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  • 1.
    Aasa, Johan
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering.
    Linear-Quadratic Regulation of ComputerRoom Air Conditioners2018Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Data centers operations are notoriously energy-hungry, with the computing and cooling infrastructures drawing comparable amount of electrical power to operate. A direction to improve their efciency is to optimizethe cooling, in the sense of implementing cooling infrastructures controlschemes that avoid performing over-cooling of the servers.Towards this direction, this work investigates minimum cost linearquadratic control strategies for the problem of managing air cooled datacenters. We derive a physical and a black box model for a general datacenter, identify this model from real data, and then derive, present andtest in the eld a model based Linear-Quadratic Regulator (LQR) strategy that sets the optimal coolant temperature for each individual coolingunit. To validate the approach we compare the eld tests from the LQR strategy against classical Proportional-Integral-Derivative (PID) controlstrategies, and show through our experiments that it is possible to reducethe energy consumption with respect to the existing practices by severalpoints percent without harming the servers within the data center fromthermal perspectives.

  • 2.
    Abid, Fahim
    et al.
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Busatto, Tatiano
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Rönnberg, Sarah
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Bollen, Math
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Intermodulation due to interaction of photovoltaic inverter and electric vehicle at supraharmonic range2016In: 2016 17th International Conference on Harmonics and Quality of Power, Piscataway. NJ, 2016, p. 685-690, article id 7783471Conference paper (Refereed)
    Abstract [en]

    Advent of power electronic switching is introducing more and more non-linear loads in the low voltage grid. Besides harmonic current generation in the frequency range below 2 kHz, these non-linear loads are also responsible for current emission in the range of 2 kHz to 150 kHz, commonly known as supraharmonic emission. Supraharmonic currents mainly flow between nearby appliances and heavily influence the overall emission of neighboring devices. This paper presents an analysis of supraharmonic interaction between a photovoltaic inverter and an electric vehicle. It has been noticed that intermodulation distortion arises as a result of interaction between different switching frequencies used by the devices. Later, additional household equipment were added to photovoltaic and electric vehicle to observe their effect on intermodulation distortion. All the measurements were conducted in a controlled laboratory environment imitating a domestic customer.

  • 3.
    Abolmasoumi, Amirhossein
    et al.
    Department of Electrical Engineering, Faculty of Engineering, Arak University.
    Sayyaddelshad, Saleh
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Observer design for a class of nonlinear delayed systems with unknown inputs and Markovian jump parameters2012In: ICCAS 2012: 12th International Conference on Control, Automation and Systems, 2012, p. 1848-1852Conference paper (Refereed)
    Abstract [en]

    The problem of full-order observer design for a class of delayed nonlinear systems with unknown inputs and Markovian jumping parameters is considered. The design method is formulated as solving a set of linear matrix inequalities (LMI's). Extending the results of nonlinear observer design to Markovian jump systems with time-varying delays is the main advantages of this paper. The sufficient LMI conditions are dependent on both the upper and lower bounds of delay. The effectiveness of the proposed method is shown via an illustrative example.

  • 4.
    Abrahamsson, Lars
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    AC cables strengthening low frequency AC railway with purely active power loads2018In: 2018 IEEE Power & Energy Society General Meeting (PESGM), IEEE, 2018, , p. 5Conference paper (Refereed)
    Abstract [en]

    Converter-fed railway power systems traditionally use high voltage AC overhead transmission lines in the railway grid for increased loadability. An increased resistance to overhead high voltage AC transmission lines, may motivate cables as one alternative for the future. The focus of this paper is to compare a non-strengthened system with two cable solutions for comparing loadability, voltages, and reactive powers for different levels of load scaling. The studies confirmed that the obstacle of reactive power produced in lowly utilized cables is, even if less significant for low frequency AC, still present. A simplified load model is used representing trains with VSC-converters and three-phase motors as purely active loads regardless of motoring or regenerating. A previous study has been done on thyristor-based trains. The voltage levels while regenerating are higher than in the thyristor-train case study. Besides that the loadability for motoring and regenerating is higher with modern VSC-trains.

