| 1. |
- Gavali, Hamid, et al.
(författare)
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Outcome of Radical Surgical Treatment of Abdominal Aortic Graft and Endograft Infections Comparing Extra-anatomic Bypass with In Situ Reconstruction : A Nationwide Multicentre Study
- 2021
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Ingår i: European Journal of Vascular and Endovascular Surgery. - : Saunders Elsevier. - 1078-5884 .- 1532-2165. ; 62:6, s. 918-926
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Tidskriftsartikel (refereegranskat)abstract
- Objective: Abdominal aortic graft and endograft infection (AGI) is primarily treated by resection of the infected graft and restoration of distal perfusion through extra-anatomic bypass (EAB) or in situ reconstruction/repair (ISR). The aim of this study was to compare these surgical strategies in a nationwide multicentre retrospective cohort study.Methods: The Swedish Vascular Registry (Swedvasc) was used to identify surgically treated abdominal AGIs in Sweden between January 1995 and May 2017. The primary aim was to compare short and long term survival, as well as complications for EAB and ISR.Results: Some 126 radically surgically treated AGI patients were identified – 102 graft infections and 24 endograft infections – treated by EAB: 71 and ISR: 55 (23 neo-aorto-iliac systems, NAISs). No differences in early 30 day (EAB 81.7% vs. ISR 76.4%, p =.46), or long term five year survival (48.2% vs. 49.9%, p =.87) were identified. There was no survival difference comparing NAIS to other ISR strategies. The frequency of recurrent graft infection during follow up was similar: EAB 20.3% vs. ISR 17.0% (p =.56). Survival and re-infection rates of the new conduit did not differ between NAIS and other ISR strategies. Age ≥ 75 years (odds ratio [OR] 4.0, confidence interval [CI] 1.1 – 14.8), coronary artery disease (OR 4.2, CI 1.2 – 15.1) and post-operative circulatory complications (OR 5.2, CI 1.2 – 22.5) were associated with early death. Prolonged antimicrobial therapy (> 3 months) was associated with reduced long term mortality (HR 0.3, CI 0.1 – 0.9).Conclusion: In this nationwide multicentre study comparing outcomes of radically treated AGI, no differences in survival or re-infection rate could be identified comparing EAB and ISR.
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| 2. |
- Gavali, Hamid, et al.
(författare)
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Semi-Conservative Treatment Versus Radical Surgery in Abdominal Aortic Graft and Endograft Infections
- 2023
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Ingår i: European Journal of Vascular and Endovascular Surgery. - : Elsevier. - 1078-5884 .- 1532-2165. ; 66:3, s. 397-406
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Tidskriftsartikel (refereegranskat)abstract
- Objective: Abdominal aortic graft and endograft infections (AGIs) are rare complications following aortic surgery. Radical surgery (RS) with resection of the infected graft and reconstruction with extra-anatomical bypass or in situ reconstruction is the preferred therapy. For patients unfit for RS, a semi-conservative (SC), graft preserving strategy is possible. This paper aimed to compare survival and infection outcomes between RS and SC treatment for AGI in a nationwide cohort.Methods: Patients with abdominal AGI related surgery in Sweden between January 1995 and May 2017 were identified. The Management of Aortic Graft Infection Collaboration (MAGIC) criteria were used for the definition of AGI. Multivariable regression was performed to identify factors associated with mortality.Results: One hundred and sixty-nine patients with surgically treated abdominal AGI were identified, comprising 43 SC (14 endografts; 53% with a graft enteric fistula [GEF] in total) and 126 RS (26 endografts; 50% with a GEF in total). The SC cohort was older and had a higher frequency of cardiac comorbidities. There was a non-significant trend towards lower Kaplan -Meier estimated five year survival for SC vs. RS (30.2% vs. 48.4%; p = .066). A non-significant trend was identified towards worse Kaplan -Meier estimated five year survival for SC patients with a GEF vs. without a GEF (21.7% vs. 40.1%; p = .097). There were significantly more recurrent graft infections comparing SC with RS (45.4% vs. 19.3%; p < .001). In a Cox regression model adjusting for confounders, there was no difference in five year survival comparing SC vs. RS (HR 1.0, 95% CI 0.6 -1.5).Conclusion: In this national AGI cohort, there was no mortality difference comparing SC and RS for AGI when adjusting for comorbidities. Presence of GEF probably negatively impacts survival outcomes of SC patients. Rates of recurrent infection remain high for SC treated patients.
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| 3. |
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| 4. |
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| 5. |
- Andreasson, Henrik, 1977-, et al.
(författare)
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Gold-fish SLAM : An application of SLAM to localize AGVs
- 2014
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Ingår i: Field and Service Robotics. - Heidelberg : Springer. - 9783642406850 - 9783642406867 ; , s. 585-598
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Konferensbidrag (refereegranskat)abstract
- The main focus of this paper is to present a case study of a SLAM solution for Automated Guided Vehicles (AGVs) operating in real-world industrial environments. The studied solution, called Gold-fish SLAM, was implemented to provide localization estimates in dynamic industrial environments, where there are static landmarks that are only rarely perceived by the AGVs. The main idea of Gold-fish SLAM is to consider the goods that enter and leave the environment as temporary landmarks that can be used in combination with the rarely seen static landmarks to compute online estimates of AGV poses. The solution is tested and verified in a factory of paper using an eight ton diesel-truck retrofitted with an AGV control system running at speeds up to 3m/s. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs. © Springer-Verlag Berlin Heidelberg 2014.
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| 6. |
- Andreasson, Henrik, 1977-, et al.
(författare)
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Gold-fish SLAM : an application of SLAM to localize AGVs
- 2012
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Ingår i: Proceedings of the International Conference on Field and Service Robotics (FSR), July 2012..
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- The main focus of this paper is to present a case study of a SLAM solution for Automated Guided Vehicles (AGVs) operating in real-world industrial environ- ments. The studied solution, called Gold-fish SLAM, was implemented to provide localization estimates in dynamic industrial environments, where there are static landmarks that are only rarely perceived by the AGVs. The main idea of Gold-fish SLAM is to consider the goods that enter and leave the environment as temporary landmarks that can be used in combination with the rarely seen static landmarks to compute online estimates of AGV poses. The solution is tested and verified in a factory of paper using an eight ton diesel-truck retrofitted with an AGV control sys- tem running at speeds up to 3 meters per second. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs.
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| 7. |
- Baerveldt, Albert-Jan, et al.
(författare)
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A low-cost colour vision-system for robot design competitions
- 1998
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Ingår i: Mechatronics '98. - Oxford : Pergamon Press. - 0080433391 ; , s. 595-600
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a low-cost colour vision system mainly intended for robot design competitions, which nowadays is a popular, project-oriented, way of teaching mechatronics in engineering curriculums. The estimated cost is about 450 dollar inclusive colour camera and the system is small enough to be carried on-board relative small mobile robots. The system is build around a signal processor TMS C31. We also present and discuss the experiences made with the system in our robot design competition.
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| 8. |
- Baerveldt, Albert-Jan, et al.
(författare)
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Vision-guided mobile robots for design competitions
- 2003
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Ingår i: IEEE robotics & automation magazine. - : IEEE, The Institute of Electrical and Electronics Engineers. - 1070-9932 .- 1558-223X. ; 10:2, s. 38-44
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Tidskriftsartikel (refereegranskat)abstract
- The use of popular and effective robot-design competitions in teaching system integration in engineering curricula was discussed. Such robot competitions give students open-ended problem spaces, teaches them to work in groups and stimulates creativity. The technical and pedagogical aspects of robot competitions along with their experiences and shortcomings were also discussed.
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| 9. |
- Ballo, Ahmed, 1978, et al.
