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  • 1.
    Aarseth Larsson, Kim
    Örebro University, School of Science and Technology.
    Chemical Characterisation of Nitrocellulose2014Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Nitrocellulose is the main component in many types of ammunition, propellants and explosives. The principles of production for nitrocellulose have not changed much since the 19th century when it started being industrially produced for this purpose. The character of the nitrocellulose has a large effect on the end products abilities. The aim of this study was to develop a method that would be able to characterise and distinguish between nitrocellulose from different manufacturers to be able to relate the character of the nitrocellulose to the properties of ammunition, propellants and explosives. Samples were dissolved in acetone and analysed by GC/MS and data were then analysed by multivariable statistics. FTIR was also used to characterise the nitrocellulose. Results from both methods showed very small differences when chromatograms and spectra were analysed. This study shows that GC/MS and FTIR are not suitable for this type of characterisation. The differences between the data were not sufficient to be able to separate the samples from each other.

  • 2.
    Aarseth Larsson, Kim
    Örebro University, School of Science and Technology.
    Inhibition of SIRT1 Alters Apoptotic and Sex Related Genes in Zebrafish (Danio rerio)2014Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Sirtuin 1 (SIRT1) is a nicotinamide adenine dinucleotide - dependent deacetylase that belongs to the sirtuin protein family. The protein has been linked to both cancer through its effect on p53 and age related illnesses through its effect on peroxisome proliferator-activated receptor gamma (PPAR-γ). Recent data have shown a correlation between SIRT1, male fertility and spermatogenesis. Because the mechanism of sex differentiation in zebrafish is still not wellunderstood the sirt1 gene is an attractive target to study in order to improve our understanding of this topic. Zebrafish of different age were exposed to various concentrations of EX-527 toinhibit the SIRT1 protein. This was followed by qRT-PCR analysis of apoptotic and sex-related genes. Both apoptotic and sex-related gene expression levels were affected by the exposure. There were differences in genes that were affected, both between the concentrations of EX-527, and between the ages of the exposed zebrafish. The male- specific gene sexdetermining region Y box 9A (sox9a) was down-regulated at both studied EX-527 concentrations in both zebrafish larvae and juveniles. The exposure of the EX-527 resulted in no significant difference in sex-ratio. Further studies are required to describe the pathway for SIRT1 gene regulation in zebrafish.

  • 3.
    Abalos, M.
    et al.
    MTM Research Center, Örebro University, Örebro, Sweden.
    Abad, E.
    Laboratory of Dioxins, Mass Spectrometry Laboratory, Environmental Chemistry Dept., IDÆA-CSIC, Barcelona, Spain.
    van Leeuwen, S. P. J.
    Institute for Environmental Studies (IVM), Vrije University, Amsterdam, Netherlands; RIKILT-Institute of Food Safety, Wageningen, Netherlands.
    Lindström, Gunilla
    Örebro University, School of Science and Technology.
    Fiedler, Heidelore
    UNEP Chemicals, Châtelaine GE, Switzerland.
    de Boer, J.
    Institute for Environmental Studies (IVM), Vrije University, Amsterdam, Netherlands.
    van Bavel, Bert
    Results for PCDD/PCDF and dl-PCBs in the first round of UNEPs biennial global interlaboratory assessment on persistent organic pollutants2013In: TrAC. Trends in analytical chemistry, ISSN 0165-9936, E-ISSN 1879-3142, Vol. 46, p. 98-109Article in journal (Refereed)
    Abstract [en]

    The first worldwide interlaboratory assesment on persistent organic pollutants (POPs) under the Stockholm Convention was organized in the Asian/Pacific, Latin American and African regions during 2009-11.

    A relatively large number of laboratories reported data for the PCDDs/PCDFs and dioxin-like PCBs, especially in the Asian region. Within the Asian region, several participants used high-resolution GC/high-resolution MS systems optimized for dioxin analysis. The availibility of High-resolution mass spectrometer instrumentation is limited in the Latin America and African regions, although recently several new laboratories for dioxins have started in the Latin American region.

  • 4.
    Abderhim, Walid Tajeddinn
    Örebro University, School of Science and Technology.
    Morphological Analysis of β-catenin and E-cadherin in Colorectal Cancer2012Independent thesis Advanced level (degree of Master (Two Years)), 30 credits / 45 HE creditsStudent thesis
  • 5.
    Abdirazak Mohamed, Warsame
    et al.
    Örebro University, School of Science and Technology.
    Sultan, Ahmed
    Örebro University, School of Science and Technology.
    Fallstudier i IDA ICE2017Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Case studies have been performed on a room, of which the U-values, the outer wall orientation and the ventilation system are adjusted, to study how such measures affect the energy usage of said room. The aim is to create a frame of reference that can be used to give quick answers to questions regarding the amount of energy that could be saved by applying the methods discussed in this thesis. During said studies, the U-value of a simulated room’s outer wall has been decreased from 0,15 to 0,11, and the U-value of the windows of the same room has been decreased from 1,2 to 0,9. The room has been moved so that the outer wall would face west, south, east and north respectively. Finally, the simulated room’s energy and heat balance have been simulated in two cases for a person load of 20 persons, of which the first case presents a room with a CAV (Constant Air Volume) ventilation system, and the second case presents a room with a VAV (Varied Air Volume) ventilation system. The following results are obtained from the simulations: Choosing a window with a U-value of 0.9 instead of 1.2 W/m2Kdecreases the room’s energy usage by 15 %. Choosing an outer wall with a U-value of 0.11 instead of 0.15W/m2K decreases the room’s energy usage by 9 %. Choosing a VAV ventilation system instead of a CAV ventilation system decreases the room’s energy usage by up to 16 %. Constructing the outer wall to face south decreases the room’s energy usage by 14-29 %.

  • 6.
    Abdul Khaliq, Ali
    et al.
    Örebro University, School of Science and Technology.
    Pecora, Federico
    Örebro University, School of Science and Technology.
    Saffiotti, Alessandro
    Örebro University, School of Science and Technology.
    Point-to-point safe navigation of a mobile robot using stigmergy and RFID technology2016In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2016, p. 1497-1504, article id 7759243Conference paper (Refereed)
    Abstract [en]

    Reliable autonomous navigation is still a challenging problem for robots with simple and inexpensive hardware. A key difficulty is the need to maintain an internal map of the environment and an accurate estimate of the robot’s position in this map. Recently, a stigmergic approach has been proposed in which a navigation map is stored into the environment, on a grid of RFID tags, and robots use it to optimally reach predefined goal points without the need for internal maps. While effective,this approach is limited to a predefined set of goal points. In this paper, we extend this approach to enable robots to travel to any point on the RFID floor, even if it was not previously identified as a goal location, as well as to keep a safe distance from any given critical location. Our approach produces safe, repeatable and quasi-optimal trajectories without the use of internal maps, self localization, or path planning. We report experiments run in a real apartment equipped with an RFID floor, in which a service robot either reaches or avoids a user who wears slippers equipped with an RFID tag reader.

  • 7.
    Abdulkareem, Ahmed
    et al.
    Örebro University, School of Science and Technology.
    Al-Radi, Omar
    Örebro University, School of Science and Technology.
    Evaluating the measured grip stiffness of different carton board material properties and geometries2018Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This candidate thesis reports the findings of a study on an objective method for measuring grip stiffness in carton board packages with different geometries and material properties. Syntouch Biotac and a tensile tester were used as an objective method for measuring grip stiffness. In this project tests were carried out on packages with three different grammages and two different geometries. For each grammage and geometry, ten packages were tested.

    The study identifies that the applied method for the measurement of grip stiffness works to measure the change in grip stiffness regardless of where a load was applied on a package. Furthermore, the method demonstrates reasonable results. Finally, the study concluded that the objective testing method could distinguish between different material properties and geometries of the cartons being measured.

  • 8.
    Abdullaev, Fatkhulla
    et al.
    Physical-Technical Institute, Uzbek Academy of Sciences, Tashkent, Uzbekistan; CNH, Universidade Federal do ABC, Santo André, Brazil.
    Ögren, Magnus
    Örebro University, School of Science and Technology. Nano Science Center, Department of Chemistry, University of Copenhagen, København, Denmark.
    Sørensen, Mads-Peter
    Department of Applied Mathematics and Computer Science, Technical University of Denmark, Kongens Lyngby, Denmark.
    Collective dynamics of Fermi-Bose mixtures with an oscillating scattering length2019In: Physical Review A. Atomic, Molecular, and Optical Physics, ISSN 1050-2947, E-ISSN 1094-1622, Vol. 99, no 3, article id 033614Article in journal (Refereed)
    Abstract [en]

    Collective oscillations of superfluid mixtures of ultra cold fermionic and bosonic atoms are investigated while varying the fermion-boson scattering length. We study the dynamics with respect to excited center of mass modes and breathing modes in the mixture. Parametric resonances are also analyzed when the scattering length varies periodically in time, by comparing partial differential equation (PDE) models and ordinary differential equation (ODE) models for the dynamics. An application to the recent experiment with fermionic Li-6 and bosonic Li-7 atoms, which approximately have the same masses, is discussed.

