of consistent 3D world models. This article proposes a novel 3D spatial representation for online real-world mapping, building upon two known representations: normal distributions transform (NDT) maps and occupancy grid maps. The proposed normal distributions transform occupancy map (NDT-OM) combines the advantages of both representations; compactness of NDT maps and robustness of occupancy maps. One key contribution in this article is that we formulate an exact recursive updates for NDT-OMs. We show that the recursive update equations provide natural support for multi-resolution maps. Next, we describe a modification of the recursive update equations that allows adaptation in dynamic environments. As a second key contribution we introduce NDT-OMs and formulate the occupancy update equations that allow to build consistent maps in dynamic environments. The update of the occupancy values are based on an efficient probabilistic sensor model that is specially formulated for NDT-OMs. In several experiments with a total of 17 hours of data from a milk factory we demonstrate that NDT-OMs enable real-time performance in large-scale, long-term industrial setups.

  • 777.
    Saarinen, Jari
    et al.
    Örebro University, School of Science and Technology.
    Andreasson, Henrik
    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.
    Normal distributions transform monte-carlo localization (NDT-MCL)2013In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2013, p. 382-389Conference paper (Refereed)
  • 778.
    Saarinen, Jari
    et al.
    Örebro University, School of Science and Technology.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Andreasson, Henrik
    Örebro University, School of Science and Technology.
    Lilienthal, Achim J.
    Örebro University, School of Science and Technology.
    Fast 3D mapping in highly dynamic environments using normal distributions transform occupancy maps2013In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2013, p. 4694-4701Conference paper (Refereed)
  • 779.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Fuzzy logic in autonomous navigation2001In: Fuzzy logic techniques for autonomous vehicle navigation / [ed] Dimiter Driankov, Alessandro Saffiotti, Heidelberg: Physica Verlag, 2001, p. 3-24Chapter in book (Refereed)
    Abstract [en]

    The development of techniques for autonomous navigation constitutes one of the major trends in the current research on mobile robotics. In this case study, we discuss how fuzzy computation techniques have be used in the SRI International mobile robot Flakey to address some of the difficult issues posed by autonomous navigation: (i) how to design basic behaviors; (ii) how to coordinate behaviors to execute full navigation plans; and (iii) how to use approximate map information. Our techniques have been validated in both in-house experiments and public events. The use of fuzzy logic has resulted in smooth motion control, robust performance in face of errors in the prior knowledge and in the sensor data, and principled integration between different layers of control

  • 780.
    Saffiotti, Alessandro
    Örebro University, Department of Technology.
    Handling uncertainty in control of autonomous robots1999In: Artificial intelligence today: recent trends and developments / [ed] Michael J. Wooldridge, Manuela Veloso, Berlin: Springer Berlin/Heidelberg, 1999, Vol. 1600, p. 381-407Chapter in book (Refereed)
    Abstract [en]

    Autonomous robots need the ability to move purposefully and without human intervention in real-world environments that have not been specifically engineered for them. These environments are characterized by the pervasive presence of uncertainty: the need to cope with this uncertainty constitutes a major challenge for autonomous robots. In this note, we discuss this challenge, and present some specific solutions based on our experience on the use of fuzzy logic in mobile robots. We focus on three issues: how to realize robust motion control; how to flexibly execute navigation plans; and how to approximately estimate the robot's location.

  • 781.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    The Concept of Peis-Ecology: Integrating Robots in Smart Environments.2009In: Acta Futura, E-ISSN 2309-1940, no 3, p. 35-42Article in journal (Refereed)
    Abstract [en]

    The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. In this note I introduce this concept, summarize its main technological aspects, and speculate on its potential impact for space exploration.

  • 782.
    Saffiotti, Alessandro
    et al.
    Örebro University, School of Science and Technology.
    Broxvall, Mathias
    Örebro University, School of Science and Technology.
    Affordances in an ecology of physically embedded intelligent systems2008In: Towards affordance-based robot control, SPRINGER-VERLAG BERLIN, HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY , 2008, p. 106-121Conference paper (Refereed)
    Abstract [en]

    The concept of Ecology of Physically Embedded Intelligent Systems, or PFIS-Ecology, combines insights from the fields of autonomous robotics and ambient intelligence to provide a new solution to building intelligent robotic systems in the service of people. The concept of PEIS-Ecology also offers an interesting setting to study the applicability of Gibson's notion of affordances to an ecology of robots. In this paper we introduce this concept, and discuss its potential and implications both from an application point of view and from an ecological (Gibsonian) point of view. We also discuss some new scientific challenges introduced by a PEIS-Ecology, present our current steps toward its realization, and point at a few experimental results that show the viability of this concept.