(författare)
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Bone response to physical-vapour-deposited titanium dioxide coatings on titanium implants
- 2013
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Ingår i: Clinical Oral Implants Research. - : Wiley. - 0905-7161 .- 1600-0501. ; 24:9, s. 1009-1017
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Tidskriftsartikel (refereegranskat)abstract
- Objectives: The aim of this study was to investigate the correlation between coating thickness and the crystal structure of physical-vapour-deposited (PVD) titanium dioxide coatings, and to evaluate their in vivo biocompatibility. Materials and methods: The PVD TiO 2 coatings of different thickness were deposited on machined titanium grade 2 screw-shaped implants. Non-coated titanium implants were used as controls. Coating properties such as thickness, crystal structure, coating morphology and roughness were characterized. Forty-eight implants were placed randomly into both tibias of 16 rats. The animals were euthanized 7 and 28 days postsurgery and block biopsies were prepared for histology, histomorphometry and SEM analysis. Results: The thicknesses of the PVDTiO 2 coatings were 120 and 1430 nm respectively. Histologically, new bone formed on all implant surfaces. The mean percentage of newly formed bone in contact with the implant (BIC) was significantly higher at early healing time (7 days) for the 120 nm thick PVD coating (39 ± 14%) than for both the 1430 nm thick PVD coating (22 ± 10%) (P = 0.043) and the machined surface (22 ± 9%) (P = 0.028). This difference was no longer evident after 28 days (P = 0.867). Conclusion: Bone formation and bone-to-implant contact are achieved to the same degree for TiO 2 surface modifications prepared by a PVD process as clinically used, machined titanium. Furthermore, a relatively thinner PVD coating promotes a higher degree of bone apposition shortly after implantation, thereby providing rationales for exploring the potential clinical use of these modifications.
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| 10. |
- Bergenheim, Åsa, 1954-, et al.
(författare)
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Siikavaaralaiset och det möjligas livsvärld
- 2022
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Ingår i: Brevet. - Möklinta : Gidlunds förlag. - 9789178444755 ; , s. 285-313
-
Bokkapitel (övrigt vetenskapligt/konstnärligt)
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| 11. |
- Bergh, U, et al.
(författare)
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Maximal oxygen uptake "classical" versus "contemporary" viewpoints.
- 2000
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Ingår i: Medicine & Science in Sports & Exercise. - : Ovid Technologies (Wolters Kluwer Health). - 0195-9131 .- 1530-0315. ; 32:1, s. 85-8
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Tidskriftsartikel (refereegranskat)abstract
- In two articles Timothy Noakes proposes a new physiological model in which skeletal muscle recruitment is regulated by a central "govenor," specifically to prevent the development of a progressive myocardial ischemia that would precede the development of skeletal muscle anaerobiosis during maximal exercise. In this rebuttal to the Noakes' papers, we argue that Noakes has ignored data supporting the existing hypothesis that under normal conditions cardiac output is limiting maximal aerobic power during dynamic exercise engaging large muscle groups.
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| 12. |
- Bouguerra, Abdelbaki, 1974-, et al.
(författare)
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An autonomous robotic system for load transportation
- 2009
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Ingår i: 2009 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2009). - New York : IEEE conference proceedings. - 9781424427277 - 9781424427284 ; , s. 1563-1566
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Konferensbidrag (refereegranskat)abstract
- This paper presents an overview of an autonomous robotic material handling system. The goal of the system is to extend the functionalities of traditional AGVs to operate in highly dynamic environments. Traditionally, the reliable functioning of AGVs relies on the availability of adequate infrastructure to support navigation. In the target environments of our system, such infrastructure is difficult to setup in an efficient way. Additionally, the location of objects to handle are unknown, which requires that the system be able to detect and track object positions at runtime. Another requirement of the system is to be able to generate trajectories dynamically, which is uncommon in industrial AGV systems.
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| 13. |
- Bouguerra, Abdelbaki, et al.
(författare)
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MALTA : a system of multiple autonomous trucks for load transportation
- 2009
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Ingår i: Proceedings of the 4th European conference on mobile robots (ECMR). - Zagreb : KoREMA. - 9789536037544 ; , s. 93-98
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Konferensbidrag (refereegranskat)abstract
- This paper presents an overview of an autonomousrobotic material handling system. The goal of the system is toextend the functionalities of traditional AGVs to operate in highlydynamic environments. Traditionally, the reliable functioning ofAGVs relies on the availability of adequate infrastructure tosupport navigation. In the target environments of our system,such infrastructure is difficult to setup in an efficient way.Additionally, the location of objects to handle are unknown,which requires that the system be able to detect and track objectpositions at runtime. Another requirement of the system is to beable to generate trajectories dynamically, which is uncommon inindustrial AGV systems.
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| 14. |
- Celsing, F, et al.
(författare)
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Effects of chronic iron deficiency anaemia on myoglobin content, enzyme activity, and capillary density in the human skeletal muscle.
- 1988
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Ingår i: Acta medica Scandinavica. - 0001-6101. ; 223:5, s. 451-7
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Tidskriftsartikel (refereegranskat)abstract
- The influence of chronic iron deficiency anaemia on myoglobin content, maximal enzyme activities and capillarization in the human skeletal muscle was investigated. Muscle samples from musculus vastus lateralis were screened in an Indonesian population. The causes of iron deficiency were chronic intestinal bleeding or repeated pregnancy combined with low iron intake. The maximal activities of iron-dependent and non-iron-dependent glycolytic and oxidative enzymes as well as myoglobin showed similar values in the iron-deficient group and the matched control group. The activities of the oxidative enzymes in both the iron-deficient group and the controls were lower, however, compared even to untrained Swedish subjects. The capillary density was essentially within a normal range in both groups. It is concluded that chronic iron deficiency anaemia of a moderate or severe degree, with Hb concentrations of about 80-100 g.1(-1), does not cause an impaired biochemical function of the human skeletal muscle.
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| 15. |
- Englund, Cristofer, 1977-, et al.
(författare)
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AI Perspectives in Smart Cities and Communities to Enable Road Vehicle Automation and Smart Traffic Control
- 2021
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Ingår i: Smart Cities. - Basel : MDPI. - 2624-6511. ; 4:2, s. 783-802
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Tidskriftsartikel (refereegranskat)abstract
- Smart Cities and Communities (SCC) constitute a new paradigm in urban development. SCC ideates on a data-centered society aiming at improving efficiency by automating and optimizing activities and utilities. Information and communication technology along with internet of things enables data collection and with the help of artificial intelligence (AI) situation awareness can be obtained to feed the SCC actors with enriched knowledge. This paper describes AI perspectives in SCC and gives an overview of AI-based technologies used in traffic to enable road vehicle automation and smart traffic control. Perception, Smart Traffic Control and Driver Modelling are described along with open research challenges and standardization to help introduce advanced driver assistance systems and automated vehicle functionality in traffic. To fully realize the potential of SCC, to create a holistic view on a city level, the availability of data from different stakeholders is need. Further, though AI technologies provide accurate predictions and classifications there is an ambiguity regarding the correctness of their outputs. This can make it difficult for the human operator to trust the system. Today there are no methods that can be used to match function requirements with the level of detail in data annotation in order to train an accurate model. Another challenge related to trust is explainability, while the models have difficulties explaining how they come to a certain conclusions it is difficult for humans to trust it. © 2021 by the authors. Licensee MDPI, Basel, Switzerland.
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| 16. |
- Ericson, Stefan, et al.
(författare)
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A vision-guided mobile robot for precision agriculture
- 2009
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Ingår i: Proceedings of 7th European Conference on Precision Agriculture. - Wageningen : Wageningen Academic Publishers. - 9789086861132 - 9789086866649 ; , s. 623-630
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Konferensbidrag (refereegranskat)abstract
- In this paper we have developed a mobile robot which is able to perform crop-scale operations using vision as only sensor. The system consists of a row-following system and a visual odometry system. The row following system captures images from a front looking camera on the robot and the crop rows are extracted using Hough transform. Both distance to the rows and heading angle is provided which both are used to control the steering. The visual odometry system uses two cameras in a stereo setup pointing perpendicular to the ground. This system measures the travelled distance by measuring the ground movement and compensate for height variation. Experiments are performed on an artificial field due to the season. The result shows that the visual odometry have accuracy better than 2.1% of travelled distance.
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| 17. |
- Ericson, Stefan, et al.