  • 9.
    Abdullah, Aram
    et al.
    Örebro University, School of Science and Technology.
    Oktay, Samuel
    Örebro University, School of Science and Technology.
    Översyn av arbetstidsförläggning2013Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In order to keep up with the construction industry development it is important to be competitive. Many building contractors strive short construction times, which some- times can be difficult to achieve. In order to achieve short construction times you have to find clever solutions and a good production technic that ultimately gives a good re- sult. Shorter construction time contributes to lower costs for contractors.

    Something that is rare in today's construction industry is an extended working time this is something untried in Örebro. In the current situation a construction site opens about 07.00 and closes again for the day at 16.00, Monday to Friday. After 16.00 the construc- tion is stopped. This contributes to an inefficient use of the expenses found at a con- struction site. By extending the current working time with a few hours per day, it will hopefully contribute to a more efficiency use of the costs found at a construction site and also that the number of construction days decreases.

    In the current situation construction workers in PEAB se an extended working time negatively. According to PEAB this is because they do not understand their position in a business way within the company. PEAB argue that construction workers "permanent employment" is not a particularly secure employment. They argue that the only way to get a secure job is to PEAB in partnership with their employees can go get new jobs and deliver results together with their workers. The question then is how PEAB will be able to distinguish themselves from all other construction companies and gain a competitive advantage. According to Fredrik Ahl, Project Manager at PEAB, the solution is an ex- tended working time.

    This report aims to examine how a change in the current working time will affect the cost of a construction site. We also examined the reactions that occur among workers and officials when working hours are changing. 

  • 10.
    Abdullah, Muhammad
    Örebro University, School of Science and Technology.
    Mobile Robot Navigation using potential fields andmarket based optimization2013Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    A team of mobile robots moving in a shared area raises the problem of safe and autonomous navigation. While avoiding static and dynamic obstacles, mobile robots in a team can lead to complicated and irregular movements. Local reactive approaches are used to deal with situations where robots are moving in dynamic environment; these approaches help in safe navigation of robots but do not give optimal solution. In this work a 2-D navigation strategy is implemented, where a potential field method is used for obstacle avoidance. This potential field method is improved using fuzzy rules, traffic rules and market based optimization (MBO). Fuzzy rules are used to deform repulsive potential fields in the vicinity of obstacles. Traffic rules are used to deal situations where two robots are crossing each other. Market based optimization (MBO) is used to strengthen or weaken repulsive potential fields generated by other robots based on their importance. For the verification of this strategy on more realistic vehicles this navigation strategy is implemented and tested in simulation. Issues while implementing this method and limitations of this navigation strategy are also discussed. Extensive experiments are performed to examine the validity of MBO navigation strategy over traditional potential field (PF) method.

  • 11.
    AbdulWahab, Atqah
    et al.
    Department of Pediatrics, Hamad Medical Corporation, Doha, Qatar; Weill Cornell Medicine‑Qatar, Doha, Qatar.
    Zahraldin, Khalid
    Department of Pediatrics, Hamad Medical Corporation, Doha, Qatar.
    Ahmed, Mazen Sid
    Örebro University, School of Science and Technology. Department of Laboratory Medicine and Pathology, Microbiology Division, Hamad Medical Corporation, Doha, Qatar.
    Abu Jarir, Sulieman
    Departments of Internal Medicine, Hamad Medical Corporation, Doha, Qatar.
    Muneer, Mohammed
    Plastic Surgery, Hamad Medical Corporation, Doha, Qatar.
    Mohamed, Shehab F.
    Departments of Internal Medicine, Hamad Medical Corporation, Doha, Qatar.
    Hamid, Jemal M.
    Department of Laboratory Medicine and Pathology, Microbiology Division, Hamad Medical Corporation, Doha, Qatar.
    Hassan, Abubaker A. I.
    Departments of Internal Medicine, Hamad Medical Corporation, Doha, Qatar.
    Ibrahim, Emad Bashir
    Weill Cornell Medicine‑Qatar, Doha, Qatar; Department of Laboratory Medicine and Pathology, Microbiology Division, Hamad Medical Corporation, Doha, Qatar.
    The emergence of multidrug-resistant Pseudomonas aeruginosa in cystic fibrosis patients on inhaled antibiotics2017In: Lung India, ISSN 0970-2113, E-ISSN 0974-598X, Vol. 34, no 6, p. 527-531Article in journal (Refereed)
    Abstract [en]

    Introduction: Multidrug-resistant Pseudomonas aeruginosa (MDR-PA) is an important and growing issue in the care of patients with cystic fibrosis (CF), and a major cause of morbidity and mortality.

    Objective: The objective of the study was to describe the frequency of MDR-PA recovered from the lower respiratory samples of pediatric and adult CF patients, and its antibiotic resistance pattern to commonly used antimicrobial agents including beta-lactams, aminoglycosides, and fluoroquinolones.

    Materials and Methods: The lower respiratory isolates of P. aeruginosa were obtained from inpatients and outpatients CF clinics from a tertiary care teaching hospital for the period from October 2014 to September 2015. The identification and antimicrobial susceptibility for all the isolates were performed by using the BD Phoenix (TM) and E-test in compliance with Clinical and Laboratory Standards Institute (CLSI) guidelines.

    Results: A total of 61 P. aeruginosa samples were isolated from thirty CF patients from twenty families. Twelve sputum samples were positive for MDR-PA (seven nonmucoid and five mucoid isolates) from five CF patients (five families) with moderate-to-very severe lung disease given MDR-PA frequency of 19.7%. The median age of the study group was 20 (range 10-30) years. Three CF patients were on chronic inhaled tobramycin and two on nebulized colistin. The antimicrobial patterns of isolates MDR-PA showed the highest rate of resistance toward each gentamycin, amikacin, and cefepime (100%), followed by 91.7% to ciprofloxacin, 75% to tobramycin, 58.3% to meropenem, and 50% to piperacillin-tazobactam. None of the isolates were resistant to colistin during the study period.

    Conclusion: The study results emphasize that the emergence of a significant problem in the clinical isolates of P. aeruginosa in CF patients that dictate appropriate attention to the antibiotic management after proper surveillance.

  • 12.
    Abu Baker Karim, Aria
    et al.
    Örebro University, School of Science and Technology.
    Schnelzer, Anna
    Örebro University, School of Science and Technology.
    Optimering av glidlager och utveckling av dess konstruktion2012Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    We have in this project become engrossed in a plain bearing design that is located in a screw press. The screw press compact an unknown mass that is confidential. Robustus have a suggestion to over dimensioning the present plain bearing. The aim of this project was to analyze and to do an optimization on some plain bearings and compare them to the present bearing and to take the choice of material and the environment where the bearing is located into account. The analysis and the optimizations showed that the current plain bearing had the best geometry but not the optimal material selection. The project is in an early state and it needs some geometrical changes. The most important of everything is that the problem has been identified with the help of the wrecked plain bearing and with an excel model.

  • 13.
    Abuabaid, Hanan
    et al.
    Örebro University, School of Science and Technology.
    Karlsson, Mattias
    Örebro University, School of Science and Technology.
    Scherbak, Nikolai
    Örebro University, School of Science and Technology.
    Olsson, Per-Erik
    Örebro University, School of Science and Technology.
    Jass, Jana
    Örebro University, School of Science and Technology.
    Probiotic Lactobacillus rhamnosus alters inflammatory responses of bladder epithelial and macrophage-like cells in co-cultureManuscript (preprint) (Other academic)
  • 14.
    Adayson, Christian
    et al.
    Örebro University, School of Science and Technology.
    Ashor, Denkha
    Örebro University, School of Science and Technology.
    Analysering av förbättringsförslag till byggproduktion - En studie baserad på Lean2016Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In recent years, production in the construction industry has evolved into a costlier construction. It has become poorer productivity and increased construction defect attributed to scientific development. They can include notes that 40% of employees time at work goes to value-added work. Construction industry is inefficient in comparison to other manufacturing industries which has 65-75% in value-added work. It is also clear that the costs in the construction sector can be reduced by 30-35%. The authorities in the various reports conveyed its current troubles and that the renovation industry needs.

    The study was done with the help of interviews and a questionnaire analysis on several construction sites to investigate if the problem persists. We chose to focus on four different construction companies working on similar sized projects. By this is obtained a greater overview of the practical work steps.

    The aim is to offer suggestions for improvement using Lean to building production.

    The work delineated on studying waste, orderliness, and continuous improvement.

    The work began with a thorough literature search and through scientific articles. This was done in order to get an overall picture of Lean and also to analyze the problem in the construction industry.

    Lean is about making work more efficiently by managing resources properly. It aims to eliminate unnecessary waste and making continuous improvements. It is an approach that has been used in manufacturing and have been designed by Toyota Automotive Group. Given its present situation in the construction industry want to study, explore opportunities Lean can bring in terms of efficiency and reduction of costs of production.

    It can be ascertained is that workplaces are still gaps in the understanding of what waste is. They are not sufficiently informed and prioritize sometimes the wrong kind of waste. During the interviews it became apparent major gaps in knowledge on the issue. Wrong priorities result that it becomes a messy workplace, which in turn makes it less environmentally friendly and can thus cause injuries.

    Through that process and maintain order in the workplace, it provides the opportunity for a larger workspace that is more flexible, higher quality of performance, employee ergonomics are better and there is less risk of injury.

