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1.	Aidemark, Mari, et al. (författare) Trichoderma viride cellulase induces resistance to the antibiotic pore-forming peptide alamethicin associated with changes in the plasma membrane lipid composition of tobacco BY-2 cells 2010 Ingår i: Bmc Plant Biology. - : Springer Science and Business Media LLC. - 1471-2229. ; 10 Tidskriftsartikel (refereegranskat)abstract Background: Alamethicin is a membrane-active peptide isolated from the beneficial root-colonising fungus Trichoderma viride. This peptide can insert into membranes to form voltage-dependent pores. We have previously shown that alamethicin efficiently permeabilises the plasma membrane, mitochondria and plastids of cultured plant cells. In the present investigation, tobacco cells (Nicotiana tabacum L. cv Bright Yellow-2) were pre-treated with elicitors of defence responses to study whether this would affect permeabilisation. Results: Oxygen consumption experiments showed that added cellulase, already upon a limited cell wall digestion, induced a cellular resistance to alamethicin permeabilisation. This effect could not be elicited by xylanase or bacterial elicitors such as flg22 or elf18. The induction of alamethicin resistance was independent of novel protein synthesis. Also, the permeabilisation was unaffected by the membrane-depolarising agent FCCP. As judged by lipid analyses, isolated plasma membranes from cellulase-pretreated tobacco cells contained less negatively charged phospholipids ( PS and PI), yet higher ratios of membrane lipid fatty acid to sterol and to protein, as compared to control membranes. Conclusion: We suggest that altered membrane lipid composition as induced by cellulase activity may render the cells resistant to alamethicin. This induced resistance could reflect a natural process where the plant cells alter their sensitivity to membrane pore-forming agents secreted by Trichoderma spp. to attack other microorganisms, and thus adding to the beneficial effect that Trichoderma has for plant root growth. Furthermore, our data extends previous reports on artificial membranes on the importance of lipid packing and charge for alamethicin permeabilisation to in vivo conditions.
2.	Alme, Tomas Nordheim, et al. (författare) Chronic fatigue syndromes: real illnesses that people can recover from 2023 Ingår i: Scandinavian Journal of Primary Health Care. - : TAYLOR & FRANCIS LTD. - 0281-3432 .- 1502-7724. ; 41:4, s. 372-376 Tidskriftsartikel (refereegranskat)abstract The Oslo Chronic Fatigue Consortium consists of researchers and clinicians who question the current narrative that chronic fatigue syndromes, including post-covid conditions, are incurable diseases. Instead, we propose an alternative view, based on research, which offers more hope to patients. Whilst we regard the symptoms of these conditions as real, we propose that they are more likely to reflect the brains response to a range of biological, psychological, and social factors, rather than a specific disease process. Possible causes include persistent activation of the neurobiological stress response, accompanied by associated changes in immunological, hormonal, cognitive and behavioural domains. We further propose that the symptoms are more likely to persist if they are perceived as threatening, and all activities that are perceived to worsen them are avoided. We also question the idea that the best way to cope with the illness is by prolonged rest, social isolation, and sensory deprivation.Instead, we propose that recovery is often possible if patients are helped to adopt a less threatening understanding of their symptoms and are supported in a gradual return to normal activities. Finally, we call for a much more open and constructive dialogue about these conditions. This dialogue should include a wider range of views, including those of patients who have recovered from them.
3.	Andreasson, Martin, et al. (författare) Correlated Failures of Power Systems : Analysis of the Nordic Grid 2011 Ingår i: Preprints of Workshop on Foundations of Dependable and Secure Cyber-Physical Systems. Konferensbidrag (refereegranskat)abstract In this work we have analyzed the effectsof correlated failures of power lines on the total systemload shed. The total system load shed is determined bysolving the optimal load shedding problem, which is thesystem operator’s best response to a system failure.We haveintroduced a Monte Carlo based simulation framework forestimating the statistics of the system load shed as a functionof stochastic network parameters, and provide explicitguarantees on the sampling accuracy. This framework hasbeen applied to a 470 bus model of the Nordic power systemand a correlated Bernoulli failure model. It has been foundthat increased correlations between Bernoulli failures ofpower lines can dramatically increase the expected valueas well as the variance of the system load shed.
4.	Andreasson, Martin, et al. (författare) Distributed Control of Networked Dynamical Systems : Static Feedback, Integral Action and Consensus 2014 Ingår i: IEEE Transactions on Automatic Control. - 0018-9286 .- 1558-2523. ; 59:7, s. 1750-1764 Tidskriftsartikel (refereegranskat)abstract This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain, and a sum of nonlinear interaction functions. By using integral Lyapunov functions, we prove the stability of the proposed control protocols, and explicitly characterize the equilibrium set. We also propose a distributed proportional-integral (PI) controller for networked dynamical systems. The PI controllers successfully attenuate constant disturbances in the network. We prove that agents with single-integrator dynamics are stable for any integral gain, and give an explicit tight upper bound on the integral gain for when the system is stable for agents with double-integrator dynamics. Throughout the paper we highlight some possible applications of the proposed controllers by realistic simulations of autonomous satellites, power systems and building temperature control.
5.	Andreasson, Martin, et al. (författare) Distributed integral action : stability analysis and frequency control of power systems 2012 Ingår i: 2012 IEEE 51st Annual Conference on Decision and Control (CDC). - : IEEE. - 9781467320665 ; , s. 2077-2083 Konferensbidrag (refereegranskat)abstract This paper analyzes distributed proportional-integral controllers. We prove that integral action can be successfully applied to consensus algorithms, where attenuation of static disturbances is achieved. These control algorithms are applied to decentralized frequency control of electrical power systems. We show that the proposed algorithm can attenuate step disturbances of power loads. We provide simulations of the proposed control algorithm on the IEEE 30 bus test system that demonstrate its efficiency.
6.	Andreasson, Martin, et al. (författare) Performance and scalability of voltage controllers in multi-terminal HVDC networks 2017 Ingår i: Proceedings of the American Control Conference. - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509059928 ; , s. 3029-3034 Konferensbidrag (refereegranskat)abstract In this paper, we compare the transient performance of a multi-terminal high-voltage DC (MTDC) grid equipped with a slack bus for voltage control to that of two distributed control schemes: A standard droop controller and a distributed averaging proportional-integral (DAPI) controller. We evaluate performance in terms of an ℋ2 metric that quantifies expected deviations from nominal voltages, and show that the transient performance of a droop or DAPI controlled MTDC grid is always superior to that of an MTDC grid with a slack bus. In particular, by studying systems built up over lattice networks, we show that the ℋ2 norm of a slack bus controlled system may scale unboundedly with network size, while the norm remains uniformly bounded with droop or DAPI control. We simulate the control strategies on radial MTDC networks to demonstrate that the transient performance for the slack bus controlled system deteriorates significantly as the network grows, which is not the case with the distributed control strategies.