(författare)
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Algorithms for Visual Odometry in Outdoor Field Environment
- 2007
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Ingår i: Proceedings of the 13th IASTED International Conference on Robotics and Applications. - Anaheim, Calif. : ACTA Press. - 9780889866850 - 9780889866867 ; , s. 287-292
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Konferensbidrag (refereegranskat)abstract
- In this paper different algorithms for visual odometry are evaluated for navigating an agricultural weeding robot in outdoor field environment. Today there is an encoder wheel that keeps track of the weeding tools position relative the camera, but the system suffers from wheel slippage and errors caused by the uneven terrain. To overcome these difficulties the aim is to replace the encoders with visual odometry using the plant recognition camera. Four different optical flow algorithms are tested on four different surfaces, indoor carpet, outdoor asphalt, grass and soil. The tests are performed on an experimental platform. The result shows that the errors consist mainly of dropouts caused by overriding maximum speed, and of calibration error due to uneven ground. The number of dropouts can be reduced by limiting the maximum speed and detection of missing frames. The calibration problem can be solved using stereo cameras. This gives a height measurement and the calibration will be given by camera mounting. The algorithm using normalized cross-correlation shows the best result concerning number of dropouts, accuracy and calculation time.
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| 18. |
- Ericson, Stefan K., 1974-, et al.
(författare)
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Analysis of two visual odometry systems for use in an agricultural field environment
- 2018
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Ingår i: Biosystems Engineering. - London : Elsevier. - 1537-5110 .- 1537-5129. ; 166, s. 116-125
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Tidskriftsartikel (refereegranskat)abstract
- This paper analyses two visual odometry systems for use in an agricultural field environment. The impact of various design parameters and camera setups are evaluated in a simulation environment. Four real field experiments were conducted using a mobile robot operating in an agricultural field. The robot was controlled to travel in a regular back-and-forth pattern with headland turns. The experimental runs were 1.8–3.1 km long and consisted of 32–63,000 frames. The results indicate that a camera angle of 75° gives the best results with the least error. An increased camera resolution only improves the result slightly. The algorithm must be able to reduce error accumulation by adapting the frame rate to minimise error. The results also illustrate the difficulties of estimating roll and pitch using a downward-facing camera. The best results for full 6-DOF position estimation were obtained on a 1.8-km run using 6680 frames captured from the forward-facing cameras. The translation error (x,y,z) is 3.76% and the rotational error (i.e., roll, pitch, and yaw) is 0.0482 deg m−1. The main contributions of this paper are an analysis of design option impacts on visual odometry results and a comparison of two state-of-the-art visual odometry algorithms, applied to agricultural field data.
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| 19. |
- Ericson, Stefan, et al.
(författare)
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Row-detection on an agricultural field using omnidirectional camera
- 2010
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Ingår i: 2010 IEEE/RSJ international conference on intelligent robots and systems. - Piscataway, N.J. : IEEE Press. - 9781424466740 - 9781424466764 - 9781424466757 ; , s. 4982-4987
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Konferensbidrag (refereegranskat)abstract
- This paper describes a method of detecting parallel rows on an agricultural field using an omnidirectional camera. The method works both on cameras with a fisheye lens and cameras with a catadioptric lens. A combination of an edge based method and a Hough transform method is suggested to find the rows. The vanishing point of several parallel rows is estimated using a second Hough transform. The method is evaluated on synthetic images generated with calibration data from real lenses. Scenes with several rows are produced, where each plant is positioned with a specified error. Experiments are performed on these synthetic images and on real field images. The result shows that good accuracy is obtained on the vanishing point once it is detected correctly. Further it shows that the edge based method works best when the rows consists of solid lines, and the Hough method works best when the rows consists of individual plants. The experiments also show that the combined method provides better detection than using the methods separately.
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| 20. |
- Ericson, Stefan, et al.
(författare)
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Stereo Visual Odometry for Mobile Robots on Uneven Terrain
- 2008
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Ingår i: WCECS '08 Proceedings of the Advances in Electrical and Electronics Engineering - IAENG Special Edition of the World Congress on Engineering and Computer Science 2008. - Washington : IEEE Computer Society. - 9780769535555 - 9781424435456 ; , s. 150-157
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a stereo visual odometry system for mobile robots that is not sensitive to uneven terrain. Two cameras is mounted perpendicular to the ground and height and traveled distance are calculated using normalized cross correlation. A method for evaluating the system is developed, where flower boxes containing representative surfaces are placed in a metal-working lathe. The cameras are mounted on the carriage which can be positioned manually with 0.1 mm accuracy. Images are captured every 10 mm over 700 mm. The tests are performed on eight different surfaces representing real world situations. The resulting error is less than 0.6% of traveled distance on surfaces where the maximum height variation is measured to 96 mm. The variance is measured for eight test runs, total 5.6 m, to 0.040 mm. This accuracy is sufficient for crop-scale agricultural operations.
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| 21. |
- Ericson, Stefan
(författare)
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Vision-Based Perception for Localization of Autonomous Agricultural Robots
- 2017
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- In this thesis Stefan investigates how cameras can be used for localization of an agricultural mobile robot. He focuses on relative measurement that can be used to determine where a weeding tool is operating relative a weed detection sensor. It incorporates downward-facing perspective cameras, forward-facing perspective cameras and omnidirectional cameras. Stefan shows how the camera’s ego-motion can be estimated to obtain not only the position in 3D but also the orientation. He also shows how line structures in the field can be used to navigate a robot along the rows.
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| 22. |
- Ericson, Stefan, et al.
(författare)
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Visual Odometry System for Agricultural Field Robots
- 2008
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Ingår i: Proceedings of the World Congress on Engineering and Computer Science 2008, WCECS 2008, October 22 - 24, 2008, San Francisco, USA. - Hong Kong : International Association of Engineers. - 9789889867102 ; , s. 619-624
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Konferensbidrag (refereegranskat)abstract
- In this paper we present a visual odometry system for agricultural field robots that is not sensitive to uneven terrain. A stereo camera system is mounted perpendicular to the ground and height and traveled distance are calculated using normalized cross correlation. A method for evaluating the system is developed, where flower boxes containing representative surfaces are placed in a metal-working lathe. The cameras are mounted on the carriage which can be positioned manually with 0.1 mm accuracy. Images are captured every 10 mm over 700 mm. The tests are performed on eight different surfaces representing real world situations. The resulting error is less than 0.6% of traveled distance on surfaces where the maximum height variation is measured to 96 mm. The variance is measured for eight test runs, total 5.6 m, to 0.040 mm. This accuracy is sufficient for crop-scale agricultural operations.
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| 23. |
- Eriksson, Lisa, et al.
