| 1. |
- Blanch, Krister, 1991
(författare)
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Beyond-application datasets and automated fair benchmarking
- 2023
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Beyond-application perception datasets are generalised datasets that emphasise the fundamental components of good machine perception data. When analysing the history of perception datatsets, notable trends suggest that design of the dataset typically aligns with an application goal. Instead of focusing on a specific application, beyond-application datasets instead look at capturing high-quality, high-volume data from a highly kinematic environment, for the purpose of aiding algorithm development and testing in general. Algorithm benchmarking is a cornerstone of autonomous systems development, and allows developers to demonstrate their results in a comparative manner. However, most benchmarking systems allow developers to use their own hardware or select favourable data. There is also little focus on run time performance and consistency, with benchmarking systems instead showcasing algorithm accuracy. By combining both beyond-application dataset generation and methods for fair benchmarking, there is also the dilemma of how to provide the dataset to developers for this benchmarking, as the result of a high-volume, high-quality dataset generation is a significant increase in dataset size when compared to traditional perception datasets. This thesis presents the first results of attempting the creation of such a dataset. The dataset was built using a maritime platform, selected due to the highly dynamic environment presented on water. The design and initial testing of this platform is detailed, as well as as methods of sensor validation. Continuing, the thesis then presents a method of fair benchmarking, by utilising remote containerisation in a way that allows developers to present their software to the dataset, instead of having to first locally store a copy. To test this dataset and automatic online benchmarking, a number of reference algorithms were required for initial results. Three algorithms were built, using the data from three different sensors captured on the maritime platform. Each algorithm calculates vessel odometry, and the automatic benchmarking system was utilised to show the accuracy and run-time performance of these algorithms. It was found that the containerised approach alleviated data management concerns, prevented inflated accuracy results, and demonstrated precisely how computationally intensive each algorithm was.
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| 2. |
- Shafiq, ur Réhman, 1978-, et al.
(författare)
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Using Vibrotactile Language for Multimodal Human Animals Communication and Interaction
- 2014
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Ingår i: Proceedings of the 2014 Workshops on Advances in Computer Entertainment Conference, ACE '14. - New York, NY, USA : Association for Computing Machinery (ACM). - 9781450333146 ; , s. 1:1-1:5
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Konferensbidrag (refereegranskat)abstract
- In this work we aim to facilitate computer mediated multimodal communication and interaction between human and animal based on vibrotactile stimuli. To study and influence the behavior of animals, usually researchers use 2D/3D visual stimuli. However we use vibrotactile pattern based language which provides the opportunity to communicate and interact with animals. We have performed experiment with a vibrotactile based human-animal multimodal communication system to study the effectiveness of vibratory stimuli applied to the animal skin along with audio and visual stimuli. The preliminary results are encouraging and indicate that low-resolution tactual displays are effective in transmitting information.
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| 3. |
- Zhang, Kewei, et al.
(författare)
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Protecting GNSS Open Service-Navigation Message Authentication against Distance-Decreasing Attacks
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Annan publikation (övrigt vetenskapligt/konstnärligt)abstract
- As the security of global navigation satellite systems (GNSS) for civilian usage is increasingly important, navigation message authentication (NMA) significantly improves resilience to spoofing attacks. However, not all attacks can be effectively countered: a strong variant of replay/relay attacks, distance-decreasing (DD) attacks, can shorten pseudorange measurements, without manipulating the cryptographically protected navigation message, thus manipulating the position, velocity, and time solution undetected. First, we discuss how DD attacks can tamper with GNSS signals, demonstrating the attack effectiveness on a recorded Galileo signal. DD attacks might introduce bit errors to the forged signals, but the adversary can keep this error rate very low with proper attack parameter settings. Then, based on our mathematical model of the prompt correlator output of the tracking phase at the victim receiver, we find that the correlator output distribution changes in the presence of DD attacks. This leads us to apply hypothesis testing to detect DD attacks, notably a Goodness of Fit (GoF) test and a generalized likelihood ratio test (GLRT), depending on the victim’s knowledge on the DD attacks. Monte Carlo simulations are used to evaluate the detection probability and the receiver operating characteristic (ROC) curves for two tests, for different adversary configuration and noise settings. Then, we evaluate the effectiveness of the GoF and GLRT tests with a synthesized DD signal. Both tests can detect DD attacks with similar performance in high signal-to-noise ratio (SNR) environments. The GLRT detection probability is approximately 20% higher than that of the GoF test in low SNR environments.