7.	Bjerke, Maria, 1977, et al. (författare) Confounding factors influencing amyloid Beta concentration in cerebrospinal fluid. 2010 Ingår i: International journal of Alzheimer's disease. - : Hindawi Limited. - 2090-0252. ; 2010 Tidskriftsartikel (refereegranskat)abstract Background. Patients afflicted with Alzheimer's disease (AD) exhibit a decrease in the cerebrospinal fluid (CSF) concentration of the 42 amino acid form of beta-amyloid (Abeta(42)). However, a high discrepancy between different centers in measured Abeta(42) levels reduces the utility of this biomarker as a diagnostic tool and in monitoring the effect of disease modifying drugs. Preanalytical and analytical confounding factors were examined with respect to their effect on the measured Abeta(42) level. Methods. Aliquots of CSF samples were either treated differently prior to Abeta(42) measurement or analyzed using different commercially available xMAP or ELISA assays. Results. Confounding factors affecting CSF Abeta(42) levels were storage in different types of test tubes, dilution with detergent-containing buffer, plasma contamination, heat treatment, and the origin of the immunoassays used for quantification. Conclusion. In order to conduct multicenter studies, a standardized protocol to minimize preanalytical and analytical confounding factors is warranted.
8.	Constantinescu, Radu, 1966, et al. (författare) Proteomic profiling of cerebrospinal fluid in parkinsonian disorders. 2010 Ingår i: Parkinsonism & related disorders. - : Elsevier BV. - 1873-5126 .- 1353-8020. ; :16, s. 545-49 Tidskriftsartikel (refereegranskat)abstract Parkinson's disease (PD) and atypical parkinsonian disorders (APD), including multiple system atrophy (MSA), progressive supranuclear palsy (PSP), and corticobasal degeneration (CBD), are a group of neurodegenerative diseases sharing many similar signs and symptoms but distinguished by their particular clinical features, treatment response, prognosis and mortality. The differential diagnosis may be challenging, especially in early disease stages. Considering the importance of an accurate diagnosis both for clinical management and for research, new diagnostic tools are needed. In this study, we investigated 56 PD, 42 MSA, 39 PSP, 9 CBD patients, and 24 healthy controls. After screening the cerebrospinal fluid (CSF) proteome using surface-enhanced laser desorption/ionization time-of-flight mass spectrometry (SELDI-TOF MS), we identified 4 proteins (ubiquitin [mass-to-charge ratio (m/z) 8590], beta2-microglobulin [m/z 11730], and 2 secretogranin 1 [chromogranin B] fragments [m/z 7260 and m/z 6250]) that differentiated healthy controls and PD patients from patients with APD. However, they could not differentiate PD patients from controls. As none of these changes were APD subgroup-specific, they most likely reflect the intensity and/or extent of the neurodegenerative process in general.
9.	Enblom-Larsson, Anneli, et al. (författare) Thromboembolic events, major bleeding and mortality in essential thrombocythaemia and polycythaemia vera : a matched nationwide population-based study 2024 Ingår i: British Journal of Haematology. - : John Wiley & Sons. - 0007-1048 .- 1365-2141. ; 204:5, s. 1740-1751 Tidskriftsartikel (refereegranskat)abstract Thromboembolic events and bleeding are known complications in essential thrombocythaemia (ET) and polycythaemia vera (PV). Using multiple Swedish health care registers, we assessed the rate of arterial and venous events, major bleeding, all-cause stroke and all-cause mortality in ET and PV compared to matched controls. For each patient with ET (n = 3141) and PV (n = 2604), five matched controls were randomly selected. In total, 327 and 405 arterial or venous events were seen in the group of ET and PV patients respectively. Compared to corresponding controls, the rate of venous thromboembolism, major bleeding and all-cause mortality per 100 treatment years was significantly increased among both ET (0.63, 0.79 and 3.70) and PV patients (0.94, 1.20 and 4.80). The PV patients also displayed a significantly higher rate of arterial events and all-cause stroke compared to controls. When dividing the cohort into age groups, we found a significantly higher rate of arterial and venous events in all age groups of PV patients, and the rate of all-cause mortality was significantly higher in both ET and PV patients in all ages above the age of 50. This study confirms that PV and ET are diseases truly marked by thromboembolic complications and bleeding.
10.	Hesse, Camilla, et al. (författare) The N-terminal domain of α-dystroglycan is released as a 38kDa protein and is increased in cerebrospinal fluid in patients with Lyme neuroborreliosis. 2011 Ingår i: Biochemical and biophysical research communications. - : Elsevier BV. - 1090-2104 .- 0006-291X. ; 412:3, s. 494-499 Tidskriftsartikel (refereegranskat)abstract α-Dystroglycan is an extracellular adhesion protein that is known to interact with different ligands. The interaction is thought to stabilize the integrity of the plasma membrane. The N-terminal part of α-dystroglycan may be proteolytically processed to generate a small 38kDa protein (α-DG-N). The physiological significance of α-DG-N is unclear but has been suggested to be involved in nerve regeneration and myelination and to function as a potential biomarker for neurodegenerative and neuromuscular diseases. In this report we show that α-DG-N is released into different body fluids, such as lachrimal fluid, cerebrospinal fluid (CSF), urine and plasma. To investigate the significance of α-DG-N in CSF we examined the levels of α-DG-N and known neurodegenerative markers in CSF from patients diagnosed with Lyme neuroborreliosis (LNB) and healthy controls. In untreated acute phase LNB patients, 67% showed a significant increase of CSF α-DG-N compared to healthy controls. After treatment with antibiotics the CSF α-DG-N levels were normalized in the LNB patients.
11.	Mattsson, Niklas, 1979, et al. (författare) Reduced cerebrospinal fluid BACE1 activity in multiple sclerosis. 2009 Ingår i: Multiple sclerosis (Houndmills, Basingstoke, England). - : SAGE Publications. - 1352-4585 .- 1477-0970. ; 15:4, s. 448-54 Tidskriftsartikel (refereegranskat)abstract BACKGROUND: Cell and animal experiments have shown that beta-site APP-cleaving enzyme 1 (BACE1) may be involved in myelination. OBJECTIVE: Here, we assess the association of cerebrospinal fluid (CSF) BACE1 activity with multiple sclerosis (MS). METHODS: BACE1 activity and levels of secreted amyloid precursor protein (APP) and amyloid-beta (Abeta) isoforms were analyzed in CSF from 100 patients with MS and 114 neurologically healthy controls. Patients with systemic lupus erythematosus (SLE), 26 with and 41 without cerebral engagement, were also included to enable comparisons with regards to another autoimmune disease. A subset of patients with MS and controls underwent a second lumbar puncture after 10 years. RESULTS: MS patients had lower CSF BACE1 activity than controls (P = 0.03) and patients with cerebral SLE (P < 0.001). Patients with cerebral SLE had higher BACE1 activity than any other group (P < 0.05 for all comparisons). BACE1 activity correlated with the different amyloid markers in all study groups. BACE1 activity decreased over 10 years in the MS group (P = 0.039) and correlated weakly with clinical disease severity scores in an inverse manner. CONCLUSIONS: These results suggest an involvement of BACE1 in the MS disease process.