  • 783.
    Saffiotti, Alessandro
    et al.
    Örebro University, School of Science and Technology.
    Broxvall, Mathias
    Örebro University, School of Science and Technology.
    Affordances in an ecology of physically embedded intelligent systems2008In: Towards affordance-based robot control / [ed] E. Rome, J. Hertzberg, G. Dorffner, Berlin: Springer , 2008, p. 106-121Chapter in book (Other academic)
    Abstract [en]

    The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights fromthe fields of autonomous robotics and ambient intelligence to provide a new solution to building intelligent robotic systems in the service of people. The concept of PEIS- Ecology also offers an interesting setting to study the applicability of Gibson's notion of affordances to an ecology of robots. In this paper we introduce this concept, and discuss its potential and implications both from an application point of view and from an ecological (Gibsonian) point of view. We also discuss some new scientific challenges introduced by a Peis- Ecology, present our current steps toward its realization, and point at a few experimental results that show the viability of this concept.

  • 784.
    Saffiotti, Alessandro
    et al.
    Örebro University, Department of Technology.
    Broxvall, Mathias
    Örebro University, Department of Technology.
    PEIS ecologies: ambient intelligence meets autonomous robotics2005In: Proceedings of the 2005 joint conference on Smart objects and ambient intelligence: innovative context-aware services: usages and technologies, 2005, p. 275-280Conference paper (Refereed)
    Abstract [en]

    A common vision in the field of autonomous robotics is to create a skilled robot companion that is able to live in our homes and to perform physical tasks to help us in our everyday life. Another vision, coming from the field of ambient intelligence, is to create a network of intelligent devices that provides us with information, communication, and entertainment. We propose to combine these two visions into the new concept of an ecology of networked Physically Embedded Intelligent Systems (PEIS). In this paper, we define this concept, discuss ways to implement it, and illustrate it on a simple example involving some real robotic devices.

  • 785.
    Saffiotti, Alessandro
    et al.
    Örebro University, School of Science and Technology.
    Broxvall, Mathias
    Örebro University, School of Science and Technology.
    Gritti, Marco
    Örebro University, School of Science and Technology.
    LeBlanc, Kevin
    Örebro University, School of Science and Technology.
    Lundh, Robert
    Örebro University, School of Science and Technology.
    Rashid, Jayedur
    Örebro University, School of Science and Technology.
    Seo, Beom-Su
    Cho, Young-Jo
    The PEIS-ecology project: vision and results2008In: IEEE/RSJ international conference on intelligent robots and systems, IROS 2008, New York: IEEE , 2008, p. 2329-2335Conference paper (Refereed)
    Abstract [en]

    The vision of an Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of autonomous robotics and ambient intelligence to provide a new approach to building robotic systems in the service of people. In this paper, we present this vision, and we report the results of a four-year collaborative research project between Sweden and Korea aimed at the concrete realization of this vision. We focus in particular on three results: a robotic middleware able to cope with highly heterogeneous systems; a technique for autonomous self-configuration and re-configuration; and a study of the problem of sharing information of both physical and digital nature.

  • 786.
    Saffiotti, Alessandro
    et al.
    Örebro University, Department of Technology.
    Driankov, Dimiter
    Örebro University, Department of Technology.
    Duckett, Tom
    Örebro University, Department of Technology.
    A system for vision based human-robot interaction2004Conference paper (Refereed)
    Abstract [en]

    We describe our initial steps toward the realization of a robotic system for assisting fire-fighting and rescue services. The system implements the concept of shared autonomy between the robot and the human operator: the mobile robot performs local navigation, sensing and mapping, while the operator interprets the sensor data and provides strategic navigation goals.

  • 787.
    Saffiotti, Alessandro
    et al.
    Örebro University, Department of Technology.
    LeBlanc, Kevin
    Örebro University, Department of Technology.
    Active perceptual anchoring of robot behavior in a dynamic environment2000In: IEEE international conference on robotics and automation, ICRA '00: proceedings, 2000, p. 3796-3802Conference paper (Refereed)
    Abstract [en]

    Perceptual anchoring is the process of linking action to the appropriate objects in the environment via perception. The pivot of anchoring is the inclusion of micro-models of the world, or anchors, into a controller. In this paper, we propose to use anchors to focus the perceptual effort according to the current needs of the controller. We describe an active gaze control strategy able to maintain anchoring of several objects in a dynamic environment, and show how we have used it in a team of legged robots in the RoboCup'99 international robot soccer competition

  • 788.
    Saffiotti, Alessandro
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    SOFTEC: the Swedish open facility for technology in elder care2010Conference paper (Other academic)
  • 789.
    Saffiotti, Alessandro
    et al.
    Örebro University, Department of Technology.
    Ruspini, Enrique H.
    Global team coordination by local computation2001Conference paper (Refereed)
    Abstract [en]

