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Sökning: swepub > Örebro universitet > Broxvall Mathias

  • Resultat 31-40 av 47
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31.
  • Lidén, Mats, 1976-, et al. (författare)
  • Urinary stone size estimation : a new segmentation algorithm-based CT method
  • 2012
  • Ingår i: European Radiology. - New York, USA : Springer. - 0938-7994 .- 1432-1084. ; 22:4, s. 731-737
  • Tidskriftsartikel (refereegranskat)abstract
    • The size estimation in CT images of an obstructing ureteral calculus is important for the clinical management of a patient presenting with renal colic. The objective of the present study was to develop a reader independent urinary calculus segmentation algorithm using well-known digital image processing steps and to validate the method against size estimations by several readers. Fifty clinical CT examinations demonstrating urinary calculi were included. Each calculus was measured independently by 11 readers. The mean value of their size estimations was used as validation data for each calculus. The segmentation algorithm consisted of interpolated zoom, binary thresholding and morphological operations. Ten examinations were used for algorithm optimisation and 40 for validation. Based on the optimisation results three segmentation method candidates were identified. Between the primary segmentation algorithm using cubic spline interpolation and the mean estimation by 11 readers, the bias was 0.0 mm, the standard deviation of the difference 0.26 mm and the Bland-Altman limits of agreement 0.0 +/- 0.5 mm. The validation showed good agreement between the suggested algorithm and the mean estimation by a large number of readers. The limit of agreement was narrower than the inter-reader limit of agreement previously reported for the same data. The size of kidney stones is usually estimated manually by the radiologist. An algorithm for computer-aided size estimation is introduced. The variability between readers can be reduced. A reduced variability can give better information for treatment decisions.
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32.
  • Loutfi, Amy, et al. (författare)
  • Object recognition : a new application for smelling robots
  • 2005
  • Ingår i: Robotics and Autonomous Systems. - : Elsevier BV. - 0921-8890 .- 1872-793X. ; 52:4, s. 272-289
  • Tidskriftsartikel (refereegranskat)abstract
    • Olfaction is a challenging new sensing modality for intelligent systems. With the emergence of electronic noses, it is now possible to detect and recognize a range of different odours for a variety of applications. In this work, we introduce a new application where electronic olfaction is used in cooperation with other types of sensors on a mobile robot in order to acquire the odour property of objects.We examine the problem of deciding when, how and where the electronic nose (e-nose) should be activated by planning for active perception and we consider the problem of integrating the information provided by the e-nose with both prior information and information from other sensors (e.g., vision). Experiments performed on a mobile robot equipped with an e-nose are presented.
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33.
  • Loutfi, Amy, et al. (författare)
  • Putting olfaction into action : using an electronic nose on an multi-sensing mobile robot
  • 2004
  • Ingår i: Proceedings of the 2004 IEEE/RSJ international conference on intelligent robots and systems (IROS 2004). - 0780384636 ; , s. 337-342
  • Konferensbidrag (refereegranskat)abstract
    • Olfaction is a challenging new sensing modality for intelligent systems. With the emergence of electronic noses it is now possible to detect and recognise a range of different odours for a variety of applications. An existing application is to use electronic olfaction on mobile robots for the purpose of odour based navigation. In this work, we introduce a new application where electronic olfaction is used in cooperation with other types of sensors on a mobile robot in order to acquire the odour
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34.
  • Loutfi, Amy, et al. (författare)
  • Putting olfaction into action : anchoring symbols to sensor data using olfaction and planning
  • 2005
  • Ingår i: Workshop on planning and learning in a priori unknown or dynamic domains. ; , s. 35-40
  • Konferensbidrag (refereegranskat)abstract
    • Olfaction is a challenging new sensing modality for intelligent systems. With the emergence of electronic noses (e-noses) it is now possible to train a system to detect and recognise a range of different odours. In this work, we integrate the electronic nose on a multi-sensing mobile robotic platform. We plan for perceptual actions and examine when, how and where the e-nose should be activated.Finally, experiments are performed on a mobile robot equipped with an e-nose together with a variety of sensors and used for object detection.
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35.
  • Rahayem, Mohamed, 1978- (författare)
  • Planar segmentation for Geometric Reverse Engineering using data from a laser profile scanner mounted on an industrial robot
  • 2008
  • Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
    • Laser scanners in combination with devices for accurate orientation like Coordinate Measuring Machines (CMM) are often used in Geometric Reverse Engineering (GRE) to measure point data. The industrial robot as a device for orientation has relatively low accuracy but the advantage of being numerically controlled, fast, flexible, rather cheap and compatible with industrial environments. It is therefore of interest to investigate if it can be used in this application. This thesis will describe a measuring system consisting of a laser profile scanner mounted on an industrial robot with a turntable. It will also give an introduction to Geometric Reverse Engineering (GRE) and describe an automatic GRE process using this measuring system. The thesis also presents a detailed accuracy analysis supported by experiments that show how 2D profile data can be used to achieve a higher accuracy than the basic accuracy of the robot. The core topic of the thesis is the investigation of a new technique for planar segmentation. The new method is implemented in the GRE system and compared with an implementation of a more traditional method. Results from practical experiments show that the new method is much faster while equally accurate or better.
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36.
  • Rashid, Jayedur, 1979-, et al. (författare)
  • A middleware to integrate robots, simple devices and everyday objects into an ambient ecology
  • 2012
  • Ingår i: Pervasive and Mobile Computing. - : Elsevier. - 1574-1192 .- 1873-1589. ; 8:4, s. 522-541
  • Tidskriftsartikel (refereegranskat)abstract
    • 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.
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37.
  • Rashid, Jayedur, et al. (författare)
  • Digital representation of everyday objects in a robot ecology via proxies
  • 2008
  • Ingår i: IEEE/RSJ international conference on intelligent robots and systems, 2008, IROS 2008. - 9781424420575 ; , s. 1908-1914
  • Konferensbidrag (refereegranskat)abstract
    • 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.
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38.
  • Rashid, Jayedur, et al. (författare)
  • Indirect reference : reconfiguring distributed sensors and actuators
  • 2010
  • Ingår i: 2010 IEEE international conference on sensor networks, ubiquitous, and trustworthy computing. - : IEEE conference proceedings. - 9780769540498 ; , s. 284-290
  • Konferensbidrag (refereegranskat)abstract
    • 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.
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39.
  • Rashid, Md. Jayedur, 1979- (författare)
  • Extending a networked robot system to include humans, tiny devices, and everyday objects
  • 2011
  • Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
    • 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.
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40.
  • Saffiotti, Alessandro, et al. (författare)
  • PEIS ecologies : ambient intelligence meets autonomous robotics
  • 2005
  • Ingår i: Proceedings of the 2005 joint conference on Smart objects and ambient intelligence. - New York, NY, USA : ACM. - 1595933042 ; , s. 275-280
  • Konferensbidrag (refereegranskat)abstract
    • 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.
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