| 61. |
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| 62. |
- Aissani, D., et al.
(författare)
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Editorial
- 2017
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Ingår i: International Journal of Critical Computer-Based Systems. - : Interscience Communications. - 1757-8779 .- 1757-8787. ; 7:1, s. 1-3
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Tidskriftsartikel (övrigt vetenskapligt/konstnärligt)
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| 63. |
- Akan, Batu, 1981-
(författare)
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Human Robot Interaction Solutions for Intuitive Industrial Robot Programming
- 2012
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Over the past few decades the use of industrial robots has increased the efficiency as well as competitiveness of many companies. Despite this fact, in many cases, robot automation investments are considered to be technically challenging. In addition, for most small and medium sized enterprises (SME) this process is associated with high costs. Due to their continuously changing product lines, reprogramming costs are likely to exceed installation costs by a large margin. Furthermore, traditional programming methods for industrial robots are too complex for an inexperienced robot programmer, thus assistance from a robot programming expert is often needed. We hypothesize that in order to make industrial robots more common within the SME sector, the robots should be reprogrammable by technicians or manufacturing engineers rather than robot programming experts. In this thesis we propose a high-level natural language framework for interacting with industrial robots through an instructional programming environment for the user. The ultimate goal of this thesis is to bring robot programming to a stage where it is as easy as working together with a colleague.In this thesis we mainly address two issues. The first issue is to make interaction with a robot easier and more natural through a multimodal framework. The proposed language architecture makes it possible to manipulate, pick or place objects in a scene through high level commands. Interaction with simple voice commands and gestures enables the manufacturing engineer to focus on the task itself, rather than programming issues of the robot. This approach shifts the focus of industrial robot programming from the coordinate based programming paradigm, which currently dominates the field, to an object based programming scheme.The second issue addressed is a general framework for implementing multimodal interfaces. There have been numerous efforts to implement multimodal interfaces for computers and robots, but there is no general standard framework for developing them. The general framework proposed in this thesis is designed to perform natural language understanding, multimodal integration and semantic analysis with an incremental pipeline and includes a novel multimodal grammar language, which is used for multimodal presentation and semantic meaning generation.
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| 64. |
- Akan, Batu, 1981-
(författare)
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Planning and Sequencing Through Multimodal Interaction for Robot Programming
- 2014
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Over the past few decades the use of industrial robots has increased the efficiency as well as the competitiveness of several sectors. Despite this fact, in many cases robot automation investments are considered to be technically challenging. In addition, for most small and medium-sized enterprises (SMEs) this process is associated with high costs. Due to their continuously changing product lines, reprogramming costs are likely to exceed installation costs by a large margin. Furthermore, traditional programming methods of industrial robots are too complex for most technicians or manufacturing engineers, and thus assistance from a robot programming expert is often needed. The hypothesis is that in order to make the use of industrial robots more common within the SME sector, the robots should be reprogrammable by technicians or manufacturing engineers rather than robot programming experts. In this thesis, a novel system for task-level programming is proposed. The user interacts with an industrial robot by giving instructions in a structured natural language and by selecting objects through an augmented reality interface. The proposed system consists of two parts: (i) a multimodal framework that provides a natural language interface for the user to interact in which the framework performs modality fusion and semantic analysis, (ii) a symbolic planner, POPStar, to create a time-efficient plan based on the user's instructions. The ultimate goal of this work in this thesis is to bring robot programming to a stage where it is as easy as working together with a colleague.This thesis mainly addresses two issues. The first issue is a general framework for designing and developing multimodal interfaces. The general framework proposed in this thesis is designed to perform natural language understanding, multimodal integration and semantic analysis with an incremental pipeline. The framework also includes a novel multimodal grammar language, which is used for multimodal presentation and semantic meaning generation. Such a framework helps us to make interaction with a robot easier and more natural. The proposed language architecture makes it possible to manipulate, pick or place objects in a scene through high-level commands. Interaction with simple voice commands and gestures enables the manufacturing engineer to focus on the task itself, rather than the programming issues of the robot. The second issue addressed is due to inherent characteristics of communication with the use of natural language; instructions given by a user are often vague and may require other actions to be taken before the conditions for applying the user's instructions are met. In order to solve this problem a symbolic planner, POPStar, based on a partial order planner (POP) is proposed. The system takes landmarks extracted from user instructions as input, and creates a sequence of actions to operate the robotic cell with minimal makespan. The proposed planner takes advantage of the partial order capabilities of POP to execute actions in parallel and employs a best-first search algorithm to seek the series of actions that lead to a minimal makespan. The proposed planner can also handle robots with multiple grippers, parallel machines as well as scheduling for multiple product types.
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| 65. |
- Akan, Batu, 1981-, et al.
(författare)
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Towards Creation of Robot Programs Through User Interaction
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- This paper proposes a novel system for task-level programming of industrial robots. The user interacts with an industrial robot by giving instructions in a structured natural language and by selecting objects through an augmented reality interface. The proposed system consists of two parts. First, a multimodal framework that provides a natural language interface to the user. This framework performs modality fusion, semantic analysis and helps the user to interact with the system easier and more naturally. The proposed language architecture makes it possible to manipulate, pick or place objects in a scene through high-level commands. The second component is the POPStar planner, which is based on partial order planner (POP), that takes landmarks extracted from user instructions as input, and creates a sequence of actions to operate the robotic cell with minimal makespan. The proposed planner takes advantage of partial order capabilities of POP to plan execution of actions in parallel and employs a best-first search algorithm to seek a series of actions that lead to a minimal makespan. The proposed planner can as well handle robots with multiple grippers, and parallel machines. Using different topologies for the landmark graphs, we show that it is possible to create schedules for changing object types, which are processed in different stages in the robot cell. Results show that the proposed system can create and adapt schedules for robot cells with changing product types in low volume production based on the user's instructions.