  • 15.
    Adediran, Gbotemi A.
    et al.
    Department of Chemistry, Umeå University, Umeå, Sweden.
    Liem-Nguyen, Van
    Örebro University, School of Science and Technology. Department of Chemistry, Umeå University, Umeå, Sweden.
    Song, Yu
    Department of Forest Ecology and Management, Swedish University of Agricultural Sciences, Umeå, Sweden.
    Schaefer, Jeffra K.
    Department of Environmental Sciences, Rutgers University, New Brunswick, New Jersey, United States.
    Skyllberg, Ulf
    Department of Forest Ecology and Management, Swedish University of Agricultural Sciences, Umeå, Sweden.
    Björn, Erik
    Department of Chemistry, Umeå University, Umeå, Sweden.
    Microbial Biosynthesis of Thiol Compounds: Implications for Speciation, Cellular Uptake, and Methylation of Hg(II)2019In: Environmental Science and Technology, ISSN 0013-936X, E-ISSN 1520-5851, Vol. 53, no 14, p. 8187-8196Article in journal (Refereed)
    Abstract [en]

    Cellular uptake of inorganic divalent mercury (Hg(II)) is a key step in microbial formation of neurotoxic methylmercury (MeHg), but the mechanisms remain largely unidentified. We show that the iron reducing bacterium Geobacter sulfurreducens produces and exports appreciable amounts of low molecular mass thiol (LMM-RSH) compounds reaching concentrations of about 100 nM in the assay medium. These compounds largely control the chemical speciation and bioavailability of Hg(II) by the formation of Hg(LMM-RS)<INF><INF><INF>2</INF></INF> </INF>complexes (primarily with cysteine) in assays without added thiols. By characterizing these effects, we show that the thermodynamic stability of Hg(II)-complexes is a principal controlling factor for Hg(II) methylation by this bacterium such that less stable complexes with mixed ligation involving LMM-RSH, OH<SUP>-</SUP>, and Cl<SUP>-</SUP> are methylated at higher rates than the more stable Hg(LMM-RS)<INF>2</INF> complexes. The Hg(II) methylation rate across different Hg(LMM-RS)<INF>2</INF> compounds is also influenced by the chemical structure of the complexes. In contrast to the current perception of microbial uptake of Hg, our results adhere to generalized theories for metal biouptake based on metal complexation with cell surface ligands and refine the mechanistic understanding of Hg(II) availability for microbial methylation.

  • 16.
    Adolfsson, Daniel
    et al.
    Örebro University, School of Science and Technology.
    Lowry, Stephanie
    Örebro University, School of Science and Technology.
    Andreasson, Henrik
    Örebro University, School of Science and Technology.
    Improving Localisation Accuracy using Submaps in warehouses2018Conference paper (Other academic)
    Abstract [en]

    This paper presents a method for localisation in hybrid metric-topological maps built using only local information that is, only measurements that were captured by the robot when it was in a nearby location. The motivation is that observations are typically range and viewpoint dependent and that a map a discrete map representation might not be able to explain the full structure within a voxel. The localisation system uses a method to select submap based on how frequently and where from each submap was updated. This allow the system to select the most descriptive submap, thereby improving the localisation and increasing performance by up to 40%.

  • 17.
    Aghaie Azghandi, Mohammed Ali
    et al.
    Örebro University, School of Science and Technology.
    Ahmad, Omar
    Örebro University, School of Science and Technology.
    Byggföretagens hantering av fuktsäkerhetsprojektering – med fokus på projektörer2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Moisture damage usually occurs due to incorrect planning, design and execution throughout the construction process. These inaccuracies result in large cost of action that can be minimized or even eliminated if the moisture safety work is done properly. The design phase is an important stage and a properly implemented moisture safety design can be of great importance for the moisture safety work during the construction process. The planners’ role at this stage is to carry out a moisture safety work based on the requirements of the developer. The purpose of this exam is to find out the choice of method made by the planners’ in the implementation of moisture safety design and to review the need of competence development among the planners’ about moisture.    The two methods that have been used to achieve the purpose of this exam are interviews and literature studies. The target group in this exam is the construction companies in Sweden. The way of how the companies handle of moisture safety design is being reviewed in the design stage.  Of all involved actors in the design phase, the focus is on the planners'. Three out of five planners' are dissatisfied with their own moisture competence, which is in line with the opinion of the experts' of moisture about the planners' competence.   During the interviews, several experts' of moisture have pointed out the need for increased moisture competence among the planners'. The lack competence means that the planners' cannot consider or detect possible moisture risks during the moisture safety design. The method that is used by 80% of the planners' during moisture safety design is the ByggaF method. The planners' knowledge of ByggaF is still low according to the experts' of moisture and for this reason the planners' cannot apply entirely the ByggaF method. The tools that planners' need to have with them is knowledge and experience. In order to discover what is wrong, you need to have both the knowledge and experience about what is right.  Based on the response from both the building committee and the participants, a review of the documentation regarding the moisture safety work is not always requested by the building committee.  The conclusion is that projectors must acquire competence in both moisture and the ByggaF method.   

  • 18.
    Ahari, Elias
    et al.
    Örebro University, School of Science and Technology.
    Eliasson, Erik
    Örebro University, School of Science and Technology.
    UNDERSÖKNING AV OMSTÄLLNINGSTIDER OCH VARIATIONER VID KARTONGMASKIN 2: EN FALLSTUDIE PÅ IGGESUND PAPERBOARD AB, IGGESUND2018Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Iggesund Mill manufactures bleached board that is used in exclusive packaging. Iggesund Mill is a part of the Holmen Groupand is located almost 30 scandinavian miles north of Stockholm. A strategic initiative has been launched at Iggesund Mill, which includes improving the working environment, increasing participation and increasing the ability to produce high quality board.

    In this study, changeovers and the variations that occur on the board machine 2 (KM2)have been investigated. This work has been conducted as a qualitative case study where interviews and observations have been analyzed with theoretical support. Early in the study it proved difficult to determine the changeover times at KM2. This may be due to an uncertainty regarding how to report changeovers, which creates a misleading picture of the changeover problems. The conclusion of this is that Iggesund Mill should clearly define the term "Changeover". The variety of products also leads to a lot of changeovers which leads to variations in the process that adversely affect the productivity. A recommendation for a continued work is to investigate whether the product variety can be reduced or the possibility to run larger production cycles.

  • 19.
    Ahmad, Abrar
    Örebro University, School of Science and Technology.
    Kras and Braf mutation analysis in colon cancer by pyrosequencing2012Independent thesis Advanced level (degree of Master (Two Years)), 30 credits / 45 HE creditsStudent thesis
  • 20.
    Ahmed, Farouq
    Örebro University, School of Science and Technology.
    Utökad automatisering av e-handel med shopify API2018Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Competition among sellers is rapidly increasing within e-commerce due to the decreasing barrier of entry. In order for a seller to be relevant, effectiveness is a requirement that can be achieved by using different methods and tools that result in a successful and profitable online store. One of the methods that sellers use is drop shipping which allows sale of goods without inventory holding. This is done by ordering the products from a third part that ships to the customer the moment an order is placed, instead of purchasing the products in advance. This leads to cheaper and more effective trade for new and already existing sellers.Despite the good opportunities that drop shipping allows, it is a time consuming task that requires a high level of accuracy due to the many repetitive tasks that are performed during the sales process. This is a problem that can hinder sellers from using the drop shipping model. In order to make it easier for sellers to utilize this method, a program can perform the manual tasks automatically.In this report, different software architectural patterns are studied to build the base of a prototype program that could perform the manual tasks with a satisfactory level of automation.

  • 21.
    Ahmed, Mobyen Uddin
    et al.
    Örebro University, School of Science and Technology.
    Banaee, Hadi
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Health monitoring for elderly: an application using case-based reasoning and cluster analysis2013In: ISRN Artificial Intelligence, ISSN 2090-7435, E-ISSN 2090-7443, Vol. 2013, no 2013, p. 1-11Article in journal (Refereed)
    Abstract [en]

    This paper presents a framework to process and analyze data from a pulse oximeter which measures pulse rate and blood oxygen saturation from a set of individuals remotely. Using case-based reasoning (CBR) as the backbone to the framework, records are analyzed and categorized according to how well they are similar. Record collection has been performed using a personalized health profiling approach where participants wore a pulse oximeter sensor for a fixed period of time and performed specific activities for pre-determined intervals. Using a variety of feature extraction in time, frequency and time-frequency domains, and data processing techniques, the data is fed into a CBR system which retrieves most similar cases and generates alarm and flag according to the case outcomes. The system has been compared with an expert's classification and 90% match is achieved between the expert's and CBR classification. Again, considering the clustered measurements the CBR approach classifies 93% correctly both for the pulse rate and oxygen saturation. Along with the proposed methodology, this paper provides a basis for which the system can be used in analysis of continuous health monitoring and be used as a suitable method as in home/remote monitoring systems.