12.	Moberg, Christina, et al. (författare) De unga gör helt rätt när de stämmer staten 2022 Ingår i: Aftonbladet. - 1103-9000. Tidskriftsartikel (populärvet., debatt m.m.)abstract 1 620 forskare och lärare i forskarvärlden: Vi ställer oss bakom Auroras klimatkrav
13.	Parnetti, L, et al. (författare) Changes in CSF acetyl- and butyrylcholinesterase activity after long-term treatment with AChE inhibitors in Alzheimer's disease. 2011 Ingår i: Acta neurologica Scandinavica. - : Hindawi Limited. - 1600-0404 .- 0001-6314. ; 124:2, s. 122-129 Tidskriftsartikel (refereegranskat)abstract Objectives - To measure cerebrospinal fluid (CSF) activity of acetylcholinesterase (AChE) and butyrylcholinesterase (BChE) in patients with Alzheimer's disease (AD) participating in randomized clinical trials from three European centers, before and after long-term treatment with different AChE inhibitors (AChEIs). Materials and methods - Of the 144 patients included in the study, 104 were treated with donepezil, 15 with galantamine, 16 with rivastigmine, and nine with placebo. CSF AChE and BChE activities were measured at baseline and after 1-year treatment. Results - Donepezil and galantamine groups showed a significant increase in CSF AChE activity at follow-up, while no changes for BChE activity were observed; in donepezil group, a positive correlation between plasma concentration and AChE activity was documented. Conversely, in rivastigmine group, a decrease in CSF activity of both enzymes was observed. CSF AChE and BChE activities were not correlated with the clinical outcome in any group considered. CSF biomarkers did not show any change after treatment. Conclusions - AChEIs differently influence the activity of target enzymes in CSF independent of their pharmacodynamic effects.
14.	Rosén, Christoffer, 1986, et al. (författare) Increased Levels of Chitotriosidase and YKL-40 in Cerebrospinal Fluid from Patients with Alzheimer's Disease. 2014 Ingår i: Dementia and geriatric cognitive disorders extra. - : S. Karger AG. - 1664-5464. ; 4:2, s. 297-304 Tidskriftsartikel (refereegranskat)abstract The cerebrospinal fluid (CSF) biomarkers total tau, abnormally phosphorylated tau and amyloid β 1-42 are strongly associated with Alzheimer's disease (AD). Apart from the pathologic hallmarks that these biomarkers represent, other processes such as inflammation and microglial activation are present in the brains of patients with AD. New biomarkers related to these processes could be valuable for the diagnosis and follow-up of AD patients and for the evaluation of inflammation-related pathologies.
15.	Schmitz, Alexander, et al. (författare) Longitudinal minimal residual disease assessment in multiple myeloma patients in complete remission : results from the NMSG flow-MRD substudy within the EMN02/HO95 MM trial 2022 Ingår i: BMC Cancer. - : BMC. - 1471-2407. ; 22:1 Tidskriftsartikel (refereegranskat)abstract Background: Multiple myeloma remains an incurable disease with multiple relapses due to residual myeloma cells in the bone marrow of patients after therapy. Presence of small number of cancer cells in the body after cancer treatment, called minimal residual disease, has been shown to be prognostic for progression-free and overall survival. However, for multiple myeloma, it is unclear whether patients attaining minimal residual disease negativity may be candidates for treatment discontinuation. We investigated, if longitudinal flow cytometry-based monitoring of minimal residual disease (flow-MRD) may predict disease progression earlier and with higher sensitivity compared to biochemical assessments. Methods: Patients from the Nordic countries with newly diagnosed multiple myeloma enrolled in the European-Myeloma-Network-02/Hovon-95 (EMN02/HO95) trial and undergoing bone marrow aspiration confirmation of complete response, were eligible for this Nordic Myeloma Study Group (NMSG) substudy. Longitdudinal flow-MRD assessment of bone marrow samples was performed to identify and enumerate residual malignant plasma cells until observed clinical progression. Results: Minimal residual disease dynamics were compared to biochemically assessed changes in serum free light chain and M-component. Among 20 patients, reaching complete response or stringent complete response during the observation period, and with >= 3 sequential flow-MRD assessments analysed over time, increasing levels of minimal residual disease in the bone marrow were observed in six cases, preceding biochemically assessed disease and clinical progression by 5.5 months and 12.6 months (mean values), respectively. Mean malignant plasma cells doubling time for the six patients was 1.8 months (95% CI, 1.4-2.3 months). Minimal malignant plasma cells detection limit was 4 x 10-5. Conclusions: Flow-MRD is a sensitive method for longitudinal monitoring of minimal residual disease dynamics in multiple myeloma patients in complete response. Increasing minimal residual disease levels precedes biochemically assessed changes and is an early indicator of subsequent clinical progression.
16.	Walter, Susanna, et al. (författare) Measuring the impact of gastrointestinal inconvenience and symptoms on perceived health in the general population - validation of the Short Health Scale for gastrointestinal symptoms (SHS-GI) 2021 Ingår i: Scandinavian Journal of Gastroenterology. - : Informa UK Limited. - 0036-5521 .- 1502-7708. ; 56:12, s. 1406-1463 Tidskriftsartikel (refereegranskat)abstract Objectives Gastrointestinal (GI) symptoms are intimately related to our wellbeing. The Short Health Scale for GI symptoms (SHS-GI) is a simple questionnaire to measure the impact of GI inconvenience and symptoms on quality of life. The aim was to validate the SHS-GI in a general population sample and to compare it with SHS-data across different patient groups.Method A subsample of 170 participants from a population-based colonoscopy study completed the Rome II questionnaire, GI diaries, psychological questionnaire (hospital anxiety and depression scale) and SHS-GI at follow-up investigation. Psychometric properties of SHS-GI as an overall score were determined by performing a confirmatory factor analysis (CFA). Spearman correlation between SHS total score and symptoms was calculated in the general population sample. SHS-GI data was compared with SHS data from patients with inflammatory bowel disease (IBD) and fecal incontinence (FI).Results As expected, the general population rated their impact of GI inconvenience on quality of life as better than the patient populations in terms of all aspects of the SHS-GI. The CFA showed a good model fit meeting all fit criteria in the general population. Cronbach's alpha for the total scale was 0.80 in the general population sample and ranged from 0.72 in the FI sample to 0.88 and 0.89 in the IBD samples.Conclusions SHS-GI demonstrated appropriate psychometric properties in a sample of the normal population. We suggest that SHS-GI is a valid simple questionnaire suitable for measuring the impact of GI symptoms and inconvenience on quality of life in both general and patient populations.
17.	Zalden, Peter, et al. (författare) Femtosecond x-ray diffraction reveals a liquid–liquid phase transition in phase-change materials 2019 Ingår i: Science. - Washington, DC : American Association for the Advancement of Science (AAAS). - 0036-8075 .- 1095-9203. ; 364:6445, s. 1062-1067 Tidskriftsartikel (refereegranskat)abstract In phase-change memory devices, a material is cycled between glassy and crystalline states. The highly temperature-dependent kinetics of its crystallization process enables application in memory technology, but the transition has not been resolved on an atomic scale. Using femtosecond x-ray diffraction and ab initio computer simulations, we determined the time-dependent pair-correlation function of phase-change materials throughout the melt-quenching and crystallization process. We found a liquid–liquid phase transition in the phase-change materials Ag4In3Sb67Te26 and Ge15Sb85 at 660 and 610 kelvin, respectively. The transition is predominantly caused by the onset of Peierls distortions, the amplitude of which correlates with an increase of the apparent activation energy of diffusivity. This reveals a relationship between atomic structure and kinetics, enabling a systematic optimization of the memory-switching kinetics.
18.	Adolfsson, Daniel, 1992-, et al. (författare) A Submap per Perspective : Selecting Subsets for SuPer Mapping that Afford Superior Localization Quality 2019 Ingår i: 2019 European Conference on Mobile Robots (ECMR). - : IEEE. - 9781728136059 Konferensbidrag (refereegranskat)abstract This paper targets high-precision robot localization. We address a general problem for voxel-based map representations that the expressiveness of the map is fundamentally limited by the resolution since integration of measurements taken from different perspectives introduces imprecisions, and thus reduces localization accuracy.We propose SuPer maps that contain one Submap per Perspective representing a particular view of the environment. For localization, a robot then selects the submap that best explains the environment from its perspective. We propose SuPer mapping as an offline refinement step between initial SLAM and deploying autonomous robots for navigation. We evaluate the proposed method on simulated and real-world data that represent an important use case of an industrial scenario with high accuracy requirements in an repetitive environment. Our results demonstrate a significantly improved localization accuracy, up to 46% better compared to localization in global maps, and up to 25% better compared to alternative submapping approaches.
