| 1. |
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| 2. |
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| 3. |
- Merz, Mariann, et al.
(författare)
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Autonomous UAS-Based Agriculture Applications : General Overview and Relevant European Case Studies
- 2022
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Ingår i: DRONES. - : MDPI. - 2504-446X. ; 6:5
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Tidskriftsartikel (refereegranskat)abstract
- Emerging precision agriculture techniques rely on the frequent collection of high-quality data which can be acquired efficiently by unmanned aerial systems (UAS). The main obstacle for wider adoption of this technology is related to UAS operational costs. The path forward requires a high degree of autonomy and integration of the UAS and other cyber physical systems on the farm into a common Farm Management System (FMS) to facilitate the use of big data and artificial intelligence (AI) techniques for decision support. Such a solution has been implemented in the EU project AFarCloud (Aggregated Farming in the Cloud). The regulation of UAS operations is another important factor that impacts the adoption rate of agricultural UAS. An analysis of the new European UAS regulations relevant for autonomous operation is included. Autonomous UAS operation through the AFarCloud FMS solution has been demonstrated at several test farms in multiple European countries. Novel applications have been developed, such as the retrieval of data from remote field sensors using UAS and in situ measurements using dedicated UAS payloads designed for physical contact with the environment. The main findings include that (1) autonomous UAS operation in the agricultural sector is feasible once the regulations allow this; (2) the UAS should be integrated with the FMS and include autonomous data processing and charging functionality to offer a practical solution; and (3) several applications beyond just asset monitoring are relevant for the UAS and will help to justify the cost of this equipment.
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| 4. |
- Ahlberg, Carl
(författare)
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Embedded high-resolution stereo-vision of high frame-rate and low latency through FPGA-acceleration
- 2020
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Autonomous agents rely on information from the surrounding environment to act upon. In the array of sensors available, the image sensor is perhaps the most versatile, allowing for detection of colour, size, shape, and depth. For the latter, in a dynamic environment, assuming no a priori knowledge, stereo vision is a commonly adopted technique. How to interpret images, and extract relevant information, is referred to as computer vision. Computer vision, and specifically stereo-vision algorithms, are complex and computationally expensive, already considering a single stereo pair, with results that are, in terms of accuracy, qualitatively difficult to compare. Adding to the challenge is a continuous stream of images, of a high frame rate, and the race of ever increasing image resolutions. In the context of autonomous agents, considerations regarding real-time requirements, embedded/resource limited processing platforms, power consumption, and physical size, further add up to an unarguably challenging problem.This thesis aims to achieve embedded high-resolution stereo-vision of high frame-rate and low latency, by approaching the problem from two different angles, hardware and algorithmic development, in a symbiotic relationship. The first contributions of the thesis are the GIMME and GIMME2 embedded vision platforms, which offer hardware accelerated processing through FGPAs, specifically targeting stereo vision, contrary to available COTS systems at the time. The second contribution, toward stereo vision algorithms, is twofold. Firstly, the problem of scalability and the associated disparity range is addressed by proposing a segment-based stereo algorithm. In segment space, matching is independent of image scale, and similarly, disparity range is measured in terms of segments, indicating relatively few hypotheses to cover the entire range of the scene. Secondly, more in line with the conventional stereo correspondence for FPGAs, the Census Transform (CT) has been identified as a recurring cost metric. This thesis proposes an optimisation of the CT through a Genetic Algorithm (GA) - the Genetic Algorithm Census Transform (GACT). The GACT shows promising results for benchmark datasets, compared to established CT methods, while being resource efficient.
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| 5. |
- Ahlberg, Carl, et al.
(författare)
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GIMME - A General Image Multiview Manipulation Engine
- 2011
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Ingår i: Proceedings of the International Conference on ReConFigurable Computing and FPGAs (ReConFig 2011). - Los Alamitos, Calif : IEEE Computer Society. - 9780769545516
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Konferensbidrag (refereegranskat)abstract
- This paper presents GIMME (General Image Multiview Manipulation Engine), a highly flexible reconfigurable stand-alone mobile two-camera vision platform with stereo-vision capability. GIMME relies on reconfigurable hardware (FPGA) to perform application-specific low to medium-level image-processing at video rate. The Qseven-extension enables additional processing power. Thanks to its compact design, low power consumption and standardized interfaces (power and communication), GIMME is an ideal vision platform for autonomous and mobile robot applications.