    Desirability functions are an effective way to define group and individual objectives of a team of cooperating mobile robots. By combining desirability functions, we can identify the individual actions that best satisfy both sets of objectives. Combination, however, is global, posing high demands in terms of communication and computation resources. In this paper, we investigate a technique to perform this combination using local computations. Simulated experiments suggest that, under conditions of spatial locality, team control by local computation achieves the same performance than using a global technique

  • 790.
    Saffiotti, Alessandro
    et al.
    Örebro University, Department of Technology.
    Ruspini, Enrique H.
    Konolige, Kurt
    Using fuzzy logic for mobile robot control1999In: Practical applications of fuzzy technologies / [ed] Hans-Jürgen Zimmermann, Kluwer Academic, MA , 1999, p. 185-205Chapter in book (Other academic)
    Abstract [en]

    The development of techniques for autonomous operation in real-world, unstructured environments constitutes one of the major trends in the current research on mobile robotics. In spite of recent advances, a number of fundamental difficulties remain. In this chapter, we discuss how fuzzy logic techniques can be used to address some of these difficulties. To illustrate the discussion, we describe the fuzzy-logic solutions developed on Flakey, the mobile robot of SRI International

  • 791.
    Saffiotti, Alessandro
    et al.
    Örebro University, School of Science and Technology.
    van der Zant, Tijn
    CEO at RoboLect, CTO at SIM-CI, the Netherlands.
    The Impact of RoCKIn on Robotics2017In: RoCKIn: Benchmarking Through Robot Competitions / [ed] Pedro Lima, INTECH, 2017, p. 1-5Chapter in book (Refereed)
  • 792.
    Saffiotti, Alessandro
    et al.
    Örebro University, Department of Technology.
    Wasik, Zbigniew
    Örebro University, Department of Technology.
    Using hierarchical fuzzy behaviors in the RoboCup domain2003In: Autonomous robotic systems / [ed] Changjiu Zhou, Dario Maravall, Da Ruan, Janusz Kacprzyk, Heidelberg: Physica Verlag, 2003, Vol. 116, p. 235-262Chapter in book (Refereed)
    Abstract [en]

    An important reason for the popularity of the behavior-based paradigm in autonomous robotics is the possibility to design complex robot behaviors in an incremental way. We propose a fuzzy hierarchical behavior-based architecture, in which rules and meta-rules are used in a uniform way at all levels of the control hierarchy. This architecture has been successfully used in a number of robots performing autonomous navigation tasks. In this paper, we show the use of hierarchical fuzzy behaviors to implement a set of navigation and ball control behaviors for a Sony four-legged robot operating in the RoboCup domain. We also show that the logical structure of the rules and the hierarchical decomposition simplify the design of very complex behaviors, like the "GoalKeeper" behavior.

  • 793.
    Saffiotti, Alessandro
    et al.
    Örebro University, Department of Technology.
    Zumel, N. B.
    Ruspini, Enrique H.
    Multi-robot team coordination using desirabilities2000In: Proceedings of the 6th international conference on intelligent autonomous systems: IAS, 2000, p. 107-114Conference paper (Refereed)
    Abstract [en]

    Desirability functions are an effective way to express and implement complex behavior coordination strategies inside a single robot. In this paper, we extend the desirability function approach to deal with behaviors of teams of robots. We show that desirability functions offer a convenient tool to incorporate and blend individual objectives and team objectives. We illustrate our approach on two significant problems of team coordination: reactive formation motion control, and collaborative searching and tracking.

  • 794.
    Sahlin, Anders
    et al.
    Örebro University, School of Science and Technology.
    Särner, Erik
    Örebro University, School of Science and Technology.
    UTVECKLING AV SPEL I XNA TILL SWEDISH GAME AWARDS 20092009Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The report is centered on the development of a game with the goal to participate in the national game development competition for students, Swedish Game Awards 2009. Some of the things discussed are the theory behind, as well as the design and implementation of a two dimensional platform game created with XNA. The report also comments on the pitfalls and difficulties we encountered during the process of development. The reader is expected to have basic understanding of expressions and some knowledge concerning object oriented programming. We have tried to limit the use of technical terms in order to reach a wider audience.

  • 795.
    Sandahl, Thomas
    et al.
    Örebro University, School of Science and Technology.
    Reyes, Rafael
    Örebro University, School of Science and Technology.
    Mobilapplikation för Norrlandskontakten.se2011Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Smartphones have hit it big in the market recently and a need for websites to promote themselves on the market has also increased. The goal of this project is to enhance the dating site Norrlandskontakten.se’s role on the market. This is done by developing an application for the iPhone.