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| 4. |
- Khanzadi, M Reza, 1983, et al.
(författare)
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Calculation of the Performance of Communication Systems from Measured Oscillator Phase Noise
- 2014
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Ingår i: IEEE Transactions on Circuits and Systems I: Regular Papers. - 1549-8328 .- 1558-0806. ; 61:5, s. 1553-1565
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Tidskriftsartikel (refereegranskat)abstract
- Oscillator phase noise (PN) is one of the major problems that affect the performance of communication systems. In this paper, a direct connection between oscillator measurements, in terms of measured single-side band PN spectrum, and the optimal communication system performance, in terms of the resulting error vector magnitude (EVM) due to PN, is mathematically derived and analyzed. First, a statistical model of the PN, considering the effect of white and colored noise sources, is derived. Then, we utilize this model to derive the modified Bayesian Cramer-Rao bound on PN estimation, and use it to find an EVM bound for the system performance. Based on our analysis, it is found that the influence from different noise regions strongly depends on the communication bandwidth, i.e., the symbol rate. For high symbol rate communication systems, cumulative PN that appears near carrier is of relatively low importance compared to the white PN far from carrier. Our results also show that 1/f^3 noise is more predictable compared to 1/f^2 noise and in a fair comparison it affects the performance less.
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| 5. |
- Khanzadi, M Reza, 1983
(författare)
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Modeling and Estimation of Phase Noise in Oscillators with Colored Noise Sources
- 2013
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The continuous increase in demand for higher data rates due to applications with massive number of users motivates the design of faster and more spectrum efficient communication systems. In theory, the current communication systems must be able to operate close to Shannon capacity bounds. However, the real systems perform below capacity limits, mainly due to channel estimation error and hardware impairments that have been neglected by idealistic or simplistic assumptions on the imperfections. Oscillator phase noise is one of the hardware impairments that is becoming a limiting factor in high data rate digital communication systems. Phase noise severely limits the performance of systems that employ dense constellations. Moreover, the level of phase noise (at a given off-set frequency) increases with carrier frequency which means that the problem of phase noise may be even more severe in systems with high carrier frequency.The focus of this thesis is on finding accurate statistical models of phase noise, as well as the design of efficient algorithms to mitigate the effect of this phenomenon on the performance of modern communication systems. First we derive the statistics of phase noise with white and colored noise sources in free-running and phase-locked-loop-stabilized oscillators. We investigate the relation between real oscillator phase noise measurements and the performance of communication systems by means of the proposed model. Our findings can be used by hardware and frequency generator designers to better understand the effect of phase noise with different sources on the system performance and optimize their design criteria respectively. Then, we study the design of algorithms for estimation of phase noise with colored noise sources. A soft-input maximum a posteriori phase noise estimator and a modified soft-input extended Kalman smoother are proposed. The performance of the proposed algorithms is compared against that of those studied in the literature, in terms of mean square error of phase noise estimation, and symbol error rate of the considered communication system. The comparisons show that considerable performance gains can be achieved by designing estimators that employ correct knowledge of the phase noise statistics. The performance improvement is more significant in low-SNR or low-pilot density scenarios.
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| 6. |
- Nopchinda, Dhecha, 1991
(författare)
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mm-Wave Data Transmission and Measurement Techniques: A Holistic Approach
- 2019
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The ever-increasing demand on data services places unprecedented technical requirements on networks capacity. With wireless systems having significant roles in broadband delivery, innovative approaches to their development are imperative. By leveraging new spectral resources available at millimeter-wave (mm-wave) frequencies, future systems can utilize new signal structures and new system architectures in order to achieve long-term sustainable solutions. This thesis proposes the holistic development of efficient and cost-effective techniques and systems which make high-speed data transmission at mm-wave feasible. In this paradigm, system designs, signal processing, and measurement techniques work toward a single goal; to achieve satisfactory system level key performance indicators (KPIs). Two intimately-related objectives are simultaneously addressed: the realization of efficient mm-wave data transmission and the development of measurement techniques to enable and assist the design and evaluation of mm-wave circuits. The standard approach to increase spectral efficiency is to increase the modulation order at the cost of higher transmission power. To improve upon this, a signal structure called spectrally efficient frequency division multiplexing (SEFDM) is utilized. SEFDM adds an additional dimension of continuously tunable spectral efficiency enhancement. Two new variants of SEFDM are implemented and experimentally demonstrated, where both variants are shown to outperform standard signals. A low-cost low-complexity mm-wave transmitter architecture is proposed and experimentally demonstrated. A simple phase retarder predistorter and a frequency multiplier are utilized to successfully generate spectrally efficient mm-wave signals while simultaneously mitigating various issues found in conventional mm-wave systems. A measurement technique to characterize circuits and components under antenna array mutual coupling effects is proposed and demonstrated. With minimal setup requirement, the technique effectively and conveniently maps prescribed transmission scenarios to the measurement environment and offers evaluations of the components in terms of relevant KPIs in addition to conventional metrics. Finally, a technique to estimate transmission and reflection coefficients is proposed and demonstrated. In one variant, the technique enables the coefficients to be estimated using wideband modulated signals, suitable for implementation in measurements performed under real usage scenarios. In another variant, the technique enhances the precision of noisy S-parameter measurements, suitable for characterizations of wideband mm-wave components.