  • 5.
    Abrahamsson, Lars
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    AC cables strengthening railway low frequency AC power supply systems: a deepened study2017Conference paper (Refereed)
    Abstract [en]

    n railway power supply systems using ACfrequencies lower than the public grids of 50/60 Hz,high voltage AC overhead transmission lines in railwaygrid frequency are used as one measure of strengthen-ing the systems. An increased resistance to overheadhigh voltage AC transmission lines, may motivate ca-bles for future railway power systems.With the frequency of 50/60 Hz, reactive powerproduced in lowly utilized cables imposes an obstacle.For low frequency AC, this issue is less significant.Moreover, in converter-fed railways, no reactive powerwill leak into the feeding public grid.This paper studies AC cables in low-frequency ACrailway. Two reinforcement cable solutions are com-pared with no reinforcement. A simplified load model oftrains, with thyristor bridges and DC motors, is used

  • 6.
    Abrahamsson, Lars
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Administrativ bilaga till Slutrapport2017Report (Other academic)
  • 7.
    Abrahamsson, Lars
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Considering risks in power system operationand the consequences of different acceptedrisk levels2017Report (Other academic)
  • 8.
    Abrahamsson, Lars
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Optimal drift och dimensionering avbanmatningssystem: Slutrapport Elektraprojekt2016Report (Other academic)
  • 9.
    Abrahamsson, Lars
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Risker i drift av elkraftsystem och konsekvenser av olika accepterade risknivåer: Svensk kortversion2017Report (Other academic)
  • 10.
    Abrahamsson, Lars
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Slutrapport2017Report (Other academic)
  • 11.
    Abrahamsson, Lars
    et al.
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Belea, Radu
    Atkins Sverige AB.
    Klerfors, Bertil
    Chalmers Technical University.
    Schütte, Thorsten
    STRI AB.
    Warner, Bruce
    ABB Switzerland Ltd.
    Modern methods for balancing of single phase loads when feeding a.c. Electrified railways2017In: Eb - Elektrische Bahnen, ISSN 0013-5437, Vol. 115, no 6-7, p. 378-384Article in journal (Refereed)
    Abstract [en]

    Conventional compensation circuits for phase balancing of single phase AC railways for 50 or 60 Hz have high cost for the associated transformers. A new version of the classical Steinmetz scheme, using three single phase transformers connected as a W with the phase angles -60°, 0° and +60°, can reuse the two standard single phase transformers of a V-connected feeding station with a third identical transformer added. Power factor compensation can easily be included. For neutral sections between different feeding systems, a neutral section converter is proposed

  • 12.
    Abrahamsson, Lars
    et al.
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Laury, John
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Bollen, Math
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Evaluating a constant-current load model through comparativetransient stability case studies of a synchronous-synchronous rotary frequencyconverter fed railway2019Conference paper (Refereed)
    Abstract [en]

    This paper continues the pursuit of getting a deeperunderstanding regarding the transient stability of lowfrequencyAC railway power systems operated at 162⁄3 Hzsynchronously to the public grid. The focus is set on theimpact of different load models. A simple constant-currentload model is proposed and compared to a previously proposedand studied load model in which the train’s activepower is regulated.The study and comparison is made on exactly the samecases as and grid as with the already proposed and moreadvanced load model. The railway grid is equipped witha low-frequency AC high-voltage transmission line whichis subjected to a fault. The study is limited to railwaysbeing fed by different distributions of RFC (Rotary FrequencyConverter) types. Both AT (auto transformer) andBT (booster transformer) catenaries are considered.The RFC dynamic models are essentially Anderson-Fouad models of two synchronous machines coupled mechanicallyby their rotors being connected to the same shaft.The differences in load behaviour between the proposedconstant-current load model and the previously proposedand studied voltage-dependent active power load model areanalyzed and described in the paper.

  • 13.
    Abrahamsson, Lars
    et al.
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Laury, John
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Bollen, Math
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Further studies on the transient stability of rotary frequency converter fed low frequency AC railway with a high voltage transmission systemIn: International Journal of Energy Production and Management, ISSN 2056-3272, E-ISSN 2056-3280Article in journal (Refereed)
    Abstract [en]

    This paper continues the pursuit of getting a deeper understanding regarding the transient stability oflow-frequency AC railway power systems operated at 16 2⁄3 Hz but synchronously to the public grid.Here, the focus is set on such grids with a low-frequency AC high-voltage transmission line subjectto a fault. The study here is limited to railways being fed by different distributions of RFC (RotaryFrequency Converter) types. Both AT (auto transformer) and BT (booster transformer) catenaries areconsidered. No mixed model configurations in the converter stations (CSs) are considered in this study.Therefore, only interactions between RFCs in different CSs and between RFCs, the fault, and the loadcan take place in this study. The RFC dynamic models are essentially two Anderson-Fouad models ofsynchronous machines coupled mechanically by their rotors being connected to the same mechanicalshaft. Besides the new cases studied, also a new voltage-dependent active power load model is presentedand used in this study