19.	Adolfsson, Daniel, 1992-, et al. (författare) CFEAR Radarodometry - Conservative Filtering for Efficient and Accurate Radar Odometry 2021 Ingår i: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021). - : IEEE. - 9781665417143 - 9781665417150 ; , s. 5462-5469 Konferensbidrag (refereegranskat)abstract This paper presents the accurate, highly efficient, and learning-free method CFEAR Radarodometry for large-scale radar odometry estimation. By using a filtering technique that keeps the k strongest returns per azimuth and by additionally filtering the radar data in Cartesian space, we are able to compute a sparse set of oriented surface points for efficient and accurate scan matching. Registration is carried out by minimizing a point-to-line metric and robustness to outliers is achieved using a Huber loss. We were able to additionally reduce drift by jointly registering the latest scan to a history of keyframes and found that our odometry method generalizes to different sensor models and datasets without changing a single parameter. We evaluate our method in three widely different environments and demonstrate an improvement over spatially cross-validated state-of-the-art with an overall translation error of 1.76% in a public urban radar odometry benchmark, running at 55Hz merely on a single laptop CPU thread.
20.	Adolfsson, Daniel, 1992-, et al. (författare) CorAl : Introspection for robust radar and lidar perception in diverse environments using differential entropy 2022 Ingår i: Robotics and Autonomous Systems. - : Elsevier. - 0921-8890 .- 1872-793X. ; 155 Tidskriftsartikel (refereegranskat)abstract Robust perception is an essential component to enable long-term operation of mobile robots. It depends on failure resilience through reliable sensor data and pre-processing, as well as failure awareness through introspection, for example the ability to self-assess localization performance. This paper presents CorAl: a principled, intuitive, and generalizable method to measure the quality of alignment between pairs of point clouds, which learns to detect alignment errors in a self-supervised manner. CorAl compares the differential entropy in the point clouds separately with the entropy in their union to account for entropy inherent to the scene. By making use of dual entropy measurements, we obtain a quality metric that is highly sensitive to small alignment errors and still generalizes well to unseen environments. In this work, we extend our previous work on lidar-only CorAl to radar data by proposing a two-step filtering technique that produces high-quality point clouds from noisy radar scans. Thus, we target robust perception in two ways: by introducing a method that introspectively assesses alignment quality, and by applying it to an inherently robust sensor modality. We show that our filtering technique combined with CorAl can be applied to the problem of alignment classification, and that it detects small alignment errors in urban settings with up to 98% accuracy, and with up to 96% if trained only in a different environment. Our lidar and radar experiments demonstrate that CorAl outperforms previous methods both on the ETH lidar benchmark, which includes several indoor and outdoor environments, and the large-scale Oxford and MulRan radar data sets for urban traffic scenarios. The results also demonstrate that CorAl generalizes very well across substantially different environments without the need of retraining.
21.	Adolfsson, Daniel, 1992-, et al. (författare) CorAl – Are the point clouds Correctly Aligned? 2021 Ingår i: 10th European Conference on Mobile Robots (ECMR 2021). - : IEEE. Konferensbidrag (refereegranskat)abstract In robotics perception, numerous tasks rely on point cloud registration. However, currently there is no method that can automatically detect misaligned point clouds reliably and without environment-specific parameters. We propose "CorAl", an alignment quality measure and alignment classifier for point cloud pairs, which facilitates the ability to introspectively assess the performance of registration. CorAl compares the joint and the separate entropy of the two point clouds. The separate entropy provides a measure of the entropy that can be expected to be inherent to the environment. The joint entropy should therefore not be substantially higher if the point clouds are properly aligned. Computing the expected entropy makes the method sensitive also to small alignment errors, which are particularly hard to detect, and applicable in a range of different environments. We found that CorAl is able to detect small alignment errors in previously unseen environments with an accuracy of 95% and achieve a substantial improvement to previous methods.
22.	Adolfsson, Daniel, 1992-, et al. (författare) Improving Localisation Accuracy using Submaps in warehouses 2018 Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract This paper presents a method for localisation in hybrid metric-topological maps built using only local information that is, only measurements that were captured by the robot when it was in a nearby location. The motivation is that observations are typically range and viewpoint dependent and that a map a discrete map representation might not be able to explain the full structure within a voxel. The localisation system uses a method to select submap based on how frequently and where from each submap was updated. This allow the system to select the most descriptive submap, thereby improving the localisation and increasing performance by up to 40%.
23.	Adolfsson, Daniel, 1992-, et al. (författare) Lidar-Level Localization With Radar? The CFEAR Approach to Accurate, Fast, and Robust Large-Scale Radar Odometry in Diverse Environments 2023 Ingår i: IEEE Transactions on robotics. - : IEEE. - 1552-3098 .- 1941-0468. ; 39:2, s. 1476-1495 Tidskriftsartikel (refereegranskat)abstract This article presents an accurate, highly efficient, and learning-free method for large-scale odometry estimation using spinning radar, empirically found to generalize well across very diverse environments—outdoors, from urban to woodland, and indoors in warehouses and mines—without changing parameters. Our method integrates motion compensation within a sweep with one-to-many scan registration that minimizes distances between nearby oriented surface points and mitigates outliers with a robust loss function. Extending our previous approach conservative filtering for efficient and accurate radar odometry (CFEAR), we present an in-depth investigation on a wider range of datasets, quantifying the importance of filtering, resolution, registration cost and loss functions, keyframe history, and motion compensation. We present a new solving strategy and configuration that overcomes previous issues with sparsity and bias, and improves our state-of-the-art by 38%, thus, surprisingly, outperforming radar simultaneous localization and mapping (SLAM) and approaching lidar SLAM. The most accurate configuration achieves 1.09% error at 5 Hz on the Oxford benchmark, and the fastest achieves 1.79% error at 160 Hz.
24.	Adolfsson, Daniel, 1992-, et al. (författare) Oriented surface points for efficient and accurate radar odometry 2021 Konferensbidrag (refereegranskat)abstract This paper presents an efficient and accurate radar odometry pipeline for large-scale localization. We propose a radar filter that keeps only the strongest reflections per-azimuth that exceeds the expected noise level. The filtered radar data is used to incrementally estimate odometry by registering the current scan with a nearby keyframe. By modeling local surfaces, we were able to register scans by minimizing a point-to-line metric and accurately estimate odometry from sparse point sets, hence improving efficiency. Specifically, we found that a point-to-line metric yields significant improvements compared to a point-to-point metric when matching sparse sets of surface points. Preliminary results from an urban odometry benchmark show that our odometry pipeline is accurate and efficient compared to existing methods with an overall translation error of 2.05%, down from 2.78% from the previously best published method, running at 12.5ms per frame without need of environmental specific training.