  • 22.
    Ahmed, Mobyen Uddin
    et al.
    Örebro University, School of Science and Technology.
    Banaee, Hadi
    Örebro University, School of Science and Technology.
    Rafael-Palou, Xavier
    Barcelona Digital Technology Centre, Barcelona, Spain.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Intelligent Healthcare Services to Support Health Monitoring of Elderly2015In: INTERNET OF THINGS: USER-CENTRIC IOT, PT I, Springer, 2015, Vol. 150, p. 178-186Conference paper (Refereed)
    Abstract [en]

    This paper proposed an approach of intelligent healthcare services to support health monitoring of old people through the project named SAAPHO. Here, definition and architecture of the proposed healthcare services are presented considering six different health parameters such as: 1) physical activity, 2) blood pressure, 3) glucose, 4) medication compliance, 5) pulse monitoring and 6) weight monitoring. The outcome of the proposed services is evaluated in a case study where total 201 subjects from Spain and Slovenia are involved for user requirements analysis considering 1) end users, 2) clinicians, and 3) field study analysis perspectives. The result shows the potentiality and competence of the proposed healthcare services for the users.

  • 23.
    Ahmed, Mobyen Uddin
    et al.
    Mälardalen University, Västerås, Sweden.
    Fotouhi, Hossein
    Mälardalen University, Västerås, Sweden.
    Köckemann, Uwe
    Örebro University, School of Science and Technology.
    Lindén, Maria
    Mälardalen University, Västerås, Sweden.
    Tomasic, Ivan
    Mälardalen University, Västerås, Sweden.
    Tsiftes, Nicolas
    RISE SICS, Stockholm, Sweden.
    Voigt, Thiemo
    RISE SICS, Stockholm, Sweden.
    Run-Time Assurance for the E-care@home System2018In: Internet of Things (IoT) Technologies for HealthCare (HealthyIoT 2017) / [ed] Ahmed, MU; Begum, S; Fasquel, JB, Springer, 2018, Vol. 225, p. 107-110Conference paper (Refereed)
    Abstract [en]

    This paper presents the design and implementation of the software for a run-time assurance infrastructure in the E-care home system. An experimental evaluation is conducted to verify that the run-time assurance infrastructure is functioning correctly, and to enable detecting performance degradation in experimental IoT network deployments within the context of E-care home.

  • 24.
    Ahmed, Mobyen Uddin
    et al.
    Örebro University, School of Science and Technology.
    Islam, Asif Moinul
    Örebro University, Örebro, Sweden.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    A case-based patient identification system using pulseoximeter and a personalized health profile2012Conference paper (Refereed)
    Abstract [en]

    This paper proposes a case-based system framework in order to identify patient using their health parameters taken with physiological sensors. It combines a personalized health profiling protocol with a Case-Based Reasoning (CBR) approach. The personalized health profiling helps to determine a number of individual parameters which are important inputs for a clinician to make the final diagnosis and treatment plan. The proposed system uses a pulse oximeter that measures pulse rate and blood oxygen saturation. The measurements are taken through an android application in a smart phone which is connected with the pulseoximeter and bluetooth communication. The CBR approach helps clinicians to make a diagnosis, classification and treatment plan by retrieving the most similar previous case. The case may also be used to follow the treatment progress. Here, the cases are formulated with person’s contextual information and extracted features from sensor signal measurements. The features are extracted considering three domain analysis:1) time domain features using statistical measurement, 2) frequency domain features applying Fast Fourier Transform (FFT), and 3) time-frequency domain features applying Discrete Wavelet Transform (DWT). The initial result is acceptable that shows the advancement of the system while combining the personalized health profiling together with CBR.

  • 25.
    Ahmed, Mobyen Uddin
    et al.
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Physical Activity Classification for Elderly based on Pulse Rate2013Conference paper (Refereed)
    Abstract [en]

    Physical activity is one of the key components for elderly in order to be actively ageing. However, it is difficult to differentiate and identify the body movement and actual physical activity using only accelerometer measurement. Therefore, this paper presents an application of case-based retrieval classification scheme to classify the physical activity of elderly based on pulse rate measurements. Here, case-based retrieval approach used the features extracted from both time and frequency domain. The evaluation result shows the best accuracy performance while considering the combination of time and frequency domain features. According to the evaluation result while considering the control measurements, the sensitivity, specificity and overall accuracy are achieved as 95%, 96% and 96% respectively. Considering the test dataset, the system was succeeded to identify 13 physical activities out of 16 i.e. the percentage of the correctness was 81%.

  • 26.
    Ahmed, Mobyen Uddin
    et al.
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Physical activity identification using supervised machine learning and based on pulse rate2013In: International Journal of Advanced Computer Sciences and Applications, ISSN 2158-107X, E-ISSN 2156-5570, Vol. 4, no 7, p. 210-217Article in journal (Refereed)
    Abstract [en]

    Physical activity is one of the key components for elderly in order to be actively ageing. Pulse rate is a convenient physiological parameter to identify elderly’s physical activity since it increases with activity and decreases with rest. However, analysis and classification of pulse rate is often difficult due to personal variation during activity. This paper proposed a Case-Based Reasoning (CBR) approach to identify physical activity of elderly based on pulse rate. The proposed CBR approach has been compared with the two popular classification techniques, i.e. Support Vector Machine (SVM) and Neural Network (NN). The comparison has been conducted through an empirical experimental study where three experiments with 192 pulse rate measurement data are used. The experiment result shows that the proposed CBR approach outperforms the other two methods. Finally, the CBR approach identifies physical activity of elderly 84% accurately based on pulse rate

  • 27.
    Ahnström, Johan
    et al.
    Swedish University of Agricultural Sciences, Department of Ecology, Uppsala, Sweden; Länsstyrelsen i Uppsala län, Uppsala, Sweden.
    Bengtsson, Jan
    Swedish University of Agricultural Sciences, Department of Ecology, Uppsala, Sweden.
    Berg, Åke
    Swedish University of Agricultural Sciences, The Swedish Biodiversity Centre, Uppsala, Sweden.
    Hallgren, Lars
    Swedish University of Agricultural Sciences, Department of Urban and Rural Development, Uppsala, Sweden.
    Boonstra, Wijnand J.
    Swedish University of Agricultural Sciences, Department of Urban and Rural Development, Uppsala, Sweden; Stockholm Resilience Centre, Stockholm University, Stockholm, Sweden.
    Björklund, Johanna
    Örebro University, School of Science and Technology.
    Farmers' Interest in Nature and Its Relation to Biodiversity in Arable Fields2013In: International Journal of Ecology, ISSN 1687-9708, E-ISSN 1687-9716, article id 617352Article in journal (Refereed)
    Abstract [en]

    Biodiversity declines in farmland have been attributed to intensification of farming at the field level and loss of heterogeneity at the landscape level. However, farmers are not solely optimizing production; their actions are also influenced by social factors, tradition and interest in nature, which indirectly influence biodiversity but rarely are incorporated in studies of farmland biodiversity. We used social science methods to quantify farmers’ interest in nature on 16 farms with winter wheat fields in central Sweden, and combined this with biodiversity inventories of five organism groups (weeds, carabid beetles, bumblebees, solitary bees, and birds) and estimates of landscape composition andmanagement intensity at the field level.Agricultural intensity,measured as crop density, and farmers’ interest in nature explained variation in biodiversity, measured as the proportion of the regional species richness found on single fields. Interest in nature seemed to incorporate many actions taken by farmers and appeared to be influenced by both physical factors, for example, the surrounding landscape, and social factors, for example, social motivations.This study indicates that conservation of biodiversity in farmland, and design of new agri-environmental subsidy systems, would profit from taking farmers’ interest in nature and its relation to agricultural practices into account.