(författare)
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Synergimöjligheter,målkonflikteroch problemi miljömålsarbetet : En analys utifrån nyckelaktörers perspektiv
- 2011
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Naturvårdsverket ansvarar för att samordna uppföljningen av de svenska miljömålen– generationsmålet såväl som de 16 miljökvalitetsmålen. I juli 2012 ska enfördjupad utvärdering av miljömålen rapporteras till regeringen. En av uppdragspunkternai regeringsuppdraget löd”En analys som identifierar synergimöjligheteroch de bakomliggande orsakerna till problem som försvårar möjligheterna att nåmiljökvalitetsmålen och generationsmålet, t.ex. trender i samhällsutvecklingen,målkonflikter mellan miljökvalitetsmålen och konflikter med andra samhällsintressen”.Syftet med denna studie av synergimöjligheter och problem är att ta framunderlag till denna fördjupade utvärdering. Målet med analysen är en sammanställningsom svarar på ovanstående uppdragspunkt i regeringsuppdraget.Det som är nytt i denna rapport är ansatsen attjämföra regionala och nationellaerfarenheter av olika problem och synergimöjligheter som ofta framkommer i analyserav miljömålsarbetet. Här visar resultaten att bilden är samstämmig mellan debåda nivåerna. Nytt är även försöket att strukturera upp och karaktärisera målkonflikteroch synergier för att på så sätt tydliggöra grunden för prioriteringsarbetetoch därmed möjligen kunna förenkla i prioriteringsprocessen.Studiens resultat visar att de viktigaste konflikterna finns mellan miljökvalitetsmålenoch andra politikområden, det vill säga mellan miljökvalitetsmålen och operationaliseringenav andra politikområdens produktionsmål. Dessa politikområden ärnäringspolitik, skogspolitik, energi och regional utveckling. Samma områden ärproblematiska även på den regionala nivån, men där finns även andra problem i defall miljökvalitetsmålen krockar med verksamhet som länsstyrelsen bedriver.Många av konflikterna med andra politikområden beskrivs av studiens respondentersom äkta i den betydelsen att de tillfrågade saknar rådighet över konflikten. Detär tydligt att dessa konflikter måste lösas med hjälp av politiska ställningstaganden.Få äkta konflikter verkar finnas mellan miljökvalitetsmålen – främst finns konfliktermellan klimatmålet och övriga miljökvalitetsmål.Även inom miljömålsförvaltningen återfinns problem och då i form av exempelvisbristande samverkan och resursbrist. I de fall där en myndighet har möjlighet attöka samverkan med andra eller göra en omfördelning av resurser så rör det sig omett oäkta problem. Om en myndighets instruktion inte underlättar samverkan medandra myndigheter inom miljömålsförvaltningen eller om resurstilldelningen ärunderdimensionerad så utgör detta ett äkta problem sett i ett förvaltningsperspektiv.När produktionsmålen inom ett politikområde (till exempel skogspolitik) står ikonflikt med hänsynsmål i form av miljökvalitetmålen, framträder produktionsmålentydligare och blir styrande för utvecklingen. Detta blir ur ett miljömålsperspektiven tydlig äkta konflikt som för sin lösning behöver tydliga politiska avvägningar.NATURVÅRDSVERKET RAPPORT 6474Synergimöjligheter, målkonflikter och problem i miljömålsarbetet7Många gånger uppstår konflikter och problem på grund av oklarheter i ägarskap,rådighet och ansvar över en fråga, på det sätt som beskrivits ovan. För att kunnahantera målkonflikter krävs ställningstaganden och prioriteringar. Lösningen på deäkta konflikterna ligger på den politiska nivån. Här är det viktigt att se över konflikt-och problemområdena för att kunna nå långsiktigt hållbara lösningar.Studiens respondenter bedömer att det i stort finns fler synergimöjligheter än målkonflikter.Synergier återfinns främst mellan miljökvalitetsmålen och då relaterattillIngen övergödning, Levande skogar, Ett rikt växt- och djurliv samt Begränsadklimatpåverkan.Synergier mellan miljömålen och andra politikområden återfinnsfrämst med folkhälsa, skogspolitik och energipolitik. Bilden ser likadan ut på denregionala nivån. De flesta synergier som i studien lyfts fram kopplade till miljökvalitetsmålendefinierades som äkta. I viss mån kan synergier dock ge negativa konsekvenserdirekt eller på sikt. Att i det fortsatta miljömålsarbetet ha med sig synsättetatt även synergier kan vara oäkta eller skenbara kan bidra till att upptäcka fallgropar,till exempel att synergier på en nivå kan visa sig ha negativa effekter på enannan nivå. Att beakta detta faktum kan göra aktörer uppmärksamma på behovetav noggranna konsekvensbedömningar även i relation till miljökvalitetsmål somvid en första anblick inte anses beröras av en åtgärd.Trender i samhällsutvecklingen har stor påverkan på möjligheterna att nå måluppfyllelseför miljökvalitetsmålen. Trender med negativ inverkan på miljöarbetet ärockså de som utgör de starkaste trenderna i samhällsutvecklingen. Hit hör trendersom rör bland annat konsumtionsökning, kortsiktighet och globalisering. Dessaförstärker målkonflikterna medan de positiva trenderna kan förstärka synergimöjligheterna.Ett framgångskoncept vara att hitta nyckelaktörer som kan bromsa uppeffekten av de negativa trenderna. Lika viktigt är det att stödja de nyckelaktörersom kan förstärka de positiva trenderna. Att bygga på samverkan och samarbetekan föra miljöarbetet framåt.Den stora frågan som miljömålsarbetet har att brottas med ligger i samhällsutvecklingenoch de trender som styr oss. Hänsynsmål – till exempel miljökvalitetsmålen– driver endast i begränsad utsträckning samhällsutvecklingen. Det gör i högre gradfrågan om en god ekonomisk utveckling och ett socialt välbefinnande, till exempelhälsa. En stor utmaning ligger i att kombinera en god ekonomisk utveckling medett framgångsrikt miljöarbete. De positiva trender som förekommer i denna studiefinns främst i beteendemönster i samhället och hos den enskilde. Kopplingen tillmänniskors önskan om en god hälsa kan vara värd att uppmärksamma.Studiens resultat och slutsatser pekar på betydelsen av att politikerna tar ett helhetsgreppöver och värderar miljöarbetet i relation till andra mål. Handlingsutrymmetpåverkas även av internationella sammanhang och EU-lagstiftning. För attnärma sig de stora problemen behövs nya angreppssätt.
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| 24. |
- Eriksson, Lisa, et al.
(författare)
-
Synergimöjligheter,målkonflikteroch problemi miljömålsarbetet : En analys utifrån nyckelaktörers perspektiv
- 2011
-
Rapport (övrigt vetenskapligt/konstnärligt)abstract
- Naturvårdsverket ansvarar för att samordna uppföljningen av de svenska miljömålen– generationsmålet såväl som de 16 miljökvalitetsmålen. I juli 2012 ska enfördjupad utvärdering av miljömålen rapporteras till regeringen. En av uppdragspunkternai regeringsuppdraget löd”En analys som identifierar synergimöjligheteroch de bakomliggande orsakerna till problem som försvårar möjligheterna att nåmiljökvalitetsmålen och generationsmålet, t.ex. trender i samhällsutvecklingen,målkonflikter mellan miljökvalitetsmålen och konflikter med andra samhällsintressen”.Syftet med denna studie av synergimöjligheter och problem är att ta framunderlag till denna fördjupade utvärdering. Målet med analysen är en sammanställningsom svarar på ovanstående uppdragspunkt i regeringsuppdraget.Det som är nytt i denna rapport är ansatsen attjämföra regionala och nationellaerfarenheter av olika problem och synergimöjligheter som ofta framkommer i analyserav miljömålsarbetet. Här visar resultaten att bilden är samstämmig mellan debåda nivåerna. Nytt är även försöket att strukturera upp och karaktärisera målkonflikteroch synergier för att på så sätt tydliggöra grunden för prioriteringsarbetetoch därmed möjligen kunna förenkla i prioriteringsprocessen.Studiens resultat visar att de viktigaste konflikterna finns mellan miljökvalitetsmålenoch andra politikområden, det vill säga mellan miljökvalitetsmålen och operationaliseringenav andra politikområdens produktionsmål. Dessa politikområden ärnäringspolitik, skogspolitik, energi och regional utveckling. Samma områden ärproblematiska även på den regionala nivån, men där finns även andra problem i defall miljökvalitetsmålen krockar med verksamhet som länsstyrelsen bedriver.Många av konflikterna med andra politikområden beskrivs av studiens respondentersom äkta i den betydelsen att de tillfrågade saknar rådighet över konflikten. Detär tydligt att dessa konflikter måste lösas med hjälp av politiska ställningstaganden.Få äkta konflikter verkar finnas mellan miljökvalitetsmålen – främst finns konfliktermellan klimatmålet och övriga miljökvalitetsmål.