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| 7. |
- Westin, Jonathan, 1980, et al.
(författare)
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Digitising Sensitive Heritage Monuments In Antarctica
- 2024
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Ingår i: The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XLVIII-2/W4-2024. 10th International Workshop 3D-ARCH "3D Virtual Reconstruction and Visualization of Complex Architectures, 21–23 February 2024, Siena, Italy / editor(s): S. Campana, F. Fassi, and F. Remondino. - : International Society for Photogrammetry and Remote Sensing. - 1682-1750.
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Konferensbidrag (refereegranskat)abstract
- During the Antarctica expedition CHAQ2020, several cultural heritage sites – remains from the Swedish South Polar Expedition (1901–1903) – were documented using a range of different techniques and technologies. These physical monuments and environments are for all intents and purposes unavailable for most researchers due to their remote location and are also threatened by the effects of climate change. Hence, the deployed documentation techniques and technologies were selected both as a consequence of the inherently difficult conditions in Antarctica, where their reliance, durability, and speed were key considerations, but also for their perceived ability to document the unique and fragile environment. The documentation was carried out with the double intention of both allowing for observations in situ through processes of analytical drawings and data capture, but also capturing the environment as broadly and deeply as possible, in essence making a copy of it open for studies of unknown unknowns, that could serve as a source material for research questions still undefined. Hence, with the documentation of the winter station on Snow Hill Island as a case study, and with a perspective on documentation as a method through which to process, preserve, and disseminate information, this article serves to critically detail, compare, and evaluate the digital techniques and technologies that the expedition deployed to capture architectural elements and spatial contexts, and the data that could be obtained through these.
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| 8. |
- Augustian, Midhumol, et al.
(författare)
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EEG Analysis from Motor Imagery to Control a Forestry Crane
- 2018
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Ingår i: Intelligent Human Systems Integration (IHSI 2018). - Cham : Springer. - 9783319738871 - 9783319738888 ; , s. 281-286
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Konferensbidrag (refereegranskat)abstract
- Brain-computer interface (BCI) systems can provide people with ability to communicate and control real world systems using neural activities. Therefore, it makes sense to develop an assistive framework for command and control of a future robotic system which can assist the human robot collaboration. In this paper, we have employed electroencephalographic (EEG) signals recorded by electrodes placed over the scalp. The human-hand movement based motor imagery mentalization is used to collect brain signals over the motor cortex area. The collected µ-wave (8–13 Hz) EEG signals were analyzed with event-related desynchronization/synchronization (ERD/ERS) quantification to extract a threshold between hand grip and release movement and this information can be used to control forestry crane grasping and release functionality. The experiment was performed with four healthy persons to demonstrate the proof-of concept BCI system. From this study, it is demonstrated that the proposed method has potential to assist the manual operation of crane operators performing advanced task with heavy cognitive work load.
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| 9. |
- Stigwall, Johan, 1977, et al.
(författare)
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Photonic GHz to THz tunable signal generation by chirped-pulse mixing
- 2006
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Ingår i: 2006 European ISIS Workshop, Emerging Optical Broadband Technologies, Boppard am Rhein, Germany, May 29 - June 1, 2006.