  • 28.
    Aho, Vilma
    et al.
    Department of Physiology, Faculty of Medicine, University of Helsinki, Helsinki, Finland.
    Ollila, Hanna M
    Department of Physiology, Faculty of Medicine, University of Helsinki, Helsinki, Finland; Genomics and Biomarkers Unit, Institute for Molecular Medicine FIMM, National Institute for Health and Welfare, Helsinki, Finland; Department of Psychiatry, Helsinki University Hospital, University of Helsinki, Helsinki, Finland; Stanford University Center for Sleep Sciences, Palo Alto CA, United States.
    Kronholm, Erkki
    Department of Chronic Disease Prevention, Population Studies Unit, National Institute for Health and Welfare, Turku, Finland.
    Bondia-Pons, Isabel
    VTT Technical Research Centre of Finland, Espoo, Finland; Steno Diabetes Center A/S, Gentofte, Denmark.
    Soininen, Pasi
    Computational Medicine, Institute of Health Sciences, University of Oulu, Oulu, Finland; NMR Metabolomics Laboratory, School of Pharmacy, University of Eastern Finland, Kuopio, Finland.
    Kangas, Antti J
    Computational Medicine, Institute of Health Sciences, University of Oulu, Oulu, Finland.
    Hilvo, Mika
    VTT Technical Research Centre of Finland, Espoo, Finland.
    Seppälä, Ilkka
    Department of Clinical Chemistry, Fimlab Laboratories, University of Tampere, School of Medicine, Tampere, Finland.
    Kettunen, Johannes
    Genomics and Biomarkers Unit, Institute for Molecular Medicine FIMM, National Institute for Health and Welfare, Helsinki, Finland; Computational Medicine, Institute of Health Sciences, University of Oulu, Oulu, Finland; NMR Metabolomics Laboratory, School of Pharmacy, University of Eastern Finland, Kuopio, Finland.
    Oikonen, Mervi
    Research Centre of Applied and Preventive Cardiovascular Medicine, University of Turku, Turku, Finland.
    Raitoharju, Emma
    Department of Clinical Chemistry, Fimlab Laboratories, University of Tampere, School of Medicine, Tampere, Finland.
    Hyötyläinen, Tuulia
    Örebro University, School of Science and Technology. VTT Technical Research Centre of Finland, Espoo, Finland; Steno Diabetes Center A/S, Gentofte, Denmark.
    Kähönen, Mika
    Department of Clinical Physiology, University of Tampere, Tampere University Hospital, Tampere, Finland.
    Viikari, Jorma S A
    Department of Medicine, University of Turku, Turku, Finland; Division of Medicine, Turku University Hospital, Turku, Finland.
    Härmä, Mikko
    Brain and Work Research Centre, Finnish Institute of Occupational Health, Helsinki, Finland.
    Sallinen, Mikael
    Brain and Work Research Centre, Finnish Institute of Occupational Health, Helsinki, Finland; Agora Center, University of Jyväskylä, Jyväskylä, Finland.
    Olkkonen, Vesa M
    Minerva Foundation Institute for Medical Research, Helsinki, Finland; Institute of Biomedicine, Anatomy, University of Helsinki, Helsinki, Finland.
    Alenius, Harri
    Unit of Excellence for Immunotoxicology, Finnish Institute of Occupational Health, Helsinki, Finland.
    Jauhiainen, Matti
    Genomics and Biomarkers Unit, Institute for Molecular Medicine FIMM, National Institute for Health and Welfare, Helsinki, Finland.
    Paunio, Tiina
    Genomics and Biomarkers Unit, Institute for Molecular Medicine FIMM, National Institute for Health and Welfare, Helsinki, Finland; Department of Psychiatry, Helsinki University Hospital, University of Helsinki, Helsinki, Finland.
    Lehtimäki, Terho
    Department of Clinical Chemistry, Fimlab Laboratories, University of Tampere, School of Medicine, Tampere, Finland.
    Salomaa, Veikko
    Department of Chronic Disease Prevention, National Institute for Health and Welfare, Helsinki, Finland.
    Orešič, Matej
    VTT Technical Research Centre of Finland, Espoo, Finland; Steno Diabetes Center A/S, Gentofte, Denmark.
    Raitakari, Olli T
    Research Centre of Applied and Preventive Cardiovascular Medicine, University of Turku, Turku, Finland; Department of Clinical Physiology and Nuclear Medicine, Turku University Hospital, Turku, Finland.
    Ala-Korpela, Mika
    Computational Medicine, Institute of Health Sciences, University of Oulu, Oulu, Finland; NMR Metabolomics Laboratory, School of Pharmacy, University of Eastern Finland, Kuopio, Finland; Oulu University Hospital, Oulu, Finland; Computational Medicine, School of Social and Community Medicine, Medical Research Council Integrative Epidemiology Unit, University of Bristol, Bristol, United Kingdom.
    Porkka-Heiskanen, Tarja
    Department of Physiology, Faculty of Medicine, University of Helsinki, Helsinki, Finland.
    Prolonged sleep restriction induces changes in pathways involved in cholesterol metabolism and inflammatory responses2016In: Scientific Reports, ISSN 2045-2322, E-ISSN 2045-2322, Vol. 6, article id 24828Article in journal (Refereed)
    Abstract [en]

    Sleep loss and insufficient sleep are risk factors for cardiometabolic diseases, but data on how insufficient sleep contributes to these diseases are scarce. These questions were addressed using two approaches: an experimental, partial sleep restriction study (14 cases and 7 control subjects) with objective verification of sleep amount, and two independent epidemiological cohorts (altogether 2739 individuals) with questions of sleep insufficiency. In both approaches, blood transcriptome and serum metabolome were analysed. Sleep loss decreased the expression of genes encoding cholesterol transporters and increased expression in pathways involved in inflammatory responses in both paradigms. Metabolomic analyses revealed lower circulating large HDL in the population cohorts among subjects reporting insufficient sleep, while circulating LDL decreased in the experimental sleep restriction study. These findings suggest that prolonged sleep deprivation modifies inflammatory and cholesterol pathways at the level of gene expression and serum lipoproteins, inducing changes toward potentially higher risk for cardiometabolic diseases.

  • 29.
    Ahonen, Linda
    et al.
    Steno Diabetes Center Copenhagen, Gentofte, Denmark.
    Jäntti, Sirkku
    Drug Research Program, Division of Pharmaceutical Chemistry and Technology, Faculty of Pharmacy, University of Helsinki, Helsinki, Finland.
    Suvitaival, Tommi
    Steno Diabetes Center Copenhagen, Gentofte, Denmark.
    Theilade, Simone
    Steno Diabetes Center Copenhagen, Gentofte, Denmark.
    Risz, Claudia
    Steno Diabetes Center Copenhagen, Gentofte, Denmark.
    Kostiainen, Risto
    Drug Research Program, Division of Pharmaceutical Chemistry and Technology, Faculty of Pharmacy, University of Helsinki, Helsinki, Finland.
    Rossing, Peter
    Steno Diabetes Center Copenhagen, Gentofte, Denmark; Department of Clinical Medicine, University of Copenhagen, Copenhagen, Denmark.
    Oresic, Matej
    Örebro University, School of Medical Sciences. Turku Centre for Biotechnology, University of Turku and Åbo Akademi University, Turku, Finland.
    Hyötyläinen, Tuulia
    Örebro University, School of Science and Technology.
    Targeted Clinical Metabolite Profiling Platform for the Stratification of Diabetic Patients2019In: Metabolites, ISSN 2218-1989, E-ISSN 2218-1989, Vol. 9, no 9, article id E184Article in journal (Refereed)
    Abstract [en]

    Several small molecule biomarkers have been reported in the literature for prediction and diagnosis of (pre)diabetes, its co-morbidities, and complications. Here, we report the development and validation of a novel, quantitative method for the determination of a selected panel of 34 metabolite biomarkers from human plasma. We selected a panel of metabolites indicative of various clinically-relevant pathogenic stages of diabetes. We combined these candidate biomarkers into a single ultra-high-performance liquid chromatography-tandem mass spectrometry (UHPLC-MS/MS) method and optimized it, prioritizing simplicity of sample preparation and time needed for analysis, enabling high-throughput analysis in clinical laboratory settings. We validated the method in terms of limits of detection (LOD) and quantitation (LOQ), linearity (R2), and intra- and inter-day repeatability of each metabolite. The method's performance was demonstrated in the analysis of selected samples from a diabetes cohort study. Metabolite levels were associated with clinical measurements and kidney complications in type 1 diabetes (T1D) patients. Specifically, both amino acids and amino acid-related analytes, as well as specific bile acids, were associated with macro-albuminuria. Additionally, specific bile acids were associated with glycemic control, anti-hypertensive medication, statin medication, and clinical lipid measurements. The developed analytical method is suitable for robust determination of selected plasma metabolites in the diabetes clinic.

  • 30.
    Ahtiainen, Juhana
    et al.
    Department of Electrical Engineering and Automation, Aalto University, Espoo, Finland.
    Stoyanov, Todor
    Örebro University, School of Science and Technology.
    Saarinen, Jari
    GIM Ltd., Espoo, Finland.
    Normal Distributions Transform Traversability Maps: LIDAR-Only Approach for Traversability Mapping in Outdoor Environments2017In: Journal of Field Robotics, ISSN 1556-4959, E-ISSN 1556-4967, Vol. 34, no 3, p. 600-621Article in journal (Refereed)
    Abstract [en]

    Safe and reliable autonomous navigation in unstructured environments remains a challenge for field robots. In particular, operating on vegetated terrain is problematic, because simple purely geometric traversability analysis methods typically classify dense foliage as nontraversable. As traversing through vegetated terrain is often possible and even preferable in some cases (e.g., to avoid executing longer paths), more complex multimodal traversability analysis methods are necessary. In this article, we propose a three-dimensional (3D) traversability mapping algorithm for outdoor environments, able to classify sparsely vegetated areas as traversable, without compromising accuracy on other terrain types. The proposed normal distributions transform traversability mapping (NDT-TM) representation exploits 3D LIDAR sensor data to incrementally expand normal distributions transform occupancy (NDT-OM) maps. In addition to geometrical information, we propose to augment the NDT-OM representation with statistical data of the permeability and reflectivity of each cell. Using these additional features, we train a support-vector machine classifier to discriminate between traversable and nondrivable areas of the NDT-TM maps. We evaluate classifier performance on a set of challenging outdoor environments and note improvements over previous purely geometrical traversability analysis approaches.