Även inom miljömålsförvaltningen återfinns problem och då i form av exempelvisbristande samverkan och resursbrist. I de fall där en myndighet har möjlighet attöka samverkan med andra eller göra en omfördelning av resurser så rör det sig omett oäkta problem. Om en myndighets instruktion inte underlättar samverkan medandra myndigheter inom miljömålsförvaltningen eller om resurstilldelningen ärunderdimensionerad så utgör detta ett äkta problem sett i ett förvaltningsperspektiv.När produktionsmålen inom ett politikområde (till exempel skogspolitik) står ikonflikt med hänsynsmål i form av miljökvalitetmålen, framträder produktionsmålentydligare och blir styrande för utvecklingen. Detta blir ur ett miljömålsperspektiven tydlig äkta konflikt som för sin lösning behöver tydliga politiska avvägningMånga gånger uppstår konflikter och problem på grund av oklarheter i ägarskap,rådighet och ansvar över en fråga, på det sätt som beskrivits ovan. För att kunnahantera målkonflikter krävs ställningstaganden och prioriteringar. Lösningen på deäkta konflikterna ligger på den politiska nivån. Här är det viktigt att se över konflikt-och problemområdena för att kunna nå långsiktigt hållbara lösningar.Studiens respondenter bedömer att det i stort finns fler synergimöjligheter än målkonflikter.Synergier återfinns främst mellan miljökvalitetsmålen och då relaterattillIngen övergödning, Levande skogar, Ett rikt växt- och djurliv samt Begränsadklimatpåverkan.Synergier mellan miljömålen och andra politikområden återfinnsfrämst med folkhälsa, skogspolitik och energipolitik. Bilden ser likadan ut på denregionala nivån. De flesta synergier som i studien lyfts fram kopplade till miljökvalitetsmålendefinierades som äkta. I viss mån kan synergier dock ge negativa konsekvenserdirekt eller på sikt. Att i det fortsatta miljömålsarbetet ha med sig synsättetatt även synergier kan vara oäkta eller skenbara kan bidra till att upptäcka fallgropar,till exempel att synergier på en nivå kan visa sig ha negativa effekter på enannan nivå. Att beakta detta faktum kan göra aktörer uppmärksamma på behovetav noggranna konsekvensbedömningar även i relation till miljökvalitetsmål somvid en första anblick inte anses beröras av en åtgärd.Trender i samhällsutvecklingen har stor påverkan på möjligheterna att nå måluppfyllelseför miljökvalitetsmålen. Trender med negativ inverkan på miljöarbetet ärockså de som utgör de starkaste trenderna i samhällsutvecklingen. Hit hör trendersom rör bland annat konsumtionsökning, kortsiktighet och globalisering. Dessaförstärker målkonflikterna medan de positiva trenderna kan förstärka synergimöjligheterna.Ett framgångskoncept vara att hitta nyckelaktörer som kan bromsa uppeffekten av de negativa trenderna. Lika viktigt är det att stödja de nyckelaktörersom kan förstärka de positiva trenderna. Att bygga på samverkan och samarbetekan föra miljöarbetet framåt.Den stora frågan som miljömålsarbetet har att brottas med ligger i samhällsutvecklingenoch de trender som styr oss. Hänsynsmål – till exempel miljökvalitetsmålen– driver endast i begränsad utsträckning samhällsutvecklingen. Det gör i högre gradfrågan om en god ekonomisk utveckling och ett socialt välbefinnande, till exempelhälsa. En stor utmaning ligger i att kombinera en god ekonomisk utveckling medett framgångsrikt miljöarbete. De positiva trender som förekommer i denna studiefinns främst i beteendemönster i samhället och hos den enskilde. Kopplingen tillmänniskors önskan om en god hälsa kan vara värd att uppmärksamma.Studiens resultat och slutsatser pekar på betydelsen av att politikerna tar ett helhetsgreppöver och värderar miljöarbetet i relation till andra mål. Handlingsutrymmetpåverkas även av internationella sammanhang och EU-lagstiftning. För attnärma sig de stora problemen behövs nya angreppssätt.
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| 25. |
- Fan, Yuantao, 1989-, et al.
(författare)
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Infrastructure Mapping in Well-Structured Environments Using MAV
- 2016
-
Ingår i: Lecture Notes in Computer Science. - Cham, Switzerland : Springer. - 0302-9743 .- 1611-3349. - 9783319403786 - 9783319403793 ; 9716, s. 116-126
-
Tidskriftsartikel (refereegranskat)abstract
- In this paper, we present a design of a surveying system for warehouse environment using low cost quadcopter. The system focus on mapping the infrastructure of surveyed environment. As a unique and essential parts of the warehouse, pillars from storing shelves are chosen as landmark objects for representing the environment. The map are generated based on fusing the outputs of two different methods, point cloud of corner features from Parallel Tracking and Mapping (PTAM) algorithm with estimated pillar position from a multi-stage image analysis method. Localization of the drone relies on PTAM algorithm. The system is implemented in Robot Operating System(ROS) and MATLAB, and has been successfully tested in real-world experiments. The result map after scaling has a metric error less than 20 cm. © Springer International Publishing Switzerland 2016.
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| 26. |
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| 27. |
- Gholami Shahbandi, Saeed, 1984-
(författare)
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Interpretation and Alignment of 2D Indoor Maps : Towards a Heterogeneous Map Representation
- 2018
-
Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Mobile robots are increasingly being used in automation solutions with notable examples in service robots, such as home-care, and warehouses. Autonomy of mobile robots is particularly challenging, since their work space is not deterministic, known a priori, or fully predictable. Accordingly, the ability to model the work space, that is robotic mapping, is among the core technologies that are the backbone of autonomous mobile robots. However, for some applications the abilities of mapping and localization do not meet all the requirements, and robots with an enhanced awareness of their surroundings are desired. For instance, a map augmented with semantic labels is instrumental to support Human-Robot Interaction and high-level task planning and reasoning.This thesis addresses this requirement through an interpretation and integration of multiple input maps into a semantically annotated heterogeneous representation. The heterogeneity of the representation should to contain different interpretations of an input map, establish and maintain associations among different input sources, and construct a hierarchy of abstraction through model-based representation. The structuring and construction of this representation are at the core of this thesis, and the main objectives are: a) modeling, interpretation, semantic annotation, and association of the different data sources into a heterogeneous representation, and b) improving the autonomy of the aforementioned processes by curtailing the dependency of the methods on human input, such as domain knowledge.This work proposes map interpretation techniques, such as abstract representation through modeling and semantic annotation, in an attempt to enrich the final representation. In order to associate multiple data sources, this work also proposes a map alignment method. The contributions and general observations that result from the studies included in this work could be summarized as: i) manner of structuring the heterogeneous representation, ii) underlining the advantages of modeling and abstract representations, iii) several approaches to semantic annotation, and iv) improved extensibility of methods by lessening their dependency on human input.The scope of the work has been focused on 2D maps of well-structured indoor environments, such as warehouses, home, and office buildings.
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| 28. |
- Gholami Shahbandi, Saeed, 1984-, et al.
(författare)
-
Modeling of a Large Structured Environment : With a Repetitive Canonical Geometric-Semantic Model
- 2014
-
Ingår i: Advances in Autonomous Robotics Systems. - Heidelberg : Springer. - 9783319104003 - 9783319104010 ; , s. 1-12
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Konferensbidrag (refereegranskat)abstract
- AIMS project attempts to link the logistic requirements of an intelligent warehouse and state of the art core technologies of automation, by providing an awareness of the environment to the autonomous systems and vice versa. In this work we investigate a solution for modeling the infrastructure of a structured environment such as warehouses, by the means of a vision sensor. The model is based on the expected pattern of the infrastructure, generated from and matched to the map. Generation of the model is based on a set of tools such as closed-form Hough transform, DBSCAN clustering algorithm, Fourier transform and optimization techniques. The performance evaluation of the proposed method is accompanied with a real world experiment. © 2014 Springer International Publishing.
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| 29. |
- Gholami Shahbandi, Saeed, 1984-
(författare)
-
Semantic Mapping in Warehouses
- 2016
-
Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- This thesis and appended papers present the process of tacking the problem of environment modeling for autonomous agent. More specifically, the focus of the work has been semantic mapping of warehouses. A semantic map for such purpose is expected to be layout-like and support semantics of both open spaces and infrastructure of the environment. The representation of the semantic map is required to be understandable by all involved agents (humans, AGVs and WMS.) And the process of semantic mapping is desired to lean toward full-autonomy, with minimum input requirement from human user. To that end, we studied the problem of semantic annotation over two kinds of spatial map from different modalities. We identified properties, structure, and challenges of the problem. And we have developed representations and accompanied methods, while meeting the set criteria. The overall objective of the work is “to develop and construct a layer of abstraction (models and/or decomposition) for structuring and facilitate access to salient information in the sensory data. This layer of abstraction connects high level concepts to low-level sensory pattern.” Relying on modeling and decomposition of sensory data, we present our work on abstract representation for two modalities (laser scanner and camera) in three appended papers. Feasibility and the performance of the proposed methods are evaluated over data from real warehouse. The thesis conclude with summarizing the presented technical details, and drawing the outline for future work.