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| 6. |
- Ahlberg, Carl, et al.
(författare)
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GIMME2 - An embedded system for stereo vision and processing of megapixel images with FPGA-acceleration
- 2015
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Ingår i: 2015 International Conference on ReConFigurable Computing and FPGAs, ReConFig 2015. - 9781467394062
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Konferensbidrag (refereegranskat)abstract
- This paper presents GIMME2, an embedded stereovision system, designed to be compact, power efficient, cost effective, and high performing in the area of image processing. GIMME2 features two 10 megapixel image sensors and a Xilinx Zynq, which combines FPGA-fabric with a dual-core ARM CPU on a single chip. This enables GIMME2 to process video-rate megapixel image streams at real-time, exploiting the benefits of heterogeneous processing.
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| 7. |
- Ahlberg, Carl, et al.
(författare)
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The Black Pearl: An Autonomous Underwater Vehicle
- 2013
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- The Black Pearl is a custom made autonomous underwater vehicle developed at Mälardalen University, Sweden. It is built in a modular fashion, including its mechanics, electronics and software. After a successful participation at the RoboSub competition in 2012 and winning the prize for best craftsmanship, this year we made minor improvements to the hardware, while the focus of the robot's evolution shifted to the software part. In this paper we give an overview of how the Black Pearl is built, both from the hardware and software point of view.
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| 8. |
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| 9. |
- Ahlberg, Carl, et al.
(författare)
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The genetic algorithm census transform : evaluation of census windows of different size and level of sparseness through hardware in-the-loop training
- 2021
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Ingår i: Journal of Real-Time Image Processing. - : SPRINGER HEIDELBERG. - 1861-8200 .- 1861-8219. ; :3, s. 539-559
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Tidskriftsartikel (refereegranskat)abstract
- Stereo correspondence is a well-established research topic and has spawned categories of algorithms combining several processing steps and strategies. One core part to stereo correspondence is to determine matching cost between the two images, or patches from the two images. Over the years several different cost metrics have been proposed, one being the Census Transform (CT). The CT is well proven for its robust matching, especially along object boundaries, with respect to outliers and radiometric differences. The CT also comes at a low computational cost and is suitable for hardware implementation. Two key developments to the CT are non-centric and sparse comparison schemas, to increase matching performance and/or save computational resources. Recent CT algorithms share both traits but are handcrafted, bounded with respect to symmetry, edge lengths and defined for a specific window size. To overcome this, a Genetic Algorithm (GA) was applied to the CT, proposing the Genetic Algorithm Census Transform (GACT), to automatically derive comparison schemas from example data. In this paper, FPGA-based hardware acceleration of GACT, has enabled evaluation of census windows of different size and shape, by significantly reducing processing time associated with training. The experiments show that lateral GACT windows produce better matching accuracy and require less resources when compared to square windows.
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| 10. |
- Ahlberg, Carl, et al.
(författare)
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Unbounded Sparse Census Transform using Genetic Algorithm
- 2019
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Ingår i: 2019 IEEE WINTER CONFERENCE ON APPLICATIONS OF COMPUTER VISION (WACV). - : IEEE. - 9781728119755 ; , s. 1616-1625
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Konferensbidrag (refereegranskat)abstract
- The Census Transform (CT) is a well proven method for stereo vision that provides robust matching, with respect to object boundaries, outliers and radiometric distortion, at a low computational cost. Recent CT methods propose patterns for pixel comparison and sparsity, to increase matching accuracy and reduce resource requirements. However, these methods are bounded with respect to symmetry and/or edge length. In this paper, a Genetic algorithm (GA) is applied to find a new and powerful CT method. The proposed method, Genetic Algorithm Census Transform (GACT), is compared with the established CT methods, showing better results for benchmarking datasets. Additional experiments have been performed to study the search space and the correlation between training and evaluation data.
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| 11. |
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| 12. |
- Ahlberg, Mona, 1966-, et al.
