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Sökning: swepub > Örebro universitet > Broxvall Mathias

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1.
  • Saffiotti, Alessandro, et al. (författare)
  • The PEIS-ecology project : a progress report
  • 2007
  • Ingår i: Proceedings of the ICRA-07 Workshop on Network Robot Systems. Roma, Italy, 2007. ; s. 16-22
  • Konferensbidrag (refereegranskat)abstract
    • The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from the fields of ubiquitous robotics and ambient intelligence to provide a new solution to building intelligent robots in the service of people. While this concept provides great potential, it also presents a number of new scientific challenges. The PEIS-Ecology project is an ongoing collaborative project between Swedish and Korean researchers which addresses these challenges. In this paper we introduce the concept of PEIS-Ecology, discuss its potential and its challenges, and present our current steps toward its realization. We also point to experimental results that show the viability of this concept.
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2.
  • Amato, Giuseppe, et al. (författare)
  • Robotic UBIquitous COgnitive Network
  • 2012
  • Ingår i: Ambient Intelligence-Software and Applications. - Springer-Verlag New York. - 978-3-642-28782-4 ; s. 191-195
  • Konferensbidrag (refereegranskat)
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3.
  • Bacciu, D., et al. (författare)
  • Self-sustaining learning for robotic ecologies
  • 2012
  • Konferensbidrag (refereegranskat)abstract
    • The most common use of wireless sensor networks (WSNs) is to collect environmental data from a specificarea, and to channel it to a central processing node for on-line or off-line analysis. The WSN technology,however, can be used for much more ambitious goals. We claim that merging the concepts and technology ofWSN with the concepts and technology of distributed robotics and multi-agent systems can open new waysto design systems able to provide intelligent services in our homes and working places. We also claim thatendowing these systems with learning capabilities can greatly increase their viability and acceptability, bysimplifying design, customization and adaptation to changing user needs. To support these claims, we illus-trate our architecture for an adaptive robotic ecology, named RUBICON, consisting of a network of sensors,effectors and mobile robots.
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4.
  • Bordignon, Mirko, et al. (författare)
  • Seamless integration of robots and tiny embedded devices in a PEIS-ecology
  • 2007
  • Ingår i: IEEE/RSJ international  conference on intelligent robots and systems, IROS 2007. - New York : IEEE. - 978-1-4244-0912-9 ; s. 3101-3106
  • Konferensbidrag (refereegranskat)abstract
    • The fields of autonomous robotics and ambient intelligence are converging toward the vision of smart robotic environments, in which tasks are performed via the cooperation of many networked robotic devices. To enable this vision, we need a common communication and cooperation model that can be shared between robotic devices at different scales, ranging from standard mobile robots to tiny embedded devices. Unfortunately, today's robot middlewares are too heavy to run on tiny devices, and middlewares for embedded devices are too simple to support the cooperation models needed by an autonomous smart environment. In this paper, we propose a middleware model which allows the seamless integration of standard robots and simple off-the-shelf embedded devices. Our middleware is suitable for building truly ubiquitous robotics applications, in which devices of very different scales and capabilities can cooperate in a uniform way. We discuss the principles and implementation of our middleware, and show an experiment in which a mobile robot, a commercial mote, and a custom-built mote cooperate in a home service scenario.
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5.
  • Broxvall, Mathias (författare)
  • A middleware for ecologies of robotic devices
  • 2007
  • Ingår i: Proceedings of the 1st international conference on Robot communication and coordination, RoboComm '07. - Piscataway : IEEE press. - 978-963-9799-08-0 ; s. Art no 30
  • Konferensbidrag (refereegranskat)abstract
    • The fields of autonomous robotics and ambient intelligence are converging toward the vision of smart robotic environments, or ubiquitous robotics, in which tasks are performed via the cooperation of many simple networked robotic devices. The concept of Ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology, combines insights from these fields to provide a new solution to building intelligent robots in the service of people. To enable this vision, we need a common communication and cooperation model that allows dynamically assembled ad-hoc networks of robotic devices, a flexible introspection and configuration model allowing automatic (re)configuration and that can be shared between robotic devices at different scales, ranging from standard mobile robots to tiny networked embedded devices.In this paper we discuss the development of a middleware suitable for ubiquitous robotics in general and PEIS-Ecologies in specific. Our middleware is suitable for building truly ubiquitous robotics applications, in which devices of very different scales and capabilities can cooperate in a uniform way. We discuss the principles and implementation of our middleware, and also point to experimental results that show the viability of this concept.
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6.
  • Broxvall, Mathias, et al. (författare)
  • An ecological approach to odour recognition in intelligent environments
  • 2006
  • Ingår i: 2006 IEEE International Conference on Robotics and automation, ICRA 2006. - 0-7803-9505-0 ; s. 2066-2071
  • Konferensbidrag (refereegranskat)abstract
    • We present a new approach for odour detection and recognition based on a so-called PEIS-Ecology: a network of gas sensors and a mobile robot are integrated in an intelligent environment. The environment can provide information regarding the location of potential odour sources, which is then relayed to a mobile robot equipped with an electronic nose. The robot can then perform a more thorough analysis of the odour character. This is a novel approach which alleviates some the challenges in mobile olfaction techniques by single and embedded mobile robots. The environment also provides contextual information which can be used to constrain the learning of odours, which is shown to improve classification performance.
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7.
  • Broxvall, Mathias, 1976-, et al. (författare)
  • Developing Medical Image Processing Algorithms for GPU assisted parallel computation
  • 2013
  • Ingår i: Computer Vision in Medical Imaging. - World Scientific. - 978-981-4460-93-4 - 978-981-4460-95-8 ; s. 245-270
  • Bokkapitel (övrigt vetenskapligt)abstract
    • GPU’s have recently emerged as a significantly more powerful computing plat-form, capable of several orders of magnitude faster computations compared toCPU based approaches. However, they require significant changes in the algorithmic design compared to traditional programming paradigms. In this chapter we specifically introduce the reader to an overview of GPGPU development tools and the potential algorithmic pitfalls and bottlenecks when developing medical imaging algorithms for the GPU. We present a few general methodologies and building blocks for implementing fast image processing on GPUs. More specifically they include: methods for performing fast image convolutions and filtering;line detection, and bandwidth and memory considerations when processing volumetric datasets. Finally we conclude with a discourse on numerical precision as well as on mixing single floating-point versus double floating-point code.
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8.
  • Broxvall, Mathias, 1976-, et al. (författare)
  • Fast GPU based adaptive filtering of 4D echocardiography
  • 2012
  • Ingår i: IEEE Transactions on Medical Imaging. - 0278-0062. ; 31:6, s. 1165-1172
  • Tidskriftsartikel (refereegranskat)abstract
    • Time resolved three-dimensional (3D) echocardiography generates four-dimensional (3D+time) data sets that bring new possibilities in clinical practice. Image quality of four-dimensional (4D) echocardiography is however regarded as poorer compared to conventional echocardiography where time-resolved 2D imaging is used. Advanced image processing filtering methods can be used to achieve image improvements but to the cost of heavy data processing. The recent development of graphics processing unit (GPUs) enables highly parallel general purpose computations, that considerably reduces the computational time of advanced image filtering methods. In this study multidimensional adaptive filtering of 4D echocardiography was performed using GPUs. Filtering was done using multiple kernels implemented in OpenCL (open computing language) working on multiple subsets of the data. Our results show a substantial speed increase of up to 74 times, resulting in a total filtering time less than 30 s on a common desktop. This implies that advanced adaptive image processing can be accomplished in conjunction with a clinical examination. Since the presented GPU processor method scales linearly with the number of processing elements, we expect it to continue scaling with the expected future increases in number of processing elements. This should be contrasted with the increases in data set sizes in the near future following the further improvements in ultrasound probes and measuring devices. It is concluded that GPUs facilitate the use of demanding adaptive image filtering techniques that in turn enhance 4D echocardiographic data sets. The presented general methodology of implementing parallelism using GPUs is also applicable for other medical modalities that generate multidimensional data.
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9.
  • Broxvall, Mathias, et al. (författare)
  • Have another look on failures and recovery planning in perceptual anchoring
  • 2004
  • Konferensbidrag (refereegranskat)abstract
    • An important requirement for autonomous systems is the ability to detect and recover from exceptional situations such as failures in observations. In this paper we demonstrate how techniques for planning with sensing under uncertainty can play a major role in solving the problem of recovering from such situations. In this first step we concentrate on failures in perceptual anchoring, that is how to connect a symbol representing an object to the percepts of that object. We provide a classification of failures and present planning-based methods for recovering from them. We illustrate our approach by showing tests run on a mobile robot equipped with a color camera.
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10.
  • Broxvall, Mathias, et al. (författare)
  • Interacting with a robot ecology using task templates
  • 2007
  • Ingår i: 16th IEEE international symposium on robot and human interactive communication, RO-MAN 2007. - New York : IEEE. - 978-1-4244-1634-9 ; s. 487-492
  • Konferensbidrag (refereegranskat)abstract
    • Robot ecologies provide a new paradigm for assistive, service, industrial, and entertainment robotics which is quickly gaining popularity. These ecologies contain a large number of robotic components pervasively embedded in the environment and interacting with each other. Human users of such systems need to be able to interface with both the system as a w hole and, if desired, which each individual component. The humans should be able to transmit, in a natural way, commands that range from basic ones, such as "turn on the lights in the bedroom", to abstract ones, such as "bring me a cup of coffee". Human users may also need to interact with task execution, especially at decision points. In this paper, we introduce an approach to interface a human user to a specific type of robot ecology, called an ecology of Physically Embedded Intelligent Systems, or PEIS-Ecology. The ecology includes simple sensors and actuators and more complicated devices such as mobile robots. The proposed interface satisfies two requirements: 1) to easily and automatically generate component interfaces, and 2) to provide a simple mechanism by which to request and monitor the execution of tasks in the ecology.
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