  • 31.
    Aissaoui, Nesrine
    et al.
    Department of Chemistry and Chemical Engineering, Chalmers University of Technology, Gothenburg, Sweden.
    Moth-Poulsen, Kasper
    Department of Chemistry and Chemical Engineering, Chalmers University of Technology, Gothenburg, Sweden.
    Käll, Mikael
    Department of Applied Physics, Chalmers University of Technology, Gothenburg, Sweden.
    Johansson, Peter
    Örebro University, School of Science and Technology.
    Wilhelmsson, L. Marcus
    Department of Chemistry and Chemical Engineering, Chalmers University of Technology, Gothenburg, Sweden.
    Albinsson, Bo
    Department of Chemistry and Chemical Engineering, Chalmers University of Technology, Gothenburg, Sweden.
    FRET enhancement close to gold nanoparticles positioned in DNA origami constructs2017In: Nanoscale, ISSN 2040-3364, E-ISSN 2040-3372, Vol. 9, no 2, p. 673-683Article in journal (Refereed)
    Abstract [en]

    Here we investigate the energy transfer rates of a Förster resonance energy transfer (FRET) pair positioned in close proximity to a 5 nm gold nanoparticle (AuNP) on a DNA origami construct. We study the distance dependence of the FRET rate by varying the location of the donor molecule, D, relative to the AuNP while maintaining a fixed location of the acceptor molecule, A. The presence of the AuNP induces an alteration in the spontaneous emission of the donor (including radiative and non-radiative rates) which is strongly dependent on the distance between the donor and AuNP surface. Simultaneously, the energy transfer rates are enhanced at shorter D-A (and D-AuNP) distances. Overall, in addition to the direct influence of the acceptor and AuNP on the donor decay there is also a significant increase in decay rate not explained by the sum of the two interactions. This leads to enhanced energy transfer between donor and acceptor in the presence of a 5 nm AuNP. We also demonstrate that the transfer rate in the three "particle" geometry (D + A + AuNP) depends approximately linearly on the transfer rate in the donor-AuNP system, suggesting the possibility to control FRET process with electric field induced by 5 nm AuNPs close to the donor fluorophore. It is concluded that DNA origami is a very versatile platform for studying interactions between molecules and plasmonic nanoparticles in general and FRET enhancement in particular.

  • 32.
    Akalin, Neziha
    et al.
    Örebro University, School of Science and Technology.
    Kiselev, Andrey
    Örebro University, School of Science and Technology.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    An Evaluation Tool of the Effect of Robots in Eldercare on the Sense of Safety and Security2017In: Social Robotics: 9th International Conference, ICSR 2017, Tsukuba, Japan, November 22-24, 2017, Proceedings / [ed] Kheddar, A.; Yoshida, E.; Ge, S.S.; Suzuki, K.; Cabibihan, J-J:, Eyssel, F:, He, H., Springer International Publishing , 2017, p. 628-637Conference paper (Refereed)
    Abstract [en]

    The aim of the study presented in this paper is to develop a quantitative evaluation tool of the sense of safety and security for robots in eldercare. By investigating the literature on measurement of safety and security in human-robot interaction, we propose new evaluation tools. These tools are semantic differential scale questionnaires. In experimental validation, we used the Pepper robot, programmed in the way to exhibit social behaviors, and constructed four experimental conditions varying the degree of the robot’s non-verbal behaviors from no gestures at all to full head and hand movements. The experimental results suggest that both questionnaires (for the sense of safety and the sense of security) have good internal consistency.

  • 33.
    Akalin, Neziha
    et al.
    Örebro University, School of Science and Technology.
    Kiselev, Andrey
    Örebro University, School of Science and Technology.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    Enhancing Social Human-Robot Interaction with Deep Reinforcement Learning.2018In: Proc. FAIM/ISCA Workshop on Artificial Intelligence for Multimodal Human Robot Interaction, 2018, MHRI , 2018, p. 48-50Conference paper (Refereed)
    Abstract [en]

    This research aims to develop an autonomous social robot for elderly individuals. The robot will learn from the interaction and change its behaviors in order to enhance the interaction and improve the user experience. For this purpose, we aim to use Deep Reinforcement Learning. The robot will observe the user’s verbal and nonverbal social cues by using its camera and microphone, the reward will be positive valence and engagement of the user.

  • 34.
    Akalin, Neziha
    et al.
    Örebro University, School of Science and Technology.
    Kiselev, Andrey
    Örebro University, School of Science and Technology.
    Kristoffersson, Annica
    Örebro University, School of Science and Technology.
    Loutfi, Amy
    Örebro University, School of Science and Technology.
    The Relevance of Social Cues in Assistive Training with a Social Robot2018In: 10th International Conference on Social Robotics, ICSR 2018, Proceedings / [ed] Ge, S.S., Cabibihan, J.-J., Salichs, M.A., Broadbent, E., He, H., Wagner, A., Castro-González, Á., Springer, 2018, p. 462-471Conference paper (Refereed)
    Abstract [en]

    This paper examines whether social cues, such as facial expressions, can be used to adapt and tailor a robot-assisted training in order to maximize performance and comfort. Specifically, this paper serves as a basis in determining whether key facial signals, including emotions and facial actions, are common among participants during a physical and cognitive training scenario. In the experiment, participants performed basic arm exercises with a social robot as a guide. We extracted facial features from video recordings of participants and applied a recursive feature elimination algorithm to select a subset of discriminating facial features. These features are correlated with the performance of the user and the level of difficulty of the exercises. The long-term aim of this work, building upon the work presented here, is to develop an algorithm that can eventually be used in robot-assisted training to allow a robot to tailor a training program based on the physical capabilities as well as the social cues of the users.

  • 35.
    Akbari, Aliakbar
    et al.
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC)—Barcelona Tech, Barcelona, Spain.
    Lagriffoul, Fabien
    Örebro University, School of Science and Technology.
    Rosell, Jan
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya (UPC)—Barcelona Tech, Barcelona, Spain.
    Combined heuristic task and motion planning for bi-manual robots2019In: Autonomous Robots, ISSN 0929-5593, E-ISSN 1573-7527, Vol. 43, no 6, p. 1575-1590Article in journal (Refereed)
    Abstract [en]

    Planning efficiently at task and motion levels allows the setting of new challenges for robotic manipulation problems, like for instance constrained table-top problems for bi-manual robots. In this scope, the appropriate combination of task and motion planning levels plays an important role. Accordingly, a heuristic-based task and motion planning approach is proposed, in which the computation of the heuristic addresses a geometrically relaxed problem, i.e., it only reasons upon objects placements, grasp poses, and inverse kinematics solutions. Motion paths are evaluated lazily, i.e., only after an action has been selected by the heuristic. This reduces the number of calls to the motion planner, while backtracking is reduced because the heuristic captures most of the geometric constraints. The approach has been validated in simulation and on a real robot, with different classes of table-top manipulation problems. Empirical comparison with recent approaches solving similar problems is also reported, showing that the proposed approach results in significant improvement both in terms of planing time and success rate.

  • 36.
    Akbari, Haris
    et al.
    Örebro University, School of Science and Technology.
    Amel, Hadzic
    Svensk vindkraft2012Independent thesis Basic level (degree of Bachelor), 20 credits / 30 HE creditsStudent thesis
  • 37.
    Aksteiner, Steffen
    et al.
    Albert Einstein Institute, Potsdam, Germany.
    Andersson, Lars
    Albert Einstein Institute, Potsdam, Germany.
    Bäckdahl, Thomas
    Örebro University, School of Science and Technology. Mathematical Sciences, Chalmers University of Technology and University of Gothenburg, Gothenburg, Sweden; The University of Edinburgh, Edinburgh, United Kingdom.
    New identities for linearized gravity on the Kerr spacetime2019In: Physical Review D: covering particles, fields, gravitation, and cosmology, ISSN 2470-0010, E-ISSN 2470-0029, Vol. 99, no 4, article id 044043Article in journal (Refereed)
    Abstract [en]

    In this paper we derive a differential identity for linearized gravity on the Kerr spacetime and more generally on vacuum spacetimes of Petrov type D. We show that a linear combination of second derivatives of the linearized Weyl tensor can be formed into a complex symmetric 2-tensor M-ab which solves the linearized Einstein equations. The identity makes this manifest by relating M-ab to two terms solving the linearized Einstein equations by construction. The self-dual Weyl curvature of M-ab gives a covariant version of the Teukolsky-Starobinsky identities for linearized gravity which, in addition to the two classical identities for linearized Weyl scalars with extreme spin weights, includes three additional equations. In particular, they are not consequences of the classical Teukolsky-Starobinsky identities, but are additional integrability conditions for linearized gravity. The result has direct application in the construction of symmetry operators and also yields a set of nontrivial gauge invariants for linearized gravity.

  • 38.
    Albaldawi, Hisham
    et al.
    Örebro University, School of Science and Technology.
    Kobbah, Diana
    Örebro University, School of Science and Technology.
    Dimensionering av Traverskranbana2015Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Crane Loads acts on runways which varies with time and cannot be treated as static loads, this allows that the static estimation is not secure enough, therefore the crane runways should be designed in such terms that it can handle static as well as dynamic crane loads.

    The work was chosen after feasibility studies which were made on the internet to get basic knowledge on the subject. The information was sought in Swedish, English and German in order to find relevant and reliable sources which deal with overhead crane runway according to Eurocode. Thanks to advice from Björn Åsted from the Steel Construction Institute (SBI), a book in German was found. In order to compare the results, a Swedish software CraneGirder EC3 was used during the project. The report contains a calculation method for a rolled section girder, calculations were based on Eurocode equations and regulations which were the design basis for the project. The report refer to how a crane runway must be designed with a high utilization level, a number of controls were made to ensure that the beam and its details, such as rail and welding are surely designed to fatigue and deformation. The design was based on load calculations for the overhead crane. Traditional calculations showed how different crane loads can be combined in load groups to achieve the highest impact on the beam, calculations showed that HEB 280 and dimensioning dominated only by load group 1 and 5. With the help of calculation software the results were largely consistent with the program but with some differences. For the delimitation that was assumed in the project the fatigue seemed to have an effect especially on some small details like weld.