25.	Adolfsson, Daniel, 1992- (författare) Robust large-scale mapping and localization : Combining robust sensing and introspection 2023 Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract The presence of autonomous systems is rapidly increasing in society and industry. To achieve successful, efficient, and safe deployment of autonomous systems, they must be navigated by means of highly robust localization systems. Additionally, these systems need to localize accurately and efficiently in realtime under adverse environmental conditions, and within considerably diverse and new previously unseen environments.This thesis focuses on investigating methods to achieve robust large-scale localization and mapping, incorporating robustness at multiple stages. Specifically, the research explores methods with sensory robustness, utilizing radar, which exhibits tolerance to harsh weather, dust, and variations in lighting conditions. Furthermore, the thesis presents methods with algorithmic robustness, which prevent failures by incorporating introspective awareness of localization quality. This thesis aims to answer the following research questions:How can radar data be efficiently filtered and represented for robust radar odometry? How can accurate and robust odometry be achieved with radar? How can localization quality be assessed and leveraged for robust detection of localization failures? How can self-awareness of localization quality be utilized to enhance the robustness of a localization system?While addressing these research questions, this thesis makes the following contributions to large-scale localization and mapping: A method for robust and efficient radar processing and state-of-the-art odometry estimation, and a method for self-assessment of localization quality and failure detection in lidar and radar localization. Self-assessment of localization quality is integrated into robust systems for large-scale Simultaneous Localization And Mapping, and rapid global localization in prior maps. These systems leverage self-assessment of localization quality to improve performance and prevent failures in loop closure and global localization, and consequently achieve safe robot localization.The methods presented in this thesis were evaluated through comparative assessments of public benchmarks and real-world data collected from various industrial scenarios. These evaluations serve to validate the effectiveness and reliability of the proposed approaches. As a result, this research represents a significant advancement toward achieving highly robust localization capabilities with broad applicability.
26.	Adolfsson, Daniel, 1992-, et al. (författare) TBV Radar SLAM - Trust but Verify Loop Candidates 2023 Ingår i: IEEE Robotics and Automation Letters. - : IEEE. - 2377-3766. ; 8:6, s. 3613-3620 Tidskriftsartikel (refereegranskat)abstract Robust SLAM in large-scale environments requires fault resilience and awareness at multiple stages, from sensing and odometry estimation to loop closure. In this work, we present TBV (Trust But Verify) Radar SLAM, a method for radar SLAM that introspectively verifies loop closure candidates. TBV Radar SLAM achieves a high correct-loop-retrieval rate by combining multiple place-recognition techniques: tightly coupled place similarity and odometry uncertainty search, creating loop descriptors from origin-shifted scans, and delaying loop selection until after verification. Robustness to false constraints is achieved by carefully verifying and selecting the most likely ones from multiple loop constraints. Importantly, the verification and selection are carried out after registration when additional sources of loop evidence can easily be computed. We integrate our loop retrieval and verification method with a robust odometry pipeline within a pose graph framework. By evaluation on public benchmarks we found that TBV Radar SLAM achieves 65% lower error than the previous state of the art. We also show that it generalizes across environments without needing to change any parameters. We provide the open-source implementation at https://github.com/dan11003/tbv_slam_public
27.	Alhashimi, Anas, 1978-, et al. (författare) BFAR – Bounded False Alarm Rate detector for improved radar odometry estimation 2021 Konferensbidrag (refereegranskat)abstract This paper presents a new detector for filtering noise from true detections in radar data, which improves the state of the art in radar odometry. Scanning Frequency-Modulated Continuous Wave (FMCW) radars can be useful for localisation and mapping in low visibility, but return a lot of noise compared to (more commonly used) lidar, which makes the detection task more challenging. Our Bounded False-Alarm Rate (BFAR) detector is different from the classical Constant False-Alarm Rate (CFAR) detector in that it applies an affine transformation on the estimated noise level after which the parameters that minimize the estimation error can be learned. BFAR is an optimized combination between CFAR and fixed-level thresholding. Only a single parameter needs to be learned from a training dataset. We apply BFAR tothe use case of radar odometry, and adapt a state-of-the-art odometry pipeline (CFEAR), replacing its original conservative filtering with BFAR. In this way we reduce the state-of-the-art translation/rotation odometry errors from 1.76%/0.5◦/100 m to 1.55%/0.46◦/100 m; an improvement of 12.5%.
28.	Alifier, Marek, et al. (författare) Cardiac Surgery is Associated with Biomarker Evidence of Neuronal Damage. 2020 Ingår i: Journal of Alzheimer's disease : JAD. - 1875-8908. ; 74:4, s. 1211-1220 Tidskriftsartikel (refereegranskat)abstract Anesthesia and surgery is commonly associated with central nervous system sequelae and cognitive symptoms, which may be caused by neuronal injury. Neuronal injury can be monitored by plasma concentrations of the neuronal biomarkers tau and neurofilament light protein (NFL). Currently, there are no studies examining whether neuronal injury varies between surgical procedures.Our aim was to investigate if neuronal damage is more frequent after cardiac than after otolaryngeal surgery, as estimated by tau and NFL concentrations in plasma.Blood samples were drawn before, during, and after surgery and concentrations of tau, NFL, Aβ40, and Aβ42 were measured in 25 patients undergoing cardiac surgery (9 off-pump and 16 on-pump) and 26 patients undergoing otolaryngeal surgery.Tau increased during surgery (1752%, p=0.0001) and NFL rose seven days post-surgery (1090%, p<0.0001) in patients undergoing cardiac surgery; even more in patients on-pump than off-pump. No changes were observed in patients undergoing otolaryngeal surgery and only minor fluctuations were observed for Aβ40 and Aβ42.Cardiac surgery is associated with neuronal injury, which is aggravated by extracorporeal circulation. Analyses of NFL and tau in blood may guide development of surgical procedures to minimize neuronal damage, and may also be used in longitudinal clinical studies to assess the relationship of surgery with future neurocognitive impairment or dementia.
29.	Alves, Guido, et al. (författare) Cerebrospinal fluid amyloid-β and phenotypic heterogeneity in de novo Parkinson's disease. 2013 Ingår i: Journal of neurology, neurosurgery, and psychiatry. - : BMJ. - 1468-330X .- 0022-3050. ; 84:5, s. 537-43 Tidskriftsartikel (refereegranskat)abstract In Parkinson's disease (PD), the motor presentation characterised by postural instability/gait difficulties (PIGD) heralds accelerated motor, functional and cognitive decline, as compared with the more benign tremor-dominant (TD) variant. This makes the PIGD complex an attractive target for the discovery of prognostic biomarkers in PD.
30.	Alves, G., et al. (författare) CSF A beta(42) predicts early-onset dementia in Parkinson disease 2014 Ingår i: Neurology. - : Ovid Technologies (Wolters Kluwer Health). - 0028-3878 .- 1526-632X. ; 82:20, s. 1784-1790 Tidskriftsartikel (refereegranskat)abstract Objective:To test in vivo the proposal from clinicopathologic studies that -amyloid (A) pathology shortens the time to dementia in Parkinson disease (PD), and to explore the utility of CSF A and related measures as early prognostic biomarkers of dementia in an incident PD cohort.Methods:We assessed a population-based incident cohort of 104 patients with PD who underwent lumbar puncture at diagnosis. We analyzed CSF concentrations of A42, A40, and A38 using a multiplexed immunoassay with electrochemiluminescence (ECL) detection and levels of A42, total tau, and phosphorylated tau using ELISA. Patients were followed prospectively for 5 years. Dementia was diagnosed according to published criteria.Results:CSF levels of A42 were significantly decreased in patients who developed dementia (n = 20, 19.2%) compared to those who did not (n = 84, 80.8%), as measured by ECL (-33%, p = 0.006) as well as ELISA (-36%, p < 0.001). No differences were observed for other markers. Low A42 values predicted a substantially increased risk for subsequent dementia at high sensitivity (85%), with hazard ratios of 9.9 (95% confidence interval 2.3-43.5, p = 0.002) for A42(ECL) <376 pg/mL and 7.6 (2.2-26.4, p = 0.001) for A42(ELISA) <443 pg/mL, after adjustment for baseline age and PD-mild cognitive impairment (MCI) status. A42 reductions tended to precede the onset of PD-MCI that progressed to dementia.Conclusions:These in vivo data support the role of A pathology in the etiology and highlight the potential utility of CSF A42 as an early prognostic biomarker of dementia associated with PD.