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| 30. |
- Gholami Shahbandi, Saeed, 1984-, et al.
(författare)
-
Semi-Supervised Semantic Labeling of Adaptive Cell Decomposition Maps in Well-Structured Environments
- 2015
-
Ingår i: 2015 European Conference on Mobile Robots (ECMR). - Piscataway, NJ : IEEE Press.
-
Konferensbidrag (refereegranskat)abstract
- We present a semi-supervised approach for semantic mapping, by introducing human knowledge after unsupervised place categorization has been combined with an adaptive cell decomposition of an occupancy map. Place categorization is based on clustering features extracted from raycasting in the occupancy map. The cell decomposition is provided by work we published previously, which is effective for the maps that could be abstracted by straight lines. Compared to related methods, our approach obviates the need for a low-level link between human knowledge and the perception and mapping sub-system, or the onerous preparation of training data for supervised learning. Application scenarios include intelligent warehouse robots which need a heightened awareness in order to operate with a higher degree of autonomy and flexibility, and integrate more fully with inventory management systems. The approach is shown to be robust and flexible with respect to different types of environments and sensor setups. © 2015 IEEE
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| 31. |
- Gholami Shahbandi, Saeed, 1984-, et al.
(författare)
-
Sensor Based Adaptive Metric-Topological Cell Decomposition Method for Semantic Annotation of Structured Environments
- 2014
-
Ingår i: 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV). - Piscataway, NJ : IEEE Press. - 9781479951994 ; , s. 1771-1777
-
Konferensbidrag (refereegranskat)abstract
- A fundamental ingredient for semantic labeling is a reliable method for determining and representing the relevant spatial features of an environment. We address this challenge for planar metric-topological maps based on occupancy grids. Our method detects arbitrary dominant orientations in the presence of significant clutter, fits corresponding line features with tunable resolution, and extracts topological information by polygonal cell decomposition. Real-world case studies taken from the target application domain (autonomous forklift trucks in warehouses) demonstrate the performance and robustness of our method, while results from a preliminary algorithm to extract corridors, and junctions, demonstrate its expressiveness. Contribution of this work starts with the formulation of metric-topological surveying of environment, and a generic n-direction planar representation accompanied with a general method for extracting it from occupancy map. The implementation also includes some semantic labels specific to warehouse like environments. © 2014 IEEE.
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| 32. |
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| 33. |
- Hedenberg, Klas, 1968-, et al.
(författare)
-
3D Sensors on Driverless Trucks for Detection of Overhanging Objects in the Pathway
- 2015
-
Ingår i: Autonomous Industrial Vehicles. - Conshohocken : ASTM International. - 9780803176331 - 9780803176348 ; , s. 41-56
-
Bokkapitel (refereegranskat)abstract
- Human-operated and driverless trucks often collaborate in a mixed work space in industries and warehouses. This is more efficient and flexible than using only one kind of truck. However, since driverless trucks need to give way to trucks, a reliable detection system is required. Several challenges exist in the development of an obstacle detection system in an industrial setting. The first is to select interesting situations and objects. Overhanging objects are often found in industrial environments, e.g. tines on a forklift. Second is choosing a detection system that has the ability to detect those situations. The traditional laser scanner situated two decimetres above the floor does not detect overhanging objects. Third is to ensure that the perception system is reliable. A solution used on trucks today is to mount a 2D laser scanner on the top of the truck and tilt the scanner towards the floor. However, objects at the top of the truck will be detected too late and a collision cannot always be avoided. Our aim is to replace the upper 2D laser scanner with a 3D camera, structural light or time-of-flight (TOF) camera. It is important to maximize the field of view in the desired detection volume. Hence, the placement of the sensor is important. We conducted laboratory experiments to check and compare the various sensors’ capabilities for different colors, used tines and a model of a tine in a controlled industrial environment. We also conducted field experiments in a warehouse. The conclusion is that both the tested structural light and TOF sensors have problems to detect black items that is nonperpendicular to the sensor and at the distance of interest. It is important to optimize the light economy, meaning the illumination power, field of view and exposure time in order to detect as many different objects as possible. Copyright © 2016 by ASTM International
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| 34. |
- Hedenberg, Klas, 1968-, et al.
(författare)
-
A Trinocular Stereo System for Detection of Thin Horizontal Structures
- 2008
-
Ingår i: Advances in Electrical and Electronics Engineering. - Los Alamitos : IEEE Computer Society. - 9780769535555 - 9781424435456 ; , s. 211-218
-
Konferensbidrag (refereegranskat)abstract
- Many vision-based approaches for obstacle detection often state that vertical thin structure is of importance, e.g. poles and trees. However, there are also problem in detecting thin horizontal structures. In an industrial case there are horizontal objects, e.g. cables and fork lifts, and slanting objects, e.g. ladders, that also has to be detected. This paper focuses on the problem to detect thin horizontal structures. We introduce a test apparatus for testing thin objects as a complement for the test pieces for human safety described in the European standard EN 1525 safety of industrial trucks - driverless trucks and their systems. The system uses three cameras, situated as a horizontal pair and a vertical pair, which makes it possible to also detect thin horizontal structures. A sparse disparity map based on edges and a dense disparity map is used to identify problems with a trinocular system. Both methods use the sum of absolute difference to compute the disparity maps. Tests show that the proposed trinocular system detects all objects at the test apparatus. If a sparse or dense method is used is not critical. Further work will implement the algorithm in real time and verify it on a final system in many types of scenery.
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| 35. |
- Hedenberg, Klas, 1968-, et al.
(författare)
-
Obstacle Detection For Thin Horizontal Structures
- 2008
-
Ingår i: World Congress on Engineering and Computer Science. - Hong Kong : International Association of Engineers. - 9789889867102 ; , s. 689-693
-
Konferensbidrag (refereegranskat)abstract
- Many vision-based approaches for obstacle detection often state that vertical thin structure is of importance, e.g. poles and trees. However, there are also problem in detecting thin horizontal structures. In an industrial case there are horizontal objects, e.g. cables and fork lifts, and slanting objects, e.g. ladders, that also has to be detected. This paper focuses on the problem to detect thin horizontal structures. The system uses three cameras, situated as a horizontal pair and a vertical pair, which makes it possible to also detect thin horizontal structures. A comparison between a sparse disparity map based on edges and a dense disparity map with a column and row filter is made. Both methods use the Sum of Absolute Difference to compute the disparity maps. Special interest has been in scenes with thin horizontal objects. Tests show that the sparse dense method based on the Canny edge detector works better for the environments we have tested.
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| 36. |
- Hedenberg, Klas, 1968-, et al.
(författare)
-
Safety standard for mobile robots : a proposal for 3D sensors
- 2011
-
Ingår i: Proceedings of the 5th European Conference on Mobile Robots, ECMR'2011. - Örebro : Centre for Applied Autonomous Sensor Systems (AASS). ; , s. 245-251
-
Konferensbidrag (refereegranskat)abstract
- In this paper we present a new and uniform way of evaluate 3D sensor performance. It is rare that standardized test specifications are used in research on mobile robots. A test rig with objects in the industrial safety standard Safety of industrial trucks - driverless trucks and their systems EN1525 is extended by thin vertical and horizontal objects that represent a fork on a forklift, a ladder and a hanging cable. A comparison of atrinocular stereo vision system, a 3D TOF (Time- Of-Flight) range camera and a Kinect device is made to verify the use of the test rig. All sensors detect the objects in the safety standard EN1525. The Kinect and 3D TOF camera shows reliable results for the objects in the safety standard at distances up to 5 m. The trinocular system is the only sensor in the test that detects the thin structures. The proposed test rig can be used to evaluate sensors to detect thin structures.