  • 39.
    Albitar, Houssam
    Örebro University, School of Science and Technology.
    Enabling a Robot for Underwater Surface Cleaning2017Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    Biofouling build-up on submerged structures such as ships, petroleum and gas storage tanks, electric power plants, bridges, oil rigs etc. is a major problem that affects the surface material of the structure, the eventual hydrodynamic quality of the surface and in some cases the efficacy of cooling systems. Underwater cleaning is a solution to maintain submerged structures in order to assure proper functioning for as long as possible. Consequently, there has been an increased interest in the development of new technologies for robotised underwater cleaning systems.

    This thesis presents a new concept of a flexible crawling mechanism for an industrial underwater cleaning robot, which is evaluated from the viewpoint of its capability to work underwater, scanning the desired surface, and perform a cleaning task. The main research questions investigated in this thesis are: (1.) how to select the most important features in choosing the platform mechanism to fulfil the surface scanning operation, (2.) how to design the platform in order to bear the forces related to the cleaning task, (3.) how to maintain surface contact throughout cleaning, (4.) determine the significant parameters to be monitored in order to ensure stable positioning on the surface during the cleaning process and (5.) how to develop the control of actuators to realise the locomotion and to follow the desired trajectory.

    This thesis begins with a classification and discussion of the available solutions for underwater operation, taking into consideration the benefits and drawbacks, overall efficiency and environmental and human safety issues. From this survey, an underwater mobile robotic platform is designed to address the main requirements and industrial needs. Further, a study and simulation of its mobility and stability on the surface is performed and a complete scenario of the entire cleaning operation is presented. In addition, an overview of the required sensors and the control system is given. Finally, a new robotised system was developed to clean underwater surfaces with minimum active degrees of freedom. A successful simulation and real experimental results were obtained with a simplified lab-scale prototype. The thesis concludes with a summary of future works and outlook for the growing field of underwater cleaning robots.

    List of papers
    1. Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems
    Open this publication in new window or tab >>Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems
    2016 (English)In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 13, article id 7Article in journal (Refereed) Published
    Abstract [en]

    Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a light-weight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces.

    Place, publisher, year, edition, pages
    INTECH, 2016
    Keywords
    Underwater Robot, Underwater Cleaning, Bio-fouling, Adhesion, Locomotion
    National Category
    Computer Sciences
    Research subject
    Computer Science
    Identifiers
    urn:nbn:se:oru:diva-47813 (URN)10.5772/62060 (DOI)000368630700001 ()2-s2.0-85002271299 (Scopus ID)
    Available from: 2016-01-28 Created: 2016-01-28 Last updated: 2018-01-10Bibliographically approved
    2. New concept of in-water surface cleaning robot
    Open this publication in new window or tab >>New concept of in-water surface cleaning robot
    2013 (English)In: Mechatronics and Automation (ICMA), 2013 IEEE International Conference onDate 4-7 Aug. 2013, IEEE conference proceedings, 2013, p. 1582-1587Conference paper, Published paper (Refereed)
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism to design an industrial underwater cleaning robot, which is evaluated from the viewpoint of the capability to work underwater, scanning the desired surface, and bearing the reactions. This can be used as a robotic application in underwater surface cleaning and maintenance. We designed a robot that realizes the motion by contraction and extraction using DC-motors and vacuum technology. In this study we first focused on realizing the adhesion, bearing reactions, and achieving a stable locomotion on the surface.

    Place, publisher, year, edition, pages
    IEEE conference proceedings, 2013
    Keywords
    climbing robot; inspection
    National Category
    Computer Sciences
    Research subject
    Computer Science
    Identifiers
    urn:nbn:se:oru:diva-30340 (URN)10.1109/ICMA.2013.6618150 (DOI)000335375900267 ()2-s2.0-84887901379 (Scopus ID)978-1-4673-5557-5 (ISBN)
    Conference
    2013 IEEE International Conference on Mechatronics and Automation (ICMA), 4-7 aug. 2013, Takamatsu, Japan
    Available from: 2013-08-27 Created: 2013-08-27 Last updated: 2018-01-11Bibliographically approved
    3. In-water surface cleaning robot: concept, locomotion and stability
    Open this publication in new window or tab >>In-water surface cleaning robot: concept, locomotion and stability
    2014 (English)In: International Journal of Mechatronics and Automation, ISSN 2045-1067, Vol. 4, no 2, p. 104-115Article in journal (Refereed) Published
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism in the design ofindustrial in-water cleaning robot, which is evaluated from the viewpoint of work and operationon an underwater surface. It enables the scanning and cleaning process performed by water jets,while keeping stable robot position on the surface by its capacity to bear and compensate the jetreactions. Such robotic platform can be used for cleaning and maintenance of various underwatersurfaces, including moving ships in the open sea. The designed robot implements its motions bycontraction and expansion of legged mechanism using standard motors and suction cupstechnology. In this study we focus at the conditions for achieving enough adhesion for keepingcontinuous contact between the robot and the surface and robot stability in different situations forthe basic locomotions.

    Place, publisher, year, edition, pages
    IEEE, 2014
    Keywords
    underwater robot, crawling robot, underwater surface cleaning
    National Category
    Computer Sciences
    Identifiers
    urn:nbn:se:oru:diva-35987 (URN)10.1504/IJMA.2014.062338 (DOI)2-s2.0-84904859302 (Scopus ID)
    Available from: 2014-08-19 Created: 2014-08-19 Last updated: 2019-08-30Bibliographically approved
    4. Stability study of underwater crawling robot on non-horizontal surface
    Open this publication in new window or tab >>Stability study of underwater crawling robot on non-horizontal surface
    2014 (English)In: Mobile Service Robotics: Clawar 2014: 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines: Poznan, Poland 21 - 23 July 2014, Singapore: World Scientific, 2014, p. 511-519Conference paper, Published paper (Refereed)
    Abstract [en]

    This paper introduces a study of a concept of exible crawling mechanism todesign an industrial underwater cleaning robot, which is evaluated from theviewpoint of the capability to work underwater, scanning the desired surface,and bearing the reactions. This can be used as a robotic application in under-water surface cleaning and maintenance. In this study we focused on realizingthe adhesion on the surface in stationary and in motion, bearing reactions,enabling the needed locomotion types for scanning, and achieving the stabilityin dierent situations on the surface.

    Place, publisher, year, edition, pages
    Singapore: World Scientific, 2014
    Keywords
    Crawling robot, underwater, locomotion, stability
    National Category
    Computer Sciences
    Identifiers
    urn:nbn:se:oru:diva-35985 (URN)000342693100061 ()2-s2.0-85007347787 (Scopus ID)978-981-4623-34-6 (ISBN)
    Conference
    Clawar 2014: 17th International Conference on Climbing and Walking Robots CLAWAR, Poznan, Poland, 21 - 23 July, 2014
    Available from: 2014-08-19 Created: 2014-08-19 Last updated: 2018-01-11Bibliographically approved
    5. Layered mission control architecture and strategy for crawling underwater cleaning robot
    Open this publication in new window or tab >>Layered mission control architecture and strategy for crawling underwater cleaning robot
    2015 (English)In: International Journal of Mechatronics and Automation, ISSN 2045-1059, Vol. 5, no 2/3, p. 114-124Article in journal (Refereed) Published
    Abstract [en]

    This paper presents the mechanical design and the control system architecture of anunderwater robot, developed for bio-fouling cleaning surfaces. The robotic system presented herehas been designed to improve the productivity, reduce the environmental impacts, and excludethe hazards for the operators. The control system has a layered structure which is distributed intotwo blocks: cleaning robot, and on-board base station connected with power and control cablesand a water hose, to facilitate different modes of operations and to increase the system reliability.A low level control has been implemented on the robotic platform. The onboard station designedto be in different layers of the control system: manual, semiautonomous and autonomous modes.A scaled prototype has been implemented and tested to prove the concept, and to make certainthat the mechanical design and the chosen control system are perfectly suited to the mainfunctions of the robotic system.

    Place, publisher, year, edition, pages
    InderScience Publishers, 2015
    Keywords
    underwater robots, layered control system, crawling robots, bio-fouling cleaning
    National Category
    Computer Sciences
    Research subject
    Computer Science
    Identifiers
    urn:nbn:se:oru:diva-49753 (URN)10.1504/IJMA.2015.075957 (DOI)2-s2.0-84973596360 (Scopus ID)
    Available from: 2016-04-11 Created: 2016-04-11 Last updated: 2018-01-10Bibliographically approved
  • 40.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    In-water surface cleaning robot: concept, locomotion and stability2014In: International Journal of Mechatronics and Automation, ISSN 2045-1067, Vol. 4, no 2, p. 104-115Article in journal (Refereed)
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism in the design ofindustrial in-water cleaning robot, which is evaluated from the viewpoint of work and operationon an underwater surface. It enables the scanning and cleaning process performed by water jets,while keeping stable robot position on the surface by its capacity to bear and compensate the jetreactions. Such robotic platform can be used for cleaning and maintenance of various underwatersurfaces, including moving ships in the open sea. The designed robot implements its motions bycontraction and expansion of legged mechanism using standard motors and suction cupstechnology. In this study we focus at the conditions for achieving enough adhesion for keepingcontinuous contact between the robot and the surface and robot stability in different situations forthe basic locomotions.