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| 66. |
- Akbari, Keramatollah, 1961-
(författare)
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Impact of Radon Ventilation on Indoor Air Quality and Building Energy saving
- 2009
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Industrial living is caused much people do live and work in closed and confined places; offices and residential buildings. This is why in this new world more fresh air which is generally provided by forced ventilation plays a vital role in living of human being. Furthermore because of many different indoor pollutants, like radon and artificial pollutants, the amount of fresh air and in turn the energy consumption has increased. This energy consumption related to ventilation has reached up to about 30 percent of energy used of building section. So making interaction between indoor air quality (IAQ) and optimization of energy saving is a necessary work. Radon as a natural pollutant is occurred in environment and in many countries threatens people health whereas is called the second causes of cancer. For reducing radon concentration in residential building at the acceptable level forced ventilation is used usually. Ventilation can improve IAQ but in the other side would increase the energy consumption in building sector and just now the contribution of ventilation exceeds up 50 percent of building sector's share. The aim of this thesis is to study the impact of ventilation on indoor radon by using Computational Fluid Dynamics (CFD) to achieve indoor air quality and energy efficiency. Application of CFD as a new technology, because of its cost and time savings, and on the other side, of its flexibility and precision is increasingly grown and can be used as a very important and valuable tool for the prediction and measurement of radon distribution in a ventilated building . Currently, measurement techniques and proposed standards and regulations of indoor pollutants and ventilation, particularly related to indoor radon cannot be able to provide a secure, safe and energy efficient indoor climate. This is why the indoor airflow distribution is very complex and with changing building geometry and operation condition, the treatment of air flow pattern, substantially would be changed, whereas the rules are usually independent of the buildings features. Furthermore, the indoor standards and regulations are based on average amount of pollutants in a room, whereas the pollutant distributions aren't identical and are varied throughout the room. Then the current techniques aren't so exactly valuable and acceptable. From different methods which is privilege to control pollutants, ventilation method is applicable in existing buildings. Designing effective ventilation can reduce radon concentration to very level low with regarding energy conservation remarks. This thesis presents results from simulation studies on ventilation and radon mitigation in residential buildings, in view points of indoor air quality and energy savings. The CFD technique is applied to predict, visualize and calculate of mixture radon-air flow. The distribution of indoor radon concentration, air velocity and room temperature also have considered together for achieving indoor air quality and energy saving. The results are also compared with the experimental data and related previous works. It was found that with increasing ventilation rate, the radon concentration is decreased, but the location of ventilation system is also important. From the simulation results, it is observed that within the ventilated room, there are some zones, which are good for living and somewhere is more polluted. The traditional radon detectors basically show the average value of radon content in 1m3 of air. That is why detector measuring is not exact and safe. Simulation results proved that floor heat can be supported ventilation effect and speed up the mixture movement. Floor heating reinforces the buoyancy effect, which is useful to reduce radon content in the floor (seating area) and then lower ventilation rate can be applied.
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| 67. |
- Akbari, Keramatollah, 1961-
(författare)
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Simulation of Indoor Radon and Energy Recovery Ventilation Systems in Residential Buildings
- 2015
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This study aims to investigate the effects of ventilation rate, indoor air temperature, humidity and using a heat recovery ventilation system on indoor radon concentration and distribution.Methods employed include energy dynamic and computational fluid dynamics simulation, experimental measurement and analytical investigations. Experimental investigations primarily utilize a continuous radon meter and a detached house equipped with a recovery heat exchanger unit.The results of the dynamic simulation show that the heat recovery unit is cost-effective for the cold Swedish climate and an energy saving of about 30 kWh per floor area per year is possible, while it can be also used to lower radon level.The numerical results showed that ventilation rate and ventilation location have significant impacts on both radon content and distribution, whereas indoor air temperature only has a small effect on radon level and distribution and humidity has no impact on radon level but has a small impact on its distribution.
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| 68. |
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| 69. |
- Akhavan, Sharareh, et al.
(författare)
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Blev det ett genombrott? : Utvärdering av det nationella lärandeprojektet – Vård på lika villkor
- 2014
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Sjukvården i Sverige är i dag inte jämlik, har brister i tillgänglighet och erbjuds inte på likvärdiga villkor trots Hälso- och sjukvårdslagens mål om en god hälsa och en vård på lika villkor för hela befolkningen.För att bryta den pågående trenden och öka jämlikheten gjordes en överenskommelse mellan regeringen och SKL om lärandeprojektet Vård på lika villkor (under åren 2011–2014). Syftet med projektets har varit att inom socioekonomiskt resurssvaga bostadsområden öka jämlikheten i första linjens vård. Detta genom att testa, utveckla och identifiera effektiva arbetssätt och metoder vid sju primärvårdsverksamheter från fem landsting i Sverige.Mälardalens högskola, Akademin för hälsa, vård och välfärd, fick av SKL i uppdrag att svara för forskarstöd och att genomföra en utvärdering av de metoder och arbetssätt som utvecklades och testades i lärandeprojektet.Resultatet från den genomförda utvärderingen som belyser den genomförda processen, mål- och resultat samt hälsoekonomiska aspekter beskrivs närmare i denna rapport.
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| 70. |
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