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| 37. |
- Hovstadius, Bo, 1955-
(författare)
-
On drug use, multiple medication and polypharmacy in a national population
- 2010
-
Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The application of multiple medications has successively increased during a number of years and has thereby increased the potential risks of adverse drug reactions, interactions and non-adherence to drug therapy. This may result in unnecessary health expenditure, directly due to redundant drug sales, and indirectly due to the increased hospitalization caused by drug-related problems. The overall aim of this thesis was to investigate the occurrence and development of drug use, multiple medication, and polypharmacy in an entire national population by using individual-based data on dispensed drugs. The studies (I-V) in the thesis are based on data of dispensed prescription drugs for up to 6.2 million individuals obtained from the Swedish Prescribed Drug Register. The data in the studies cover different periods of time between July 2005-Sept 2008, and the data have been analyzed on the basis of epidemiological measures and statistical methods. The major conclusions of the studies are: the prevalence of dispensed drugs and multiple medications was extensive in all age groups and was higher for females than for males. Multiple medications should be regarded as a risk in terms of potential drug-drug interactions and adverse drug reactions in all age groups (I). Regional differences in the prevalence of polypharmacy were observed and partly explained by the regional age distribution in Sweden. The use of a novel weighted polypharmacy index indicated regional differences in drug therapy for individuals with polypharmacy (II). The number of drugs used by an individual not only increased the potential risks associated with multiple drug use, but also the potential burden of an increased therapeutic intensity, especially for elderly (III). Individuals with ten or more drugs accounted for almost fifty percent of the total acquisition costs of dispensed drugs. Therefore, interventions with a focus on the reduction of the number of prescription drugs for the small group of patients with a large number of different drugs may also result in a substantial reduction in the total drug costs (IV). In spite of national and regional efforts to reduce polypharmacy, the prevalence of polypharmacy and excessive polypharmacy and the mean number of drugs per individual continued to increase in Sweden 2005-2008 (V). The observed year-by-year increase in polypharmacy underlines the importance of monitoring the development of drug use in all ages. Individual-based registers studies of dispensed drugs provide high quality data and could serve as the basis for further research and also in terms of training health care personnel. It can also be used as a base for interventions and the evaluation of drug use. To enable better comparisons on drug use and its consequences, there is a need for standards concerning measurements, classification and criteria which encompass all types of medications. For clinicians, there is a need for information concerning the patient’s actual use of all different types of medications.
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| 38. |
- Madalińska-Michalak, Joanna, et al.
(författare)
-
Quality in teaching and teacher education : key dilemmas and implications for research, policy and practice
- 2023
-
Ingår i: Quality in teaching and teacher education. - Leiden : Brill Academic Publishers. - 9789004536586 - 9789004536593 - 9789004536609 ; , s. 352-376
-
Bokkapitel (refereegranskat)abstract
- The purpose of this final chapter is twofold: (1) to provide a synthesis of learning on quality in teaching and teacher education based on the analyses and discussions of the fifteen chapters collected in this book, and (2) to discuss implications that have emerged for future research on quality in teaching and teacher education, policy and practice. In so doing, we ask: What do we know about quality in teaching and teacher education from the collected chapters, and how can these findings inform future research, policy and practice in these areas? In order to answer these questions, this closing chapter is divided into five main parts. In the first part, we identify and endorse a call that is present in all chapters to move beyond a reductionist notion of education. In the second part, we recognise the growing attention to teaching quality both as a blessing and a burden. In the third part, we identify seven key dilemmas that arise from the different chapters. Next we use these dilemmas to identify implications for teacher education practice, policy and research. We then conclude this chapter with some final reflections on what we have learnt in the collected chapters about reimagining and rethinking teacher education quality and the challenges ahead.
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| 39. |
- Mashad Nemati, Hassan, 1982-, et al.
(författare)
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Human Tracking in Occlusion based on Reappearance Event Estimation
- 2016
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Ingår i: ICINCO 2016. - : SciTePress. - 9789897581984 ; , s. 505-512
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Konferensbidrag (refereegranskat)abstract
- Relying on the commonsense knowledge that the trajectory of any physical entity in the spatio-temporal domain is continuous, we propose a heuristic data association technique. The technique is used in conjunction with an Extended Kalman Filter (EKF) for human tracking under occlusion. Our method is capable of tracking moving objects, maintain their state hypothesis even in the period of occlusion, and associate the target reappeared from occlusion with the existing hypothesis. The technique relies on the estimation of the reappearance event both in time and location, accompanied with an alert signal that would enable more intelligent behavior (e.g. in path planning). We implemented the proposed method, and evaluated its performance with real-world data. The result validates the expected capabilities, even in case of tracking multiple humans simultaneously.
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| 40. |
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| 41. |
- Midtiby, Henrik Skov, et al.
(författare)
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Upper limit for context-based crop classification in robotic weeding applications
- 2016
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Ingår i: Biosystems Engineering. - London : Academic Press. - 1537-5110 .- 1537-5129. ; 146, s. 183-192
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Tidskriftsartikel (refereegranskat)abstract
- Knowledge of the precise position of crop plants is a prerequisite for effective mechanical weed control in robotic weeding application such as in crops like sugar beets which are sensitive to mechanical stress. Visual detection and recognition of crop plants based on their shapes has been described many times in the literature. In this paper the potential of using knowledge about the crop seed pattern is investigated based on simulated output from a perception system. The reliability of position–based crop plant detection is shown to depend on the weed density (ρ, measured in weed plants per square metre) and the crop plant pattern position uncertainty (σx and σy, measured in metres along and perpendicular to the crop row, respectively). The recognition reliability can be described with the positive predictive value (PPV), which is limited by the seeding pattern uncertainty and the weed density according to the inequality: PPV ≤ (1 + 2πρσxσy)−1. This result matches computer simulations of two novel methods for position–based crop recognition as well as earlier reported field–based trials. © 2016 IAgrE
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| 42. |
- Muhammad, Naveed, et al.
(författare)
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Adaptive warning fields for warehouse AGVs
- 2021
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Ingår i: 2021 26th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA). - : IEEE. - 9781728129891 - 9781728129907 ; , s. 1-8
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Konferensbidrag (refereegranskat)abstract
- AGV (automated guided vehicle) systems are extensively used in factory and warehouse environments. As most of these environments employ a mix of AGVs, manually driven vehicles, and human workers, safety is an important subject. Current AGV systems employ safety fields and laser scanners to ensure safety in their environments. These fields however are often primitive and do not take into account future AGVtrajectory or intentions of agents in their vicinity. This results in inefficient operation of such AGVs. We propose a three-layered architecture that consists of safety fields that are formed around immediate future trajectory of AGV as well as on the predicted intention of an agent in AGV vicinity, resulting in more efficient AGV behaviour. Results are presented using real laser data from a small-sized lab AGV as well as an industrial forklift truck.
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| 43. |
- Muhammad, Naveed, 1983-, et al.
(författare)
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Intention Estimation Using Set of Reference Trajectories as Behaviour Model
- 2018
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Ingår i: Sensors. - Basel : MDPI. - 1424-8220. ; 18:12
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Tidskriftsartikel (refereegranskat)abstract
- Autonomous robotic systems operating in the vicinity of other agents, such as humans, manually driven vehicles and other robots, can model the behaviour and estimate intentions of the other agents to enhance efficiency of their operation, while preserving safety. We propose a data-driven approach to model the behaviour of other agents, which is based on a set of trajectories navigated by other agents. Then, to evaluate the proposed behaviour modelling approach, we propose and compare two methods for agent intention estimation based on: (i) particle filtering; and (ii) decision trees. The proposed methods were validated using three datasets that consist of real-world bicycle and car trajectories in two different scenarios, at a roundabout and at a t-junction with a pedestrian crossing. The results validate the utility of the data-driven behaviour model, and show that decision-tree based intention estimation works better on a binary-class problem, whereas the particle-filter based technique performs better on a multi-class problem, such as the roundabout, where the method yielded an average gain of 14.88 m for correct intention estimation locations compared to the decision-tree based method. © 2018 by the authors
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| 44. |
- Muhammad, Naveed, 1983-, et al.
(författare)
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Predicting Agent Behaviour and State for Applications in a Roundabout-Scenario Autonomous Driving
- 2019
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Ingår i: Sensors. - Basel : MDPI. - 1424-8220. ; 19:19
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Tidskriftsartikel (refereegranskat)abstract
- As human drivers, we instinctively employ our understanding of other road users' behaviour for enhanced efficiency of our drive and safety of the traffic. In recent years, different aspects of assisted and autonomous driving have gotten a lot of attention from the research and industrial community, including the aspects of behaviour modelling and prediction of future state. In this paper, we address the problem of modelling and predicting agent behaviour and state in a roundabout traffic scenario. We present three ways of modelling traffic in a roundabout based on: (i) the roundabout geometry; (ii) mean path taken by vehicles inside the roundabout; and (iii) a set of reference trajectories traversed by vehicles inside the roundabout. The roundabout models are compared in terms of exit-direction classification and state (i.e., position inside the roundabout) prediction of query vehicles inside the roundabout. The exit-direction classification and state prediction are based on a particle-filter classifier algorithm. The results show that the roundabout model based on set of reference trajectories is better suited for both the exit-direction and state prediction.