  • 41.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    New concept of in-water surface cleaning robot2013In: Mechatronics and Automation (ICMA), 2013 IEEE International Conference onDate 4-7 Aug. 2013, IEEE conference proceedings, 2013, p. 1582-1587Conference paper (Refereed)
    Abstract [en]

    This paper introduces a new concept of flexible crawling mechanism to design an industrial underwater cleaning robot, which is evaluated from the viewpoint of the capability to work underwater, scanning the desired surface, and bearing the reactions. This can be used as a robotic application in underwater surface cleaning and maintenance. We designed a robot that realizes the motion by contraction and extraction using DC-motors and vacuum technology. In this study we first focused on realizing the adhesion, bearing reactions, and achieving a stable locomotion on the surface.

  • 42.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Stability study of underwater crawling robot on non-horizontal surface2014In: Mobile Service Robotics: Clawar 2014: 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines: Poznan, Poland 21 - 23 July 2014, Singapore: World Scientific, 2014, p. 511-519Conference paper (Refereed)
    Abstract [en]

    This paper introduces a study of a concept of exible crawling mechanism todesign an industrial underwater cleaning robot, which is evaluated from theviewpoint of the capability to work underwater, scanning the desired surface,and bearing the reactions. This can be used as a robotic application in under-water surface cleaning and maintenance. In this study we focused on realizingthe adhesion on the surface in stationary and in motion, bearing reactions,enabling the needed locomotion types for scanning, and achieving the stabilityin dierent situations on the surface.

  • 43.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Dandan, Kinan
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Layered mission control architecture and strategy for crawling underwater cleaning robot2015In: International Journal of Mechatronics and Automation, ISSN 2045-1059, Vol. 5, no 2/3, p. 114-124Article in journal (Refereed)
    Abstract [en]

    This paper presents the mechanical design and the control system architecture of anunderwater robot, developed for bio-fouling cleaning surfaces. The robotic system presented herehas been designed to improve the productivity, reduce the environmental impacts, and excludethe hazards for the operators. The control system has a layered structure which is distributed intotwo blocks: cleaning robot, and on-board base station connected with power and control cablesand a water hose, to facilitate different modes of operations and to increase the system reliability.A low level control has been implemented on the robotic platform. The onboard station designedto be in different layers of the control system: manual, semiautonomous and autonomous modes.A scaled prototype has been implemented and tested to prove the concept, and to make certainthat the mechanical design and the chosen control system are perfectly suited to the mainfunctions of the robotic system.

  • 44.
    Albitar, Houssam
    et al.
    Örebro University, School of Science and Technology.
    Dandan, Kinan
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Underwater Robotics: Surface Cleaning Technics, Adhesion and Locomotion Systems2016In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 13, article id 7Article in journal (Refereed)
    Abstract [en]

    Underwater robots are being developed for various applications ranging from inspection to maintenance and cleaning of submerged surfaces and constructions. These platforms should be able to travel on these surfaces. Furthermore, these platforms should adapt and reconfigure for underwater environment conditions and should be autonomous. Regarding the adhesion to the surface, they should produce a proper attaching force using a light-weight technics. Taking these facts into consideration, this paper presents a survey of different technologies used for underwater cleaning and the available underwater robotics solutions for the locomotion and the adhesion to surfaces.

  • 45.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Current collector for heavy vehicles on electrified roads2014In: Proceedings of the 14th Mechatronics Forum International Conference, Mechatronics 2014 / [ed] Leo J De Vin and Jorge Solis, Karlstad: Karlstads universitet , 2014, p. 436-441Conference paper (Refereed)
    Abstract [en]

    This paper presents a prototype of a novel current collector manipulator that can be mounted beneath a road vehicle between the front and rear wheels to collect electric power from road embedded power lines. The ground-level power supply concept for road vehicles is described and the kinematic model of this two degree of freedom manipulator is detailed. Finally, the power line detection, based on an array of inductive sensors, is discussed.

  • 46.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Center for Applied Autonomous Sensor Systems, Örebro University, Örebro, Sweden.
    Current Collector for Heavy Vehicles on Electrified Roads: Field Tests2016In: Journal of Asian Electric Vehicles, ISSN 1348-3927, Vol. 14, no 1, p. 1751-1757Article in journal (Refereed)
    Abstract [en]

    We present the field tests and measurements performed on a novel current collector manipulator to be mounted beneath a heavy vehicle to collect electric power from road embedded power lines. We describe the concept of the Electric Road System (ERS) test track being used and give an overview of the test vehicle for testing the current collection. The emphasis is on the field tests and measurements to evaluate both the vertical accelerations that the manipulator’s end-effector is subject to during operation and the performance of the detection and tracking of the power line.

  • 47.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Current collector for heavy vehicles on electrified roads: kinematic analysisIn: International Journal of Electric and Hybrid Vehicles, ISSN 1751-4088Article in journal (Refereed)
    Abstract [en]

    We present a prototype of a novel current collector manipulator to be be mounted beneath a heavy vehicle to collect electric power from road-embedded power lines. We describe the concept of the ground-level power supply system for heavy vehicles and its main components. The main requirements and constraints, such as safety, robustness to harsh road and weather operational conditions, ambient environment aspects and dynamic properties, are introduced. The emphasis is on the developed kinematic model, which provides the base for further development of the control system. We propose and derive an alternative approach for representing the inverse kinematics by a two-dimensional polynomial approximation that avoids the usage of complicated non-linear equations. Its simplicity is demonstrated by a numerical example with the basic parameters of the prototype. The basic motion sequences of the current collector and the way to control them are outlined. 

  • 48.
    Aldammad, Mohamad
    et al.
    Örebro University, School of Science and Technology.
    Ananiev, Anani
    Örebro University, School of Science and Technology.
    Kalaykov, Ivan
    Örebro University, School of Science and Technology.
    Current Collector for Heavy Vehicles on Electrified Roads: Motion Control2015In: Journal of Asian Electric Vehicles, ISSN 1348-3927, Vol. 13, no 2, p. 1725-1732Article in journal (Refereed)
    Abstract [en]

    We present the adopted motion control schemes of a novel current collector manipulator to be mounted beneath a heavy hybrid electric vehicle to collect electric power from road embedded power lines. We describe our approach of power line detection and tracking based on an array of inductive proximity sensors. The emphasis is on the adopted motion control logic for sequential and closed loop motions to detect and track the power line respectively. We implement the sliding mode control approach for the closed loop control scheme as straightforward solution given the binary nature of the inductive proximity sensors being used. The overall architecture of the entire motion control system is presented. Finally, the implementation of the entire control logic in a form of a state machine is discussed.

  • 49.
    Alderholm, Daniel
    et al.
    Örebro University, School of Science and Technology.
    Torstensson, Mattias
    Örebro University, School of Science and Technology.
    Funktionsbaserad undersökning av BENTLEYS POWERCIVIL FOR SWEDEN och Novapoint 19 DCM2016Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The thesis was accomplished in cooperation with WSP Civils in Örebro in the

    spring of 2014. WSP Civil is in the consulting business of construction orientated

    in roads and terrain. Tools of engineering are crucial to be able to produce a

    good result. Therefore between the years of 2012 and 2013, WSP did an investigation

    regarding to which program would suit their demands. The projects task

    was to compare the existing tool Novapoint with a potential future program

    Bentleys PowerCivil for Sweden.

    The process was accomplished by creating a fictional road in both programs. Different

    functions were compared in a matrix table to be able to get a result in an

    illustrative way.

    The result in this rapport is in favor of PowerCivil for Sweden. It is mainly because

    of their templates but also because of their possibility to apply standards

    to the programs functions.

  • 50.
    Aldén, Michelle
    et al.
    Örebro University, School of Science and Technology.
    Wengelin, Nathalie
    Örebro University, School of Science and Technology.
    En systematisk litteraturstudie om olika undervisningsmetoders påverkan på elevers motivation i matematik.2017Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Pupils' achievement and knowledge in mathematics is a highly current issue that is discussed and compared both in Sweden and internationally. International measurements have for a long time pointed to a lower level of knowledge and in Sweden they discuss the reasons for these downward results. Researchers believe that pupils' attitude, adjustment and motivation to the subject of mathematics are one of the reasons when they are considered crucial to address the subject of mathematics. It also strives to answer the teaching methods that influence students' motivation. The Swedish curriculum for elementary school states that teaching should promote students' interest and the desire to learn, which represents a large part of the motivation of students. The choice of teaching method can thus influence students' motivation. In this systematic literature study, three different main categories of teaching methods appear in the results; Methods where the teacher is at the center, methods where technical aids are at the center and methods in which the student is at the center. The categories consist of articles that deal with different types of teaching methods, which in the result had an influence on student motivation.

1234567 1 - 50 of 2468
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