    This report describes the development of this application and the type of code design we chose to follow, in other words how the application is built and its functionality. Most of the work of developing this application has been about network communications and how this is linked to a web service. Given that this is an application based on the interaction between people with its primary goal to establish contact, it requires a lot of communication with the server.

    It has been important for the navigation and the use of the application to keep high availability and that the user is not tied down during load times. And at the same time keeping down the amount of data downloaded from the server down to reduce the load on its bandwidth.

    The project is made on behalf of the Company Sailsoft AB, which has developed Norrlandskontakten.se, the webpage this application is based on.

  • 796.
    Sandberg, Erik
    Örebro University, School of Science and Technology.
    Mjukvaruoptimering med fokus på prestanda och kodeffektivitet2009Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This project is about analyzing and optimizing Generic Mobile’s messaging services with respect to performance (priority 1) and code efficiency (priority 2). The aim is to speed up the system so that a message will transit through as quickly as possible, while the load on software, hardware and database is minimal. To begin with, I will focus on optimizing the service "SMS via E-post" and then a more general approach to store-and-forward optimization will be discussed. Finally, an optimal method that works in similar systems is presented. 

    In order to demonstrate the effectiveness of the new system, a couple of analytical methods and how to analyze the data dynamically will be discussed.

  • 797.
    Sanfeliu, Alberto
    et al.
    Institut de Robòtica I Informàtica Industrial (UPC-CSIC), Universitat Politècnica de Catalunya, Barcelona, Spain.
    Hagita, Norihiro
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Network Robot Systems2008In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, no 10, p. 793-797Article in journal (Refereed)
    Abstract [en]

     This article introduces the definition of Network Robot Systems (NRS) as is understood in Europe, USA and Japan. Moreover, it describes some of the NRS projects in Europe and Japan and presents a summary of the papers of this Special Issue.  

  • 798. Sanfeliu, Alberto
    et al.
    Hagita, Norihiro
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Special issue: Network robot systems2008In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 56, no 10, p. 791-791Article in journal (Refereed)
  • 799.
    Sanfer, Jonathan
    Örebro University, School of Science and Technology.
    API för att tolka och ta fram information från kvitton2018Independent thesis Basic level (degree of Bachelor of Fine Arts), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report describes the creation of an API that can extract information from pictures of receipts. Registration number, date, time, sum and tax are the information that the API was going to be able to deliver. In this thesis there is also a deepening of the technology OCR (optical character recognition) that transforms pictures and documents to text.

    The thesis was performed for Flex Applications AB.  

  • 800.
    Sari, Anny Kartika
    et al.
    Department of Computer Science and Computer Engineering, La Trobe University, Bundoora, Australia; Department of Computer Science and Electronics, Gadjah Mada University, Yogyakarta, Indonesia.
    Rahayu, J. Wenny
    Department of Computer Science and Computer Engineering, La Trobe University, Bundoora, Australia.
    Bhatt, Mehul
    SFB/TR 8 Spatial Cognition, Informatics, University of Bremen, Bremen, Germany.
    An approach for sub-ontology evolution in a distributed health care enterprise2013In: Information Systems, ISSN 0306-4379, E-ISSN 1873-6076, Vol. 38, no 5, p. 727-744Article in journal (Refereed)
    Abstract [en]

    In response to the changing nature of health issues, standardized health ontologies such as SNOMED CT and UMLS incline to change more frequently than most other domain ontologies. Yet, semantic interoperability shared among institutions within a distributed health care enterprise relies heavily on the availability of a valid and up-to-date standardized ontology. In this paper, we propose the creation and preservation of sub-ontologies to deal with the frequent changes in health ontologies. Our approach focuses on the nature and characteristics of standard health ontologies, however it can also be applied to other domain ontologies with similar characteristics. Our sub-ontology evolution approach defines ways to create valid sub-ontologies for each specific health application, and to effectively develop a series of propagation mechanism when the main ontology changes. Our approach will (i) isolate the required change propagation to the relevant health applications that utilized the changing concepts only, and (ii) optimize the propagation mechanism to include the minimum number of operations only. Since a sub-ontology should be a valid ontology by itself, the change propagation approach used in this process should contain the rules to assure the validity of the produced sub-ontology while keeping the consistency of the sub-ontology to the evolved base ontology. A change identification process, which considers the nature of the health ontology change logs, is conducted to identify the semantics of the changes. From the evaluation, it is shown that the content of the evolved sub-ontologies produced using our approach is consistent to the evolved base ontology. Moreover, the propagation process can be performed more efficiently because the number of operations required for our change propagation method is lower than the number of operations required for direct re-extraction from the evolved base ontology.

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