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| 45. |
- Nemati, Hassan, 1982-, et al.
(författare)
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Tracking of People in Paper Mill Warehouse Using Laser Range Sensor
- 2014
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Ingår i: UKSim-AMSS Eighth European Modelling Symposium on Computer Modelling and Simulation, EMS 2014. - Los Alamitos, CA : IEEE Computer Society. - 9781479974122 - 9781479974139 ; , s. 52-57
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Konferensbidrag (refereegranskat)abstract
- In this paper a laser scanner based approach for simultaneous detection and tracking of people in an indoor environment is presented. The operation of an autonomous truck, for transporting paper reels in a dynamic environment shared with humans, is considered as the application setting for this work. Here, a human leg detection procedure and an Extended Kalman Filter (EKF) based tracking method are employed for real-time performance. Several experiments with different data sets collected from an autonomous forklift truck in a paper mill warehouse have been performed in an offline situation. The results show how the system is able to detect and track multiple moving people. ©2014 IEEE.
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| 46. |
- Nygren, Thomas, 1972-, et al.
(författare)
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En splittrad historia : Sambandet mellan kursplaner i historia för gymnasieskola och högre utbildning
- 2012
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Ingår i: Nordidactica. - Karlstad : Karlstads universitet. - 2000-9879. ; :2, s. 1-30
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Tidskriftsartikel (refereegranskat)abstract
- This quantitative and qualitative analysis of syllabuses indicates difficulties in the relation between history teaching in upper secondary schools and in higher education. Using analytical tools stemming from research of education and history didactics we highlight problematic differences between universities. It is evident that history education in many ways lacks a progression from upper secondary school to higher education. Judging from the formulations in the syllabuses, the grading demands on the students in upper secondary schools are in some cases even higher than in the universities. The results from this study suggest a need for further analysis of the teaching of history, and other subjects, in higher education in relation to teaching in upper secondary schools.
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| 47. |
- Persson, Anders, 1974-
(författare)
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Lärartillvaro och historieundervisning : innebörder av ett nytt uppdrag i de mätbara resultatens tid
- 2017
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Swedish compulsory school has recently been subjected to a number of political reforms. Between 2011 and 2014, for example, earlier grades, more national tests and a new curriculum plan (Lgr 11) were to be implemented. This thesis aims to examine those changes as they were experienced by teachers who teach history in Swedish upper primary schools. The theoretical framework is in-spired by existential philosophy, primarily as formulated in the works of Martin Heidegger and Hanna Arendt. In this way, the study highlights the teachers’ lived experience by making use of the concepts yearning, appearance, acting and mood.The study comprises of 36 interviews with 26 informants. The interviews were carried out and transcribed during 2014. The questions focus on both the existential being of the teachers’ lives as well as the ideological function of the history subject. This highly renders in the issue of how lived experiences of a specific school reform corresponded to the teachers’ own perception of a mean-ingful history education. Both the yearnings that were expressed by the participants and their de-scriptions of what they have experienced, have been related to the overall educational ideological functions stated by Gert Biesta (socialisation, subjectification and qualification) and Jonas Aspelin (existentialisation).Although the teachers’ narratives were greatly varied in some aspects, their interpretations of the new assignment seemed to be quite homogenous. Most of the teachers portrayed a situation characterised by performativity. Measurable knowledge and more frequent documentation seemed to be prioritised. Some of them stressed that they experienced less autonomy. In terms of history, the new curriculum was associated with more content knowledge, cognitive skills and procedural abilities. From the teachers’ perspective, pure qualification, rather than subjectification and social-isation, characterised the new curriculum.Still, the teachers’ feelings towards the curricular changes showed a great deal of divergence. Some of them embraced most of the new aspects. They claimed that clearly formulated require-ments in the history curricula provided them with security. They declared that their history teaching to some extent became more professional. In line with such beliefs, some teachers asserted that the strengthened focus on analytical skills improved their teaching. Particularly those who ex-pressed that they preferred such analytic procedural approaches described their experience in terms of confirmation and approval. Others appeared to struggle with the changes. While a few teachers even tried to resist the curricular changes, some found themselves forced to endure what appeared to be a totally new situation. They expressed disbelief, frustration and pain. Notably it was those most devoted to the existentialisational function of history teaching that usually seemed to express such alienation. As argued, they appeared to long for a lost possibility to engage their pupils, to bring history alive and to make meaning of the past.
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| 48. |
- Persson, Maria, et al.
(författare)
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Classification of crops and weeds extracted by active shape models
- 2008
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Ingår i: Biosystems Engineering. - New York : Elsevier. - 1537-5110 .- 1537-5129. ; 100:4, s. 484-497
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Tidskriftsartikel (refereegranskat)abstract
- Active shape models (ASMs) for the extraction and classification of crops using real field images were investigated. Three sets of images of crop rows with sugar beet plants around the first true leaf stage were used. The data sets contained 276, 322 and 534 samples, equally distributed over crops and weeds. The weed populations varied between the data sets resulting in from 19% to 53% of occluded crops. Three ASMs were constructed using different training images and different description levels. The models managed to correctly extract up to 83% of the crop pixels and remove up to 83% of the occluding weed pixels. Classification features were calculated from the shapes of extracted crops and weeds and presented to a k-NN classifier. The classification results for the ASM-extracted plants were compared to classification results for manually extracted plants. It was judged that 81–87% of all plants extracted by ASM were classified correctly. This corresponded with 85–92% for manually extracted plants.
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| 49. |
- Petersson, Daniel, et al.
(författare)
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Torque Sensor Free Power Assisted Wheelchair
- 2007
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Ingår i: ICORR '07. - Piscataway, N.J. : IEEE Press. - 9781424413201 ; , s. 151-157
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Konferensbidrag (refereegranskat)abstract
- A power assisted wheelchair combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. Todays electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user. This leads to rather expensive and clumsy constructions. A new design, which only relies on velocity feedback, thus avoiding the use of expensive force sensors in the pushrims, is proposed in this paper. The control design is based on a simple PD-structure with only two design parameters easily tuned to fit a certain user; one parameter is used to adjust the amplification of the user’s force and the other one is used to change the lasting time of the propulsion influence. Since the new assisting control system only relies on the velocity, the torque sensor free power assisted wheelchair will besides giving the user assisting power also give an assistant, which pushes the wheelchair, additional power. This is a big advantage compared to the pushrim activated one, where this benefit for the assistant is not possible.
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| 50. |
- Rydén Ahlgren, Åsa, et al.
(författare)
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Dynamic behaviour of the common femoral artery: age and gender of minor importance
- 2001
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Ingår i: Ultrasound in Medicine and Biology. - 0301-5629 .- 1879-291X. ; 27:2, s. 181-188
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Tidskriftsartikel (refereegranskat)abstract
- The distensibility of elastic arteries has been extensively studied, while studies of muscular arteries are sparse. The influences of age and gender on the mechanical properties of the common femoral artery (CFA) were studied. The pulsatile diameter changes of the CFA were noninvasively measured using echo-tracking sonography in 173 healthy volunteers (95 females, 78 males, range 7-81 years). In combination with blood pressure measurements, stiffness (beta) and pressure strain elastic modulus (Ep) were calculated. Neither beta nor Ep was related to age or gender and a considerable interindividual variation was present. The CFA diameter increased with age. In conclusion, the distensibility of this muscular artery is not clearly affected by age or gender, although the diameter increases with age. This indicates remodelling of the arterial wall and an impact of vascular smooth muscles on long-term wall mechanics. Thus, there appear to be fundamental differences in the dynamic behaviour of the common femoral artery when compared to elastic arteries, such as the aorta and the common carotid artery.
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