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Konferensbidrag (refereegranskat)abstract
- Frequency-tunable generation of pulsed tones in the millimeter to sub-millimeter range was demonstrated by mixing of two chromatically dispersing femtosecond laser pulses split up in time by an adjustable differential group delay (DGD) and a polarizer. The signal frequency was set by adjusting the amount of DGD and the amount of dispersion, and was here tuned from below 1 GHz to 0.9 THz. Time-domain measurements were conducted using a sampling oscilloscope for the lower frequencies and an auto-correlator for the higher frequencies. Near 100% modulation depth was obtained, and the signal phase was very stable, being locked to the pulses from the femtosecond laser. The line-width of the mm-wave waveform was found to be transform-limited if the signal chirp induced by higher order dispersion was compensated for. Suggested applications for this system are for instance THz spectroscopy, characterization of high performance photo-diodes and real-time dispersion measurements.
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| 10. |
- Ribeiro, Luis, et al.
(författare)
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Industrial Agents for the Fast Deployment of Evolvable Assembly Systems
- 2015. - 1st ed.
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Ingår i: Industrial Agents. - Amsterdam, Netherlands : Elsevier. - 9780128003411 ; , s. 301-321, s. 301-322
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Bokkapitel (refereegranskat)abstract
- The current manufacturing scenario is characterized by high market unpredictability. Agility is therefore a central challenge for modern companies that need to understand and be proactive towards their product offer in respect to “what is offered, when it is offered, where, how and by whom” (Brown & Bessant 2003).The “what” and the “when” are particularly relevant to the research in emerging paradigms as they account for variety, customization and volume; and timing, speed and seasonality (Brown & Bessant 2003).In this scenario, several design approaches and models have been proposed in the last decade to enable re-configurability and subsequently enhance the companies’ ability to adjust their offer in nature and time.From a paradigmatic point of view research has concentrated on the organizational structure of the shop-floor and the associated controls aspects. Concepts like Reconfigurable Manufacturing Systems (RMS) (Koren & Shpitalni 2010) and Fractal Factories (FF) (Montreuil 1999) support the physical construction of production systems by regulating their layout and making a few assumptions on their logical organization. On the other hand, concepts like Bionic Manufacturing Systems (BMS)(Ueda 1992), Holonic Manufacturing Systems (HMS)(Van Brussel et al. 1998), Evolvable Assembly Systems (Ribeiro et al. 2010) essentially provide the theoretical guidelines for the logical/computational organization of the system (see (Tharumarajah 1996) for a comparison between BMS, HMS and FF and (Setchi & Lagos 2004) for the rationale supporting the shift from Dedicated Lines to Flexible Manufacturing System and finally RMS).While these paradigms provide the conceptual framework and the main design guidelines their actual interpretation and implementation has led to a wider set of architectures (Monostori, Váncza & Kumara 2006; Leitão 2009; Parunak 2000; Pěchouček & Mařík 2008).These architectures align the high-level principles with the technological offer and limitations while seeking to address the re-configurability requirements of (Mehrabi, Ulsoy & Koren 2000; Rösiö & Säfsten 2013):module mobility – modules are easy and quick to move and install;“diagnosability” – it is quick to identify the sources of quality and reliability problems;“integrability” – modules are easy to integrate into the rest of the system.“convertibility” – it is easy and quick to switch between existing products and it is easy to adapt the system to future products;scalability – it is easy to enlarge and downsize the production system;“automatibility” – a dynamic level of automation is enabled;modularity – all system elements are designed to be modular;customization – the capability and flexibility of the production system is designed according to the products to be produced in the system.Instant deployment, as addressed in the present chapter directly addresses mobility, “integrability”, “convertibility”, scalability and customization. Mechatronic modularity is a prerequisite and is enforced by the proposed architecture and the considered modular design. “Diagnosability” was not specifically tackled.In this context, the chapter analyses the agent-based architecture related with the Instantly Deployable Evolvable Assembly System (IDEAS) project that is inspired by the Evolvable Assembly System (EAS) paradigm (Ribeiro et al. 2010) as a mechanism to enable fast deployment of mechatronic modules. EAS advocates the use of process-oriented modules and envisions the production system as a collection of processes and the associated interacting agents.The architecture and the related test cases are used to draw the main lessons learned in respect to technological and conceptual implications.In this context, the remainder of this text is organized as follows: section 1.1 discusses the main deployment challenges, section 1.2 details the reference architecture and associated concepts, section 1.3 presents the principal implementation decisions, section 1.4 features the main lessons learned, sections 1.5 discusses the benefits of the proposed approach and finally section 1.6 reflects on the main conclusions.
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