(författare)
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Moving on in life after intensive care - partners' experience of group communication
- 2015
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Ingår i: Nursing in Critical Care. - : Wiley-Blackwell. - 1362-1017 .- 1478-5153. ; 20:5, s. 256-263
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Tidskriftsartikel (refereegranskat)abstract
- Background:Partners have a burdensome time during and after their partners’ intensive care period. They may appear to be coping welloutwardly but inside feel vulnerable and lost. Evaluated interventions for partners on this aspect are limited.Aim:The aim of this study was to describe the experience of participating in group communication with other partners of former intensivecare patients.Design:The study has a descriptive intervention-based design where group communication for partners of former, surviving intensive careunit (ICU) patients was evaluated.Methods:A strategic selection was made of adult partners to former adult intensive care patients (n=15), 5 men and 10 women, aged37–89 years. Two group communication sessions lasting 2 h were held at monthly intervals with three to five partners. The partners later wrote,in a notebook, about their feelings of participating in group communications. To deepen the understanding of the impact of the sessions, six ofthe partners were interviewed. Content analysis was used to analyse the notebooks and the interviews.Findings:Three categories were identified: (1) Emotional impact, the partners felt togetherness and experienced worries and gratitude, (2)Confirmation, consciousness through insight and reflection and (3) The meeting design, group constellation and recommendation to participatein group communication.Conclusion:Partners of an intensive care patient are on a journey, constantly trying to adapt to the new situation and find new strategiesto ever-changing circumstances. Group communications contributed to togetherness and confirmation. To share experiences with others is oneway for partners to be able to move forward in life.Relevance to clinical practice:Group communication with other patients’ partners eases the process of going through the burden ofbeing a partner to an intensive care patient. Group communications needs to be further developed and evaluated to obtain consensus andevidence for the best practice.
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| 13. |
- Backman, Carl G., et al.
(författare)
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Group meetings after critical illness-Giving and receiving strength
- 2018
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Ingår i: Intensive & Critical Care Nursing. - : ELSEVIER SCI LTD. - 0964-3397 .- 1532-4036. ; 46, s. 86-91
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Tidskriftsartikel (refereegranskat)abstract
- Introduction: An increasing number of intensive care patients are surviving critical illness, but many develop mental, cognitive and physical impairments after discharge. Adapting to a new life situation, often with major challenges, implies the need of support. Therefore, it is important to develop interventions aimed at promoting recovery. Objective: The aim was to describe former intensive care patients feelings of sharing their experience of critical illness with other former patients. Method: Former intensive care patients (n = 17) participated in group meetings and wrote about their thoughts in a notebook after each group meeting. To deepen the understanding of the former patients experience 11 of the former patients were interviewed. The notes in the notebooks and the interviews were analysed using qualitative content analysis. Findings: Meeting others revealed to the former patients new dimensions of being critically ill, and they both gave and received strength from each other. The meetings were meaningful as they gained insight into other patients lives, and realised what it meant to survive intensive care. Conclusions: The group meetings meant sharing experiences and understanding the process of survival after critical illness. Giving and receiving strength from others helped the participants to go further. (C) 2017 Elsevier Ltd. All rights reserved.
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| 14. |
- Bergman, Peter N., et al.
(författare)
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Do job demands and job control affect problem-solving?
- 2012
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Ingår i: Work. - : IOS Press. - 1051-9815 .- 1875-9270. ; 42:2, s. 195-203:42, s. 195-203
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Tidskriftsartikel (refereegranskat)abstract
- Objective: The Job Demand Control model presents combinations of working conditions that may facilitate learning, the active learning hypothesis, or have detrimental effects on health, the strain hypothesis. To test the active learning hypothesis, this study analysed the effects of job demands and job control on general problem-solving strategies. Participants: A population-based sample of 4,636 individuals (55% women, 45% men) with the same job characteristics measured at two times with a three year time lag was used. Methods: Main effects of demands, skill discretion, task authority and control, and the combined effects of demands and control were analysed in logistic regressions, on four outcomes representing general problem-solving strategies. Results: Those reporting high on skill discretion, task authority and control, as well as those reporting high demand/high control and low demand/high control job characteristics were more likely to state using problem solving strategies. Conclusions: Results suggest that working conditions including high levels of control may affect how individuals cope with problems and that workplace characteristics may affect behaviour in the non-work domain.
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| 15. |
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| 16. |
- Ekstrand, Fredrik, et al.
(författare)
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High-speed segmentation-driven high-resolution matching
- 2015
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Ingår i: Proceedings of SPIE - The International Society for Optical Engineering, vol. 9445. - : SPIE. - 9781628415605 ; , s. Article number 94451Y-
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Konferensbidrag (refereegranskat)abstract
- This paper proposes a segmentation-based approach for matching of high-resolution stereo images in real time. The approach employs direct region matching in a raster scan fashion influenced by scanline approaches, but with pixel decoupling. To enable real-time performance it is implemented as a heterogeneous system of an FPGA and a sequential processor. Additionally, the approach is designed for low resource usage in order to qualify as part of unified image processing in an embedded system.
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| 17. |
- Ekstrand, Fredrik, et al.
(författare)
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Resource Limited Hardware-based Stereo Matching for High-Speed Vision System
- 2011
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Ingår i: ICARA 2011 - Proceedings of the 5th International Conference on Automation, Robotics and Applications. - 9781457703287 ; , s. 465-469
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Konferensbidrag (refereegranskat)abstract
- This paper proposes a limited implementation of areabasedstereo matching for minimal resource utilization. It shows that it is possible to achieve an acceptable disparity map without the use of expensive resources. The matching accuracy for the single-row SAD can even outperform that of its full-row counterpart. Additionally, it excels in terms of frame rate and resource utilization, and is highly suitable for real-time stereo-vision systems.
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| 18. |
- Ekstrand, Fredrik, et al.
(författare)
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Towards an Embedded Real-Time High Resolution Vision System
- 2014
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Ingår i: ADVANCES IN VISUAL COMPUTING (ISVC 2014), PT II. - : SPRINGER-VERLAG BERLIN. - 9783319143644 ; , s. 541-550
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Konferensbidrag (refereegranskat)abstract
- This paper proposes an approach to image processing for high performance vision systems. Focus is on achieving a scalable method for real-time disparity estimation which can support high resolution images and large disparity ranges. The presented implementation is a non-local matching approach building on the innate qualities of the processing platform which, through utilization of a heterogeneous system, combines low-complexity approaches into performing a high-complexity task. The complementary platform composition allows for the FPGA to reduce the amount of data to the CPU while at the same time promoting the available informational content, thus both reducing the workload as well as raising the level of abstraction. Together with the low resource utilization, this allows for the approach to be designed to support advanced functionality in order to qualify as part of unified image processing in an embedded system.
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| 19. |
- Ekstrand, Fredrik, et al.
(författare)
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Utilization and Performance Considerations in Resource Optimized Stereo Matching for Real-Time Reconfigurable Hardware
- 2012
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Ingår i: VISAPP 2012 - Proceedings of the International Conference on Computer Vision Theory and Application, vol. 2. - 9789898565044 ; , s. 415-418
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- This paper presents a set of approaches for increasing the accuracy of basic area-based stereo matching methods. It is targeting real-time FPGA systems for dense disparity map estimation. The methods are focused on low resource usage and maximized improvement per cost unit to enable the inclusion of an autonomous system in an FPGA. The approach performs on par with other area-matching implementations, but at substantially lower resource usage. Additionally, the solution removes the requirement for external memory for reconfigurable hardware together with the limitation in image size accompanying standard methods. As a fully piped complete on-chip solution, it is highly suitable for real-time stereo-vision systems, with a frame rate over 100 fps for Megapixel images.
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| 20. |
- Ghaderi, Adnan, et al.
(författare)
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FP-SLIC : A Fully-Pipelined FPGA Implementation of Superpixel ImageSegmentation
- 2022
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Ingår i: Proceedings. ; , s. 109-117
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Konferensbidrag (refereegranskat)abstract
- A superpixel segment is a group of pixels that carry similar information. The Simple Linear Iterative Clustering (SLIC) is a well-known algorithm for generating superpixels that offers a good balance between accuracy and efficiency. Nevertheless, due to its high computational requirements, the algorithm does not meet the demands of real-time embedded applications in terms of speed and resources. This paper proposes a fully-pipelined FPGA architecture of SLIC, dubbed FP-SLIC, that exhibits 1) a simplified and efficient algorithm of reduced computational complexity that facilitates algorithm development for FPGAs, 2) a fully pipelined FPGA design operating at 40MHz with a throughput of one pixel per cycle, and 3) a memory-efficient architecture that eliminates the requirement for external memory. Implementation results achieve 259 fps on the BSDS500 dataset, which is ≈ 8.6× more than the requirement for real-time performance (30 frames per second).
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| 21. |
- Harper, David A.T., et al.
(författare)
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Early Cambrian brachiopod-dominated shell concentrations from North-East Greenland: Environmental and taphonomic implications
- 2021
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Ingår i: Global and Planetary Change. - : Elsevier BV. - 0921-8181 .- 1872-6364. ; 204, s. 103560-103560
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Tidskriftsartikel (refereegranskat)abstract
- The occurrence of a series of thin but persistent early Cambrian (Cambrian Age 4) brachiopod shell concentrations extending along a transect of some 150 km in NE Greenland, indicates the ability of the group to form widespread, skeletal pavements very early in the history of the phylum, its gregarious behaviour and ability to harness available nutrients. These extensive shell pavements within the Bastion Formation mark biological events within the basin, the abundance of shells perhaps associated with oscillating redox conditions prompting the dissolution of phosphate and its spread across the shelf. The shells were subsequently reworked and deposited by episodic distal storm surges with some winnowing.
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| 22. |
- Hinnemo, Malkolm, 1986-, et al.
(författare)
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On Monolayer Formation of Pyrenebutyric Acid on Graphene
- 2017
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Ingår i: Langmuir. - : American Chemical Society (ACS). - 0743-7463 .- 1520-5827. ; 33:15, s. 3588-3593
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Tidskriftsartikel (refereegranskat)abstract
- As a two-dimensional material with high charge carrier mobility, graphene may offer ultrahigh sensitivity in biosensing. To realize this, the first step is to functionalize the graphene. This is commonly done by using 1-pyrenebutyric acid (PBA) as a linker for biornolecules. However, the adsorption of PBA on graphene remains poorly understood despite reports of successful biosensors functionalized via this route. Here, the PBA adsorption on graphene is characterized through a combination of Raman spectroscopy, ab initio calculations, and spectroscopic ellipsometry. The PBA molecules are found to form a self-assembled monolayer on graphene, the formation of which is self-limiting and Langmuirian. Intriguingly, in concentrated solutions, the PBA molecules are found to stand up and stack horizontally with their edges contacting the graphene surface. This morphology could facilitate a surface densely populated with carboxylic functional groups. Spectroscopic analyses show that the monolayer saturates at 5.3 PBA molecules per nm(2) and measures similar to 0.7 nm in thickness. The morphology study of this PBA monolayer sheds light on the pi-pi stacking of small-molecule systems on graphene and provides an excellent base for optimizing functionalization procedures.
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| 23. |
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| 24. |
- Hinnemo, Malkolm, et al.
(författare)
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Scalable residue-free graphene for surface-enhanced Raman scattering
- 2016
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Ingår i: Carbon. - : Elsevier BV. - 0008-6223 .- 1873-3891. ; 98, s. 567-571
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Tidskriftsartikel (refereegranskat)abstract
- A room-temperature polymer-assisted transfer process is developed for large-area, single-layer graphene grown by means of chemical vapor deposition (CVD). This process leads to transferred graphene layers free of polymer contamination. The absence of polymer residues boosts the surface-enhanced Raman scattering (SERS) of the CVD graphene with gold nanoparticles (Au NPs) deposited atop by evaporation. The SERS enhancement of the CVD graphene reaches similar to 120 for the characteristic 2D peak of graphene, the highest enhancement factor achieved to date, when the Au NPs are at the threshold of percolation. Our simulation supported by experiment suggests that the polymer residues persistently present on the graphene transferred by the conventional polymer-assisted method are equivalent to an ultrathin film of less than 1 nm thickness. The presence of polymer residues drastically reduces SERS due to the separation of the Au NPs from the underlying graphene. The scalability of CVD graphene opens up for the possibility of graphene-based SERS sensors.
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| 25. |
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| 26. |
- Jensen, Maja, 1978, et al.
(författare)
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High-resolution macromolecular crystallography at the FemtoMAX beamline with time-over-threshold photon detection
- 2021
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Ingår i: Journal of Synchrotron Radiation. - 1600-5775 .- 0909-0495. ; 28, s. 64-70
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Tidskriftsartikel (refereegranskat)abstract
- Protein dynamics contribute to protein function on different time scales. Ultrafast X-ray diffraction snapshots can visualize the location and amplitude of atom displacements after perturbation. Since amplitudes of ultrafast motions are small, high-quality X-ray diffraction data is necessary for detection. Diffraction from bovine trypsin crystals using single femtosecond X-ray pulses was recorded at FemtoMAX, which is a versatile beamline of the MAX IV synchrotron. The time-over-threshold detection made it possible that single photons are distinguishable even under short-pulse low-repetition-rate conditions. The diffraction data quality from FemtoMAX beamline enables atomic resolution investigation of protein structures. This evaluation is based on the shape of the Wilson plot, cumulative intensity distribution compared with theoretical distribution, I/σ, Rmerge /Rmeas and CC1/2 statistics versus resolution. The FemtoMAX beamline provides an interesting alternative to X-ray free-electron lasers when studying reversible processes in protein crystals.
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| 27. |
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| 28. |
- Lindgren, Johan, et al.
(författare)
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Fossil insect eyes shed light on trilobite optics and the arthropod pigment screen
- 2019
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Ingår i: Nature. - : Nature Publishing Group. - 0028-0836 .- 1476-4687. ; 573:7772, s. 122-125
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Tidskriftsartikel (refereegranskat)abstract
- Fossilized eyes permit inferences of the visual capacity of extinct arthropods1–3. However, structural and/or chemical modifications as a result of taphonomic and diagenetic processes can alter the original features, thereby necessitating comparisons with modern species. Here we report the detailed molecular composition and microanatomy of the eyes of 54-million-year-old crane-flies, which together provide a proxy for the interpretation of optical systems in some other ancient arthropods. These well-preserved visual organs comprise calcified corneal lenses that are separated by intervening spaces containing eumelanin pigment. We also show that eumelanin is present in the facet walls of living crane-flies, in which it forms the outermost ommatidial pigment shield in compound eyes incorporating a chitinous cornea. To our knowledge, this is the first record of melanic screening pigments in arthropods, and reveals a fossilization mode in insect eyes that involves a decay-resistant biochrome coupled with early diagenetic mineralization of the ommatidial lenses. The demonstrable secondary calcification of lens cuticle that was initially chitinous has implications for the proposed calcitic corneas of trilobites, which we posit are artefacts of preservation rather than a product of in vivo biomineralization4–7. Although trilobite eyes might have been partly mineralized for mechanical strength, a (more likely) organic composition would have enhanced function via gradient-index optics and increased control of lens shape.
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| 29. |
- Lindgren, Johan, et al.
(författare)
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Soft-tissue evidence for homeothermy and crypsis in a Jurassic ichthyosaur
- 2018
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Ingår i: Nature. - : Springer Science and Business Media LLC. - 0028-0836 .- 1476-4687. ; 564:7736
-
Tidskriftsartikel (refereegranskat)abstract
- Ichthyosaurs are extinct marine reptiles that display a notable external similarity to modern toothed whales. Here we show that this resemblance is more than skin deep. We apply a multidisciplinary experimental approach to characterize the cellular and molecular composition of integumental tissues in an exceptionally preserved specimen of the Early Jurassic ichthyosaur Stenopterygius. Our analyses recovered still-flexible remnants of the original scaleless skin, which comprises morphologically distinct epidermal and dermal layers. These are underlain by insulating blubber that would have augmented streamlining, buoyancy and homeothermy. Additionally, we identify endogenous proteinaceous and lipid constituents, together with keratinocytes and branched melanophores that contain eumelanin pigment. Distributional variation of melanophores across the body suggests countershading, possibly enhanced by physiological adjustments of colour to enable photoprotection, concealment and/or thermoregulation. Convergence of ichthyosaurs with extant marine amniotes thus extends to the ultrastructural and molecular levels, reflecting the omnipresent constraints of their shared adaptation to pelagic life.
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| 30. |
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| 31. |
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| 32. |
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| 33. |
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| 34. |
- Spampinato, Giacomo, et al.
(författare)
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An Embedded Stereo Vision Module for 6D Pose Estimation and Mapping
- 2011
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Ingår i: Proceedings of the IEEE international conference on Intelligent Robots and Systems IROS2011. - New York : IEEE Press. - 9781612844558 ; , s. 1626-1631
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Konferensbidrag (refereegranskat)abstract
- This paper presents an embedded vision system based on reconfigurable hardware (FPGA) and two CMOS cameras to perform stereo image processing and 3D mapping for autonomous navigation. We propose an EKF based visual SLAM and sparse feature detectors to achieve 6D localization of the vehicle in non flat scenarios. The system can operate regardless of the odometry information from the vehicle since visual odometry is used. As a result, the final system is compact and easy to install and configure.
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| 35. |
- Spampinato, Giacomo, et al.
(författare)
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An embedded stereo vision module for industrial vehicles automation
- 2013
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Ingår i: Proceedings of the IEEE International Conference on Industrial Technology. - : IEEE. - 9781467345699 ; , s. 52-57
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Konferensbidrag (refereegranskat)abstract
- This paper presents an embedded vision system based on reconfigurable hardware (FPGA) to perform stereo image processing and 3D mapping of sparse features for autonomous navigation and obstacle detection in industrial settings. We propose an EKF based visual SLAM to achieve a 6D localization of the vehicle even in non flat scenarios. The system uses vision as the only source of information. As a consequence, it operates regardless of the odometry from the vehicle since visual odometry is used. © 2013 IEEE.
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| 36. |
- Spampinato, Giacomo, et al.
(författare)
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Navigation in a box : Stereovision for industry automation
- 2010
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Ingår i: Advances in Theory and Applications of Stereo Vision. - : InTech. - 9789533075167
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Bokkapitel (övrigt vetenskapligt/konstnärligt)abstract
- The research presented addresses the emerging topic of AGVs (Automated Guided Vehicles) specifically related to industrial sites. The work presented has been carried out in the frame of the MALTA project (Multiple Autonomous forklifts for Loading and Transportation Applications), a joint research project between industry and university, funded by the European Regional Development and Robotdalen, in partnership with theSwedish Knowledge Foundation. The project objective is to create fully autonomous forklift trucks for paper reel handling. The result is expected to be of general benefit for industries that use forklift trucks in their material handling through higher operating efficiency and better flexibility with reduced risk for accidents and handling damages than if only manual forklift trucks are used. A brief overview of the state of the art in AGVs will be reported in order to better understand the new challenges and technologies. Among the emerging technologies used for vehicle automation, vision is one of the most promising in terms of versatility and efficiency, with a high potential to drastically reduce the costs.
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| 37. |
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| 38. |
- Stoetzer, Ulrich, et al.
(författare)
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Organizational factors related to low levels of sickness absence in a representative set of Swedish companies
- 2014
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Ingår i: Work. - : IOS Press. - 1051-9815 .- 1875-9270. ; 47:2, s. 193-205
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Tidskriftsartikel (refereegranskat)abstract
- OBJECTIVE: The aim of this qualitative study was to identify manageable organizational factors that could explain why some companies have low levels of sickness absence. There may be factors at company level that can be managed to influence levels of sickness absence, and promote health and a prosperous organization. PARTICIPANTS: 38 representative Swedish companies. METHODS: The study included a total of 204 semi-structured interviews at 38 representative Swedish companies. Qualitative thematic analysis was applied to the interviews, primarily with managers, to indicate the organizational factors that characterize companies with low levels of sickness absence. RESULTS: The factors that were found to characterize companies with low levels of sickness absence concerned strategies and procedures for managing leadership, employee development, communication, employee participation and involvement, corporate values and visions, and employee health. CONCLUSIONS: The results may be useful in finding strategies and procedures to reduce levels of sickness absence and promote health. There is research at individual level on the reasons for sickness absence. This study tries to elevate the issue to an organizational level. The findings suggest that explicit strategies for managing certain organizational factors can reduce sickness absence and help companies to develop more health-promoting strategies.
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