  • 14.
    Abrahamsson, Lars
    et al.
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Serrano Jimenez, Daniel
    University Carlos III.
    Laury, John
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    Bollen, Math
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Energy Science.
    AC cables strengthening railway low frequency AC power supplysystems2017In: ASME/IEEE 2017 Joint Rail Conference, ASME Press, 2017Conference paper (Refereed)
    Abstract [en]

    In present-day railway power supply systems using an AC frequency lower than the one in the public power system of 50/60 Hz, high voltage overhead transmission lines are used as one measure of strengthening the railway power supply system grids. This option may be economically beneficial, compared to strengthening the grid purely by increasing the density of converter stations or increasing the cross section areas of the overhead catenary wires. High voltage AC transmission lines in the railway power supply system allow larger distances between converter stations than would otherwise be possible for a given amount of train traffic. Moreover, the introduction of AC transmission lines implies reduced line losses and reduced voltage level fluctuations at the catenary for a given amount of train traffic. However, due to the increased public and government resistance for additional overhead high voltage AC transmission lines in general, different alternatives will be needed for the future improvements and strengthening of railway power systems. For a more sustainable transport sector, the share and amount of railway traffic needs to increase, in which case such a strengthening becomes inevitable. Earlier, usage of VSC-HVDC transmission cables has been proposed as one alternative to overhead AC transmission lines. One of the main benefits with VSC-HVDC transmission is that control of power flows in the railway power systems is easier and that less converter capacity may be needed. Technically, VSC-HVDC transmission for railway power systems is a competitive solution as it offers a large variety of control options. However, there might be other more economical alternatives reducing the overall impedance in the railway power system. In public power systems with the frequency of 50/60 Hz, an excess of reactive power production in lowly utilized cables imposes an obstacle in replacing overhead transmission lines with cables. In low frequency AC railway power system, the capacitive properties are less significant allowing longer cables compared to 50/60 Hz power systems. Moreover, in converter-fed railways, some kind of reactive compensation will automatically be applied during low-load. At each converter station, voltage control is already present following the railway operation tradition. Therefore, in this paper, we propose AC cables as a measure of strengthening low-frequency AC railway power systems. The paper compares the electrical performances of two alternative reinforcement cable solutions with the base case of no reinforcement. The options of disconnecting or toggling the cables at low load as well as the automatic reactive compensation by converter voltage control are considered. Losses and voltage levels are compared for the different solutions. Investment costs and other relevant issues are discussed.

  • 15.
    Abrahamsson, Stefan
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Positionering av last hos gantrykranar via direktverkan på last1988Report (Other academic)
  • 16.
    Ackeby, Susanne
    et al.
    STRI AB.
    Ohlsson, Lars
    Falbygdens Energi AB.
    Etherden, Nicholas
    STRI.
    Regulatory Aspects of Energy Storage in Sweden2013Conference paper (Refereed)
    Abstract [en]

    This paper highlights the possibilities and limitations of investing in energy storage for use at distribution level under the existing regulatory framework in Sweden. The paper further gives a brief overview of possible applications and ownership models for energy storage in a distribution grid. It was concluded that it is allowed for a network operator to own an energy-storage installation; there are however restrictions in the use of the installation for trade in electricity. A general observation from the study was that there are uncertainties in the interpretation of the laws and regulations due to the complete absence of experience in the use of grid-size energy storage.

  • 17.
    Adaldo, Antonio
    et al.
    Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology.
    Mansouri, Sina Sharif
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Kanellakis, Christoforos
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Dimarogonas, Dimos V.
    Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology.
    Johansson, Karl H.
    Department of Automatic Control, School of Electrical Engineering, KTH Royal Institute of Technology.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Cooperative coverage for surveillance of 3D structures2017In: IEEE International Conference on Intelligent Robots and Systems, Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 1838-1845, article id 8205999Conference paper (Refereed)
    Abstract [en]

    In this article, we propose a planning algorithm for coverage of complex structures with a network of robotic sensing agents, with multi-robot surveillance missions as our main motivating application. The sensors are deployed to monitor the external surface of a 3D structure. The algorithm controls the motion of each sensor so that a measure of the collective coverage attained by the network is nondecreasing, while the sensors converge to an equilibrium configuration. A modified version of the algorithm is also provided to introduce collision avoidance properties. The effectiveness of the algorithm is demonstrated in a simulation and validated experimentally by executing the planned paths on an aerial robot.

    The full text will be freely available from 2019-12-14 11:35
  • 18.
    Adjrad, M.
    et al.
    University of Leeds.
    Aguado, L.E.
    Advanced Digital Institute.
    Daly, M.
    University of Leeds.
    Kemp, A.
    University of Leeds.
    Junered, Marcus
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Lindström, J.
    Luleå tekniska universitet.
    Akos, Dennis
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Mangin, F.
    France Developpement Conseil.
    Interference monitoring for GNSS bands in indoor and urban environments2007In: Proceedings of the 20th International Technical Meeting of the Satellite Division of the Institute of Navigation: ION GNSS 2007, Institute of Navigation, The , 2007, Vol. 4, p. 1211-1220Conference paper (Refereed)
    Abstract [en]

    A collaborative research project between the University of Leeds and Luleå University of Technology, Sweden, has taken place aiming to characterize the man-made noise in urban and indoor environments in the Galileo allocated frequency bands: E5 (1191.795 ± 25.575 MHz), E6 (1278.75 ± 20 MHz), and L1 (1575.42 ± 16 MHz), obviously, also covering the GPS L1 and L5 bands. This project has been co-funded by the European GNSS Supervisory Authority (EGSA), with funding from the 6th Framework Program of the European Community for research and technological development. The project includes the development of two receiver systems: the first instrument is based on the use of a spectrum analyzer (SA-based instrument), a wideband GNSS antenna, and a front-end capable of capturing each Galileo band separately using appropriate filtering and switches. The second instrument addresses the issues of cost and portability, providing interference detection and alarm triggering without the need for complex instrument. This is accomplished using low cost components in a small form factor where the instrument is based on a core GNSS front-end. This instrument will only cover the L1/E1 band. The interference measurement is obtained by combining the information from the automatic gain control (AGC) voltage that controls the AGC amplifier gain and the spectrum analysis of the analogue-to-digital converter (ADC) output raw data. The AGC information will be very important for detecting the presence of wideband interference signals where this will be difficult using spectrum analysis (in contrast to the case to narrowband interference signals). Control and data logging from both instruments are performed using a laptop computer where the spectrum analyzer traces and the FE-based instrument data are recorded for offline analysis via a suite of MATLAB® scripts. This paper describes the spectrum survey conducted at various indoor and urban locations, operationally significant to GNSS, in the North of the UK. The survey sites were selected to obtain geographically diverse measurement results and provide a general representation of the spectral environment. In addition, the temporal variation of man-made noise (MMN) is considered, this latter being correlated with the human activity at the measurement site, by performing the measurements day and night, weekdays and weekends.

  • 19.
    Adolfsson, Stefan
    et al.
    Luleå tekniska universitet.
    Ericsson, Klas
    Luleå tekniska universitet.
    Grennberg, Anders
    Automatic detection of burn-through in GMA welding using a parametric model1996In: Mechanical systems and signal processing, ISSN 0888-3270, E-ISSN 1096-1216, Vol. 10, no 5, p. 633-651Article in journal (Refereed)
    Abstract [en]

    This paper addresses the problem of automatic detection of burn-through in weld joints. Gas metal arc (GMA) welding with pulsed current is used, and welding voltage and current are recorded. As short-circuitings are common between the welding electrode and the work piece during burn-through, a short-circuit detector is developed to detect these events. To detect another specific characteristic of burn-through - this detector is combined with a square-law detector. This second detector is based on a non-linear modification of an autoregressive model with extra input (ARX-model) of the welding process. The results obtained from this compound detector indicate that it is possible to detect burn-through in the welds automatically. The work also indicates that it is possible to design an on-line monitoring system for robotic GMA welding.

  • 20.
    Adrielsson, Anders
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering.
    Zedboard based platform for condition monitoring and control experiments2018Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    New methods for monitoring the condition of roller element bearings in rotating machinery offer possibilities to reduce repair- and maintenance costs, and reduced use of environmentally harmful lubricants. One such method is sparse representation of vibration signals using matching pursuit with dictionary learning, which so far has been tested on PCs with data from controlled tests. Further testing requires a platform capable of signal processing and control in more realistic experiments. This thesis focuses on the integration of a hybrid CPU-FPGA hardware system with a 16-bit analog-to-digital converter and an oil pump, granting the possibility of collecting real-time data, executing the algorithm in closed loop and supplying lubrication to the machine under test, if need be. The aforementioned algorithm is implemented in a Zynq-7000 System-on-Chip and the analog-to-digital converter as well as the pump motor controller are integrated. This platform enables portable operation of the matching pursuit with dictionary learning in the field under a larger variety of environmental and operational conditions, conditions which might prove difficult to reproduce in a laboratory setup. The platform developed throughout this project can collect data using the analog-to-digital converter and operations can be performed on that data in both the CPU and the FPGA. A test of the system function at a sampling rate of 5 kHz is presented and the input and output are verified to function correctly.

  • 21.
    Ahlmark, Daniel Innala
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Haptic Navigation Aids for the Visually Impaired2016Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    Assistive technologies have improved the situation in society for visually impaired individuals.The rapid development the last decades have made both work and education much more accessible. Despite this, moving about independently is still a major challenge, one that at worst can lead to isolation and a decreased quality of life. To aid in the above task, devices exist to help avoid obstacles (notably the white cane), and navigation aids such as accessible GPS devices. The white cane is the quintessential aid and is much appreciated, but solutions trying to convey distance and direction to obstacles further away have not made a big impact among the visually impaired. Onefundamental challenge is how to present such information non-visually. Sounds and synthetic speech are typically utilised, but feedback through the sense of touch (haptics) is also used, often in the form of vibrations. Haptic feedback is appealing because it does not block or distort sounds from the environment that are important for non-visual navigation. Additionally, touch is a natural channel for information about surrounding objects, something the white cane so successfully utilises. This doctoral thesis explores the question above by presenting the development and evaluations of dierent types of haptic navigation aids. The goal has been to attain a simple user experience that mimics that of the white cane. The idea is that a navigation aid able to do this should have a fair chance of being successful on the market. Theevaluations of the developed prototypes have primarily been qualitative, focusing on judging the feasibility of the developed solutions. They have been evaluated at a very early stage, with visually impaired study participants.Results from the evaluations indicate that haptic feedback can lead to solutions that are both easy to understand and use. Since the evaluations were done at an early stage in the development, the participants have also provided valuable feedback regarding design and functionality. They have also noted many scenarios throughout their daily lives where such navigation aids would be of use.The thesis document these results, together with ideas and thoughts that have emerged and been tested during the development process. This information contributes to the body of knowledge on dierent means of conveying information about surrounding objects non-visually.

  • 22.
    Ahlmark, Daniel Innala
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    The Development of a Virtual White Cane Using a Haptic Interface2014Licentiate thesis, comprehensive summary (Other academic)
    Abstract [en]

    For millions of visually impaired individuals worldwide, independent navigation is a major challenge. The white cane can be used to avoid obstacles close-by, but it does not aid in navigation as it is difficult to get a large-scale view of the environment. Technological aids have been developed, notably ones based on GPS, but they have not been widely adopted. This thesis approaches the problem from different perspectives. Firstly, current navigation aids are examined from a user-interaction perspective, leading to some design guidelines on how to present spatial information non-visually. Secondly, a prototype of a new navigation aid (the Virtual White Cane) is proposed, and a field trial with visually impaired participants is described. The idea behind the Virtual White Cane is to utilise the intuitive way humans avoid obstacles by touch, and specifically to leverage the experience white cane users already have. This is accomplished by scanning the environment with a laser rangefinder, and presenting the range information using a haptic interface. The regular white cane is easy to use because it behaves like an extended arm, and so does the Virtual White Cane, albeit working at a much greater distance than the regular cane. A field trial with six experienced white cane users was conducted to assess the feasibility of this kind of interaction. The participants carried out a trial procedure where they traversed a prepared environment using the Virtual White Cane. They did not receive extensive training prior to the trial, the point being that if the Virtual White Cane behaves like a regular one, it should be quick to learn for a white cane user. The results show that spatial information can be feasibly conveyed using a haptic interface. This is demonstrated by the ease with which the field trial participants familiarised themselves with the system, notably adopting a similar usage pattern. In interviews that were conducted following the trial procedures, