| 1. |
- Andersson, Olov, 1979-, et al.
(författare)
-
WARA-PS : a research arena for public safety demonstrations and autonomous collaborative rescue robotics experimentation
- 2021
-
Ingår i: Autonomous Intelligent Systems. - : Springer Nature. - 2730-616X. ; 1:1
-
Tidskriftsartikel (refereegranskat)abstract
- A research arena (WARA-PS) for sensing, data fusion, user interaction, planning and control of collaborative autonomous aerial and surface vehicles in public safety applications is presented. The objective is to demonstrate scientific discoveries and to generate new directions for future research on autonomous systems for societal challenges. The enabler is a computational infrastructure with a core system architecture for industrial and academic collaboration. This includes a control and command system together with a framework for planning and executing tasks for unmanned surface vehicles and aerial vehicles. The motivating application for the demonstration is marine search and rescue operations. A state-of-art delegation framework for the mission planning together with three specific applications is also presented. The first one concerns model predictive control for cooperative rendezvous of autonomous unmanned aerial and surface vehicles. The second project is about learning to make safe real-time decisions under uncertainty for autonomous vehicles, and the third one is on robust terrain-aided navigation through sensor fusion and virtual reality tele-operation to support a GPS-free positioning system in marine environments. The research results have been experimentally evaluated and demonstrated to industry and public sector audiences at a marine test facility. It would be most difficult to do experiments on this large scale without the WARA-PS research arena. Furthermore, these demonstrator activities have resulted in effective research dissemination with high public visibility, business impact and new research collaborations between academia and industry.
|
|
| 2. |
- Cederlöf, Elin Täufer, et al.
(författare)
-
Biomarkers associated with cardiovascular disease in women with spontaneous preterm birth : A case-control study.
- 2024
-
Ingår i: Acta Obstetricia et Gynecologica Scandinavica. - 0001-6349 .- 1600-0412.
-
Tidskriftsartikel (refereegranskat)abstract
- INTRODUCTION: Women with spontaneous preterm birth have an increased risk of cardiovascular disease later in life. Studies suggest potential pathophysiological mechanisms in common, but whether these could be identified by measurement of soluble circulating protein biomarkers in women with spontaneous preterm birth is unknown. The aim of this study was to determine if protein biomarkers associated with cardiovascular disease distinguish women with spontaneous preterm birth from healthy controls, both at pregnancy and at follow up.MATERIAL AND METHODS: Study participants were identified in the population-based Uppsala biobank of pregnant women in Sweden, where plasma samples were collected in mid-pregnancy. In a first screening phase, we identified participants who subsequently experienced spontaneous preterm birth (<37 weeks) in the index pregnancy (N = 13) and controls (N = 6). In these samples, differences in protein expression were examined by comparative mass spectrometry. In a second validation phase, we invited 100 cases with previous spontaneous preterm birth in the index pregnancy and 100 controls (matched for age, body mass index, and year of delivery) from the same source population, to a follow-up visit 4-15 years after pregnancy. At follow up, we collected plasma samples and data on cardiovascular risk factors. We measured concentrations of selected biomarkers identified in the screening phase, as well as lipid profiles in samples both from pregnancy (biobank) and follow up.CLINICALTRIALS: gov registration NCT05693285.RESULTS: In the screening phase, fibrinogen, cadherin-5, complement C5, factor XII, plasma kallikrein, apolipoprotein M, and vitamin D-binding protein differed significantly at pregnancy. In the validation phase, 65 women agreed to participate (35 cases and 30 controls), with a median follow-up time of 11.8 years since pregnancy. The concentration of fibrinogen (p = 0.02) and triglycerides (p = 0.03) were slightly higher in cases compared with matched controls at follow up.CONCLUSIONS: Compared with women without preterm birth, those with spontaneous preterm birth had slightly higher concentrations of fibrinogen, both at mid-pregnancy and a decade after pregnancy. Additionally, we found slightly higher concentration of triglycerides at follow up in women with previous spontaneous preterm birth. The relevance of this finding is uncertain but might indicate potential pathophysiological mechanisms in common between spontaneous preterm birth and cardiovascular disease.
|
|
| 3. |
- Lager, Mårten, et al.
(författare)
-
Long-Term Accuracy in Sea Navigation without using GNSS Systems
- 2017
-
Konferensbidrag (refereegranskat)abstract
- Many ships today rely on Global Navigation Satellite System (GNSS), for their navigation, where GPS (Global Positioning System) is the most well known. Unfortunately, the GNSS systems make the ships dependent on external systems, which can be malfunctioning, be jammed or be spoofed. There are today some proposed techniques where, e.g. bottom depth measurements are compared with known maps using Bayesian calculations, which results in a position estimation. Both maps and navigational sensor equipment are used in these techniques , most often relying on high accuracy maps, with the accuracy of the navigational sensors being less important. Instead of relying on high accuracy maps and low accuracy navigation sensors, this paper presents an idea of the opposite, namely using low accuracy maps, but compensating this by using high accuracy navigational sensors and fusing data from both bottom depth measurements and magneticfield measurements.
|
|
| 4. |
- Lager, Mårten, et al.
(författare)
-
Remote Operation of Unmanned Surface Vessel through Virtual Reality
- 2018
-
Konferensbidrag (refereegranskat)abstract
- An unmanned ship can be designed without considering humancomfort, and can thus be constructed lighter, smaller and less expensive.It can carry out missions in rough terrain or be in areaswhere it would be dangerous for a human to operate. By not havingto support a crew, lengthy missions can be accepted, enabling, e.g.reconnaissance missions, or reducing emissions by lowering thespeed.Breakthroughs with autonomous systems enable more advancedunmanned surface vessels (USVs), but to be able to handle complexmissions in a dynamic environment, a human operator is stillassumed an effective decision maker. Thus, we propose a methodfor remote operation of a USV, where the operator uses VirtualReality (VR) to comprehend the surrounding environment. Greatimportance has been given to the ability to perform safe navigation,by designing a Graphical User Interface (GUI) that guides the operatorthrough the navigation process, by presenting the importantinformation at the right place in the right orientation.
|
|
| 5. |
- Lager, Mårten, et al.
(författare)
-
Remote Supervision of an Autonomous Surface Vehicle using Virtual Reality
- 2019
-
Ingår i: 10th IFAC Symposium on Intelligent Autonomous Vehicles IAV 2019 : Gdansk, Poland, 3–5 July 2019 - Gdansk, Poland, 3–5 July 2019. - : Elsevier BV. - 2405-8963. ; 52:8
-
Konferensbidrag (refereegranskat)abstract
- We compared three different Graphical User Interfaces (GUI) that we have designed and implemented to enable human supervision of an Autonomous Surface Vehicle (ASV). Special attention has been paid to provide tools for a safe navigation and giving the user a good overall understanding of the surrounding world while keeping the cognitive load at a low level. Our findings indicate that a GUI in 3D, presented either on a screen or in a Virtual Reality (VR) setting provides several benefits compared to a Baseline GUI representing traditional tools.
|
|
| 6. |
- Lager, Mårten, et al.
(författare)
-
Remote Supervision of an Unmanned Surface Vessel - a Comparison of Interfaces
- 2019
-
Ingår i: 14th ACM/IEEE International Conference on Human-Robot Interaction (HRI). - 9781538685556
-
Konferensbidrag (refereegranskat)abstract
- We compared three different Graphical User Interfaces (GUI) that we have designed and implemented to enable human supervision of an unmanned ship. Our findings indicate that a 3D GUI presented either on a screen or in a Virtual Reality (VR) setting provides several objective and subjective benefits compared to a Baseline GUI representing traditional tools.
|
|
| 7. |
- Lager, Mårten, et al.
(författare)
-
Robust Terrain-Aided Navigation through Sensor Fusion
- 2020
-
Ingår i: 23rd International Conference on Information Fusion Virtual Conference. - 9780578647098
-
Konferensbidrag (refereegranskat)abstract
- To make autonomous, affordable ships feasible in the real world, they must be capable of safely navigating without fully relying on GPS, high-resolution 3D maps, or high-performance navigation sensors. We suggest a method for estimating the position using affordable navigation sensors (compass and speed log or inertial navigation sensor), sensors used for perception of the environment (cameras, echo sounder, magnetometer), and publicly available maps (sea charts and magnetic intensity anomalies maps). A real-world field trial has shown that the proposed fusion mechanism provides accurate and robust navigation, applicable for affordable autonomous ships.
|
|
| 8. |
- Lager, Mårten, et al.
(författare)
-
Underwater terrain navigation during realistic scenarios
- 2018
-
Ingår i: Multisensor Fusion and Integration in the Wake of Big Data, Deep Learning and Cyber Physical System - An Edition of the Selected Papers from the 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems MFI 2017. - Cham : Springer International Publishing. - 1876-1100 .- 1876-1119. - 9783319905082 ; 501, s. 186-209
-
Konferensbidrag (refereegranskat)abstract
- Many ships today rely on Global Navigation Satellite Systems (GNSS), for their navigation, where GPS (Global Positioning System) is the most well-known. Unfortunately, the GNSS systems make the ships dependent on external systems, which can be malfunctioning, be jammed or be spoofed. There is today some proposed techniques where, e.g., bottom depth measurements are compared with known maps using Bayesian calculations, which results in a position estimation. Both maps and navigational sensor equipment are used in these techniques, most often relying on high-resolution maps, with the accuracy of the navigational sensors being less important. Instead of relying on high-resolution maps and low accuracy navigation sensors, this paper presents an implementation of the opposite, namely using low-resolution maps, but compensating this by using high-accuracy navigational sensors and fusing data from both bottom depth measurements and magnetic field measurements. A Particle Filter uses the data to estimate a position, and as a second step, a Kalman Filter enhances the accuracy even further. The algorithm has been tuned and evaluated using both a medium and a high-accuracy Inertial System. Comparisons of the various tuning methods are presented along with their performance results. The results from the simulated tests, described in this paper, show that for the high-end Inertial System, the mean position error is 10.2 m, and the maximum position error is 33.0 m during a 20 h test, which in most cases would be accurate enough to use for navigation.
|
|
| 9. |
- Lager, Mårten, et al.
(författare)
-
Underwater Terrain Navigation Using Standard Sea Charts and Magnetic Field Maps
- 2017
-
Ingår i: 2017 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI). - 9781509060634 - 9781509060641
-
Konferensbidrag (refereegranskat)abstract
- Many ships today rely on Global Navigation Satellite Systems (GNSS), for their navigation, where GPS (Global Positioning System) is the most well-known. Unfortunately, the GNSS systems make the ships dependent on external systems, which can be malfunctioning, be jammed or be spoofed. There are today some proposed techniques where, e.g., bottom depth measurements are compared with known maps using Bayesian calculations, which results in a position estimation. Both maps and navigational sensor equipment are used in these techniques, most often relying on high-resolution maps, with the accuracy of the navigational sensors being less important. Instead of relying on high-resolution maps and low accuracy navigation sensors, this paper presents an implementation of the opposite, namely using low-resolution maps, but compensating this by using high accuracy navigational sensors and fusing data from both bottom depth measurements and magnetic field measurements. The results from the simulated tests, described in this paper, show that the position error is below 25m throughout the whole test, and that the mean of the error is below 13m, which in most cases would be accurate enough to use for navigation.
|
|
| 10. |
- Lager, Mårten, et al.
(författare)
-
VR Teleoperation to support a GPS-free Positioning System in a Marine Environment
- 2020
-
Ingår i: International Journal on Marine Navigation and Safety of Sea Transportation. - : Faculty of Navigation. - 2083-6473. ; 14:4, s. 789-798
-
Tidskriftsartikel (refereegranskat)abstract
- Small autonomous surface vehicles (ASV) will need both teleoperation support and redundant positioning technology to comply with expected future regulations. When at sea, they are limited by a satellite communication link with low throughput. We have designed and implemented a graphical user interface (GUI) for teleoperation using a communication link with low throughput, and one positioning system, independent of the Global Positioning System (GPS), supported by the teleoperation tool. We conducted a user study (N=16), using real-world data from a field trial, to validate our approach, and to compare two variants of the graphical user interface (GUI). The users experienced that the tool gives a good overview, and despite the connection with the low throughput, they managed through the GUI to significantly improve the positioning accuracy.
|
|