31.	Alves, Guido, et al. (författare) CSF amyloid-β and tau proteins, and cognitive performance, in early and untreated Parkinson's Disease: the Norwegian ParkWest study 2010 Ingår i: Journal of neurology, neurosurgery, and psychiatry. - : BMJ. - 1468-330X .- 0022-3050. ; 81:10, s. 1080-1086 Tidskriftsartikel (refereegranskat)abstract Background Alzheimer's disease (AD) pathology is found in a considerable portion of patients with Parkinson's disease (PD), particularly those with early dementia (PDD). Altered cerebrospinal fluid (CSF) levels of amyloid-beta (Abeta) and tau proteins have been found in PDD, with intermediate changes for Abeta42 in non-demented PD. The authors investigated whether AD-related CSF protein levels are altered and relate to neuropsychological performance in early, untreated PD. Methods CSF concentrations of Abeta42, Abeta40 and Abeta38 were measured by electrochemiluminiscene and levels of total tau (T-tau) and phosphorylated tau (P-tau) by ELISA in 109 newly diagnosed, unmedicated, non-demented, community-based PD patients who had undergone comprehensive neuropsychological testing, and were compared with those of 36 age-matched normal controls and 20 subjects with mild AD. Results PD patients displayed significant reductions in Abeta42 (19%; p=0.009), Abeta40 (15.5%; p=0.008) and Abeta38 (23%; p=0.004) but not T-tau (p=0.816) or P-tau (p=0.531) compared with controls. CSF Abeta42 reductions in PD were less marked than in AD (53%; p=0.002). Sequential regression analyses demonstrated significant associations between CSF levels of Abeta42 (beta=0.205; p=0.019), Abeta40 (beta=0.378; p<0.001) and Abeta38 (beta=0.288; p=0.001) and memory impairment, but not executive-attentional or visuospatial dysfunction. Tau protein levels did not correlate with cognitive measures. Conclusion CSF Abeta levels are altered in a subset of patients with early PD and relate to memory impairment. Our study suggests that alterations in Abeta protein metabolism may contribute to the heterogeneity in pattern and course of cognitive decline associated with PD. Longitudinal studies are needed to clarify the clinical significance of CSF Abeta peptides as prognostic biomarkers in PD.
32.	Alves, Guido, et al. (författare) CSF Aβ42 predicts early-onset dementia in Parkinson disease. 2014 Ingår i: Neurology. - 1526-632X. ; 82:20, s. 1784-90 Tidskriftsartikel (refereegranskat)abstract To test in vivo the proposal from clinicopathologic studies that β-amyloid (Aβ) pathology shortens the time to dementia in Parkinson disease (PD), and to explore the utility of CSF Aβ and related measures as early prognostic biomarkers of dementia in an incident PD cohort.
33.	Andreasson, Annika, et al. (författare) A Census of Swedish Government Administrative Authority Employee Communications on Cybersecurity during the COVID-19 Pandemic 2020 Ingår i: 2020 IEEE/ACM International Conference on Advances in Social Networks Analysis and Mining (ASONAM). - : IEEE. Konferensbidrag (refereegranskat)abstract Cybersecurity is the backbone of a successful digitalization of society, and cyber situation awareness is an essential aspect of managing it. The COVID-19 pandemic has sped up an already ongoing digitalization of Swedish government agencies, but the cybersecurity maturity level varies across agencies. In this study, we conduct a census of Swedish government administrative authority communications on cybersecurity to employees at the beginning of the COVID-19 pandemic. The census shows that the employee communications in the beginning of the pandemic to a greater extent have focused on first-order risks, such as video meetings and telecommuting, rather than on second-order risks, such as invoice fraud or social engineering. We also find that almost two thirds of the administrative authorities have not yet implemented, but only initiated or documented, their cybersecurity policies.
34.	Andreasson, Annika, et al. (författare) A Census of Swedish Public Sector Employee Communication on Cybersecurity during the COVID-19 Pandemic 2021 Ingår i: Proceedings of the International Conference on Cyber Situational Awareness, Data Analytics and Assessment, CyberSA 2021. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 1-8 Konferensbidrag (refereegranskat)abstract The COVID-19 pandemic has accelerated the digitalization of the Swedish public sector, and to ensure the success of this ongoing process cybersecurity plays an integral part. While Sweden has come far in digitalization, the maturity of cybersecurity work across entities covers a wide range. One way of improving cybersecurity is through communication, thereby enhancing employee cyber situation awareness. In this paper, we conduct a census of Swedish public sector employee communication on cybersecurity at the beginning of the COVID-19 pandemic using questionnaires. The study shows that public sector entities find the same sources of information useful for their cybersecurity work. We find that nearly two thirds of administrative authorities and almost three quarters of municipalities are not yet at the implemented cybersecurity level. We also find that 71 % of municipalities have less than one dedicated staff for cybersecurity.
35.	Andreasson, Eskil, et al. (författare) Integrating Moldflow and Abaqus in the Package Simulation Workflow 2013 Konferensbidrag (refereegranskat)abstract Tetra Pak has used numerical simulation tools for plastic injection molding (Moldflow) and structural analysis (Abaqus/Implicit and Abaqus/Explicit) for many years. Today these two simulation tools are used independently of each other without any coupling. How these two disciplines can be combined to better predict the mechanical response of a polymer component is presented in this work. The manufacturing process, in this case injection molding, creates the mechanical properties of the produced polymer part. Process settings, material selection and molding tool geometry affect the polymer flow, material orientation and rate of crystallinity. A method to build a layered finite element model in Abaqus using results from Moldflow simulations regarding crystallinity growth and molecular orientation is proposed. Relatively simple material models were utilized and assigned for each individual material layer through the thickness in the polymer part. These constitutive models were derived phenomenologically from experimental test results and could adequately capture both the microscopic and the macroscopic behavior in a more realistic way. The numerical results showed a good agreement with the experimental results, both regarding visual appearance and force/displacement response.
36.	Andreasson, Erik, et al. (författare) The MAP kinase substrate MKS1 is a regulator of plant defence responces 2005 Ingår i: EMBO Journal. - : Wiley. - 1460-2075 .- 0261-4189. ; 24:14, s. 2579-2589 Tidskriftsartikel (refereegranskat)abstract Arabidopsis MAP kinase 4 (MPK4) functions as a regulator of pathogen defense responses, because it is required for both repression of salicylic acid (SA)-dependent resistance and for activation of jasmonate (JA)-dependent defense gene expression. To understand MPK4 signaling mechanisms, we used yeast two-hybrid screening to identify the MPK4 substrate MKS1. Analyses of transgenic plants and genome-wide transcript profiling indicated that MKS1 is required for full SA-dependent resistance in mpk4 mutants, and that overexpression of MKS1 in wild-type plants is sufficient to activate SA-dependent resistance, but does not interfere with induction of a defense gene by JA. Further yeast two-hybrid screening revealed that MKS1 interacts with the WRKY transcription factors WRKY25 and WRKY33. WRKY25 and WRKY33 were shown to be in vitro substrates of MPK4, and a wrky33 knockout mutant was found to exhibit increased expression of the SA-related defense gene PR1. MKS1 may therefore contribute to MPK4-regulated defense activation by coupling the kinase to specific WRKY transcription factors.
37.	Andreasson, Henrik, 1977-, et al. (författare) 6D scan registration using depth-interpolated local image features 2010 Ingår i: Robotics and Autonomous Systems. - Amsterdam, Netherlands : Elsevier. - 0921-8890 .- 1872-793X. ; 58:2, s. 157-165 Tidskriftsartikel (refereegranskat)abstract This paper describes a novel registration approach that is based on a combination of visual and 3D range information.To identify correspondences, local visual features obtained from images of a standard color camera are compared and the depth of matching features (and their position covariance) is determined from the range measurements of a 3D laserscanner. The matched depth-interpolated image features allows to apply registration with known correspondences.We compare several ICP variants in this paper and suggest an extension that considers the spatial distance betweenmatching features to eliminate false correspondences. Experimental results are presented in both outdoor and indoor environments. In addition to pair-wise registration, we also propose a global registration method that registers allscan poses simultaneously.
38.	Andreasson, Henrik, 1977-, et al. (författare) A Local Planner for Accurate Positioning for a Multiple Steer-and-Drive Unit Vehicle Using Non-Linear Optimization 2022 Ingår i: Sensors. - : MDPI. - 1424-8220. ; 22:7 Tidskriftsartikel (refereegranskat)abstract This paper presents a local planning approach that is targeted for pseudo-omnidirectional vehicles: that is, vehicles that can drive sideways and rotate on the spot. This local planner—MSDU–is based on optimal control and formulates a non-linear optimization problem formulation that exploits the omni-motion capabilities of the vehicle to drive the vehicle to the goal in a smooth and efficient manner while avoiding obstacles and singularities. MSDU is designed for a real platform for mobile manipulation where one key function is the capability to drive in narrow and confined areas. The real-world evaluations show that MSDU planned paths that were smoother and more accurate than a comparable local path planner Timed Elastic Band (TEB), with a mean (translational, angular) error for MSDU of (0.0028 m, 0.0010 rad) compared to (0.0033 m, 0.0038 rad) for TEB. MSDU also generated paths that were consistently shorter than TEB, with a mean (translational, angular) distance traveled of (0.6026 m, 1.6130 rad) for MSDU compared to (0.7346 m, 3.7598 rad) for TEB.
39.	Andreasson, Henrik, 1977-, et al. (författare) A Minimalistic Approach to Appearance-Based Visual SLAM 2008 Ingår i: IEEE Transactions on Robotics. - New York, NY, USA : IEEE. - 1552-3098. ; 24:5, s. 991-1001 Tidskriftsartikel (refereegranskat)abstract This paper presents a vision-based approach to SLAM in indoor / outdoor environments with minimalistic sensing and computational requirements. The approach is based on a graph representation of robot poses, using a relaxation algorithm to obtain a globally consistent map. Each link corresponds to a relative measurement of the spatial relation between the two nodes it connects. The links describe the likelihood distribution of the relative pose as a Gaussian distribution. To estimate the covariance matrix for links obtained from an omni-directional vision sensor, a novel method is introduced based on the relative similarity of neighbouring images. This new method does not require determining distances to image features using multiple view geometry, for example. Combined indoor and outdoor experiments demonstrate that the approach can handle qualitatively different environments (without modification of the parameters), that it can cope with violations of the “flat floor assumption” to some degree, and that it scales well with increasing size of the environment, producing topologically correct and geometrically accurate maps at low computational cost. Further experiments demonstrate that the approach is also suitable for combining multiple overlapping maps, e.g. for solving the multi-robot SLAM problem with unknown initial poses.
40.	Andreasson, Henrik, 1977-, et al. (författare) Autonomous transport vehicles : where we are and what is missing 2015 Ingår i: IEEE robotics & automation magazine. - 1070-9932 .- 1558-223X. ; 22:1, s. 64-75 Tidskriftsartikel (refereegranskat)abstract In this article, we address the problem of realizing a complete efficient system for automated management of fleets of autonomous ground vehicles in industrial sites. We elicit from current industrial practice and the scientific state of the art the key challenges related to autonomous transport vehicles in industrial environments and relate them to enabling techniques in perception, task allocation, motion planning, coordination, collision prediction, and control. We propose a modular approach based on least commitment, which integrates all modules through a uniform constraint-based paradigm. We describe an instantiation of this system and present a summary of the results, showing evidence of increased flexibility at the control level to adapt to contingencies.
41.	Andreasson, Henrik (författare) Camera based navigation by mobile robots : local visual feature based localisation and mapping 2009 Bok (övrigt vetenskapligt/konstnärligt)abstract The most important property of a mobile robot is the fact that it is mobile. How to give a robot the skills required to navigate around its environment is therefore an important topic in mobile robotics. Navigation, both for robots and humans, typically involves a map. The map can be used, for example, to estimate a pose based on observations (localisation) or determine a suitable path between to locations. Maps are available nowadays for us humans with few exceptions, however, maps suitable for mobile robots rarely exists. In addition, to relate sensor readings to a map requires that the map content and the observation is compatible, i.e. different robots may require different maps for the same area. This book addresses some of the fundamental problems related to mobile robot navigation (registration, localisation and mapping) using cameras as the primary sensor input. Small salient regions (local visual features) are extracted from each camera image, where each region can be seen as a fingerprint. Many fingerprint matches implicates a high likelihood that they corresponding images originate from a similar location, which is a central property utilised in this work.
42.	Andreasson, Henrik, 1977-, et al. (författare) Drive the Drive : From Discrete Motion Plans to Smooth Drivable Trajectories 2014 Ingår i: Robotics. - Basel, Switzerland : M D P I AG. - 2218-6581. ; 3:4, s. 400-416 Tidskriftsartikel (refereegranskat)abstract Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy and precision, while taking into account non-holonomic vehicle constraints. In recent years, lattice-based motion planners have been successfully used to generate kinematically and kinodynamically feasible motions for non-holonomic vehicles. However, the discretized nature of these algorithms induces discontinuities in both state and control space of the obtained trajectories, resulting in a mismatch between the achieved and the target end pose of the vehicle. As endpose accuracy is critical for the successful loading and unloading of cargo in typical industrial applications, automatically planned paths have not been widely adopted in commercial AGV systems. The main contribution of this paper is a path smoothing approach, which builds on the output of a lattice-based motion planner to generate smooth drivable trajectories for non-holonomic industrial vehicles. The proposed approach is evaluated in several industrially relevant scenarios and found to be both fast (less than 2 s per vehicle trajectory) and accurate (end-point pose errors below 0.01 m in translation and 0.005 radians in orientation).
43.	Andreasson, Henrik, 1977-, et al. (författare) Fast, continuous state path smoothing to improve navigation accuracy 2015 Ingår i: IEEE International Conference on Robotics and Automation (ICRA), 2015. - : IEEE Computer Society. - 9781479969234 ; , s. 662-669 Konferensbidrag (refereegranskat)abstract Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy and precision, while taking into account non-holonomic vehicle constraints. In recent years, lattice-based motion planners have been successfully used to generate kinematically and kinodynamically feasible motions for non-holonomic vehicles. However, the discretized nature of these algorithms induces discontinuities in both state and control space of the obtained trajectories, resulting in a mismatch between the achieved and the target end pose of the vehicle. As endpose accuracy is critical for the successful loading and unloading of cargo in typical industrial applications, automatically planned paths have not be widely adopted in commercial AGV systems. The main contribution of this paper addresses this shortcoming by introducing a path smoothing approach, which builds on the output of a lattice-based motion planner to generate smooth drivable trajectories for non-holonomic industrial vehicles. In real world tests presented in this paper we demonstrate that the proposed approach is fast enough for online use (it computes trajectories faster than they can be driven) and highly accurate. In 100 repetitions we achieve mean end-point pose errors below 0.01 meters in translation and 0.002 radians in orientation. Even the maximum errors are very small: only 0.02 meters in translation and 0.008 radians in orientation.
44.	Andreasson, Henrik, 1977-, et al. (författare) Gold-fish SLAM : An application of SLAM to localize AGVs 2014 Ingår i: Field and Service Robotics. - Heidelberg : Springer. - 9783642406850 - 9783642406867 ; , s. 585-598 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.
45.	Andreasson, Henrik, 1977-, et al. (författare) Gold-fish SLAM : an application of SLAM to localize AGVs 2012 Ingår i: Proceedings of the International Conference on Field and Service Robotics (FSR), July 2012.. 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.
46.	Andreasson, Henrik, 1977-, et al. (författare) Has something changed here? : Autonomous difference detection for security patrol robots 2007 Ingår i: 2007 IEEE/RSJ international conference on intelligent robots and systems. - New York, NY, USA : IEEE. - 9781424409129 ; , s. 3429-3435 Konferensbidrag (refereegranskat)abstract This paper presents a system for autonomous change detection with a security patrol robot. In an initial step a reference model of the environment is created and changes are then detected with respect to the reference model as differences in coloured 3D point clouds, which are obtained from a 3D laser range scanner and a CCD camera. The suggested approach introduces several novel aspects, including a registration method that utilizes local visual features to determine point correspondences (thus essentially working without an initial pose estimate) and the 3D-NDT representation with adaptive cell size to efficiently represent both the spatial and colour aspects of the reference model. Apart from a detailed description of the individual parts of the difference detection system, a qualitative experimental evaluation in an indoor lab environment is presented, which demonstrates that the suggested system is able register and detect changes in spatial 3D data and also to detect changes that occur in colour space and are not observable using range values only.
47.	Andreasson, Henrik, et al. (författare) Improving plane extraction from 3D data by fusing laser data and vision 2005 Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005. (IROS 2005). ; , s. 2656-2661 Konferensbidrag (refereegranskat)abstract The problem of extracting three-dimensional structures from data acquired with mobile robots has received considerable attention over the past years. Robots that are able to perceive their three-dimensional environment are envisioned to more robustly perform tasks like navigation, rescue, and manipulation. In this paper we present an approach that simultaneously uses color and range information to cluster 3d points into planar structures. Our current system also is able to calibrate the camera and the laser based on the remission values provided by the range scanner and the brightness of the pixels in the image. It has been implemented on a mobile robot equipped with a manipulator that carries a range scanner and a camera for acquiring colored range scans. Several experiments carried out on real data and in simulations demonstrate that our approach yields highly accurate results also in comparison with previous approaches
48.	Andreasson, Henrik, 1977-, et al. (författare) Incorporating Ego-motion Uncertainty Estimates in Range Data Registration 2017 Ingår i: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). - : Institute of Electrical and Electronics Engineers (IEEE). - 9781538626825 - 9781538626832 ; , s. 1389-1395 Konferensbidrag (refereegranskat)abstract Local scan registration approaches commonlyonly utilize ego-motion estimates (e.g. odometry) as aninitial pose guess in an iterative alignment procedure. Thispaper describes a new method to incorporate ego-motionestimates, including uncertainty, into the objective function of aregistration algorithm. The proposed approach is particularlysuited for feature-poor and self-similar environments,which typically present challenges to current state of theart registration algorithms. Experimental evaluation showssignificant improvements in accuracy when using data acquiredby Automatic Guided Vehicles (AGVs) in industrial productionand warehouse environments.
49.	Andreasson, Henrik, 1977- (författare) Local visual feature based localisation and mapping by mobile robots 2008 Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract This thesis addresses the problems of registration, localisation and simultaneous localisation and mapping (SLAM), relying particularly on local visual features extracted from camera images. These fundamental problems in mobile robot navigation are tightly coupled. Localisation requires a representation of the environment (a map) and registration methods to estimate the pose of the robot relative to the map given the robot’s sensory readings. To create a map, sensor data must be accumulated into a consistent representation and therefore the pose of the robot needs to be estimated, which is again the problem of localisation. The major contributions of this thesis are new methods proposed to address the registration, localisation and SLAM problems, considering two different sensor configurations. The first part of the thesis concerns a sensor configuration consisting of an omni-directional camera and odometry, while the second part assumes a standard camera together with a 3D laser range scanner. The main difference is that the former configuration allows for a very inexpensive set-up and (considering the possibility to include visual odometry) the realisation of purely visual navigation approaches. By contrast, the second configuration was chosen to study the usefulness of colour or intensity information in connection with 3D point clouds (“coloured point clouds”), both for improved 3D resolution (“super resolution”) and approaches to the fundamental problems of navigation that exploit the complementary strengths of visual and range information. Considering the omni-directional camera/odometry setup, the first part introduces a new registration method based on a measure of image similarity. This registration method is then used to develop a localisation method, which is robust to the changes in dynamic environments, and a visual approach to metric SLAM, which does not require position estimation of local image features and thus provides a very efficient approach. The second part, which considers a standard camera together with a 3D laser range scanner, starts with the proposal and evaluation of non-iterative interpolation methods. These methods use colour information from the camera to obtain range information at the resolution of the camera image, or even with sub-pixel accuracy, from the low resolution range information provided by the range scanner. Based on the ability to determine depth values for local visual features, a new registration method is then introduced, which combines the depth of local image features and variance estimates obtained from the 3D laser range scanner to realise a vision-aided 6D registration method, which does not require an initial pose estimate. This is possible because of the discriminative power of the local image features used to determine point correspondences (data association). The vision-aided registration method is further developed into a 6D SLAM approach where the optimisation constraint is based on distances of paired local visual features. Finally, the methods introduced in the second part are combined with a novel adaptive normal distribution transform (NDT) representation of coloured 3D point clouds into a robotic difference detection system.
50.	Andreasson, Henrik, et al. (författare) Localization for mobile robots using panoramic vision, local features and particle filter 2005 Ingår i: Proceedings of the 2005 IEEE International Converence on Robotics and Automation. ; , s. 3348-3353 Konferensbidrag (refereegranskat)abstract In this paper we present a vision-based approach to self-localization that uses a novel scheme to integrate featurebased matching of panoramic images with Monte Carlo localization. A specially modified version of Lowe’s SIFT algorithm is used to match features extracted from local interest points in the image, rather than using global features calculated from the whole image. Experiments conducted in a large, populated indoor environment (up to 5 persons visible) over a period of several months demonstrate the robustness of the approach, including kidnapping and occlusion of up to 90% of the robot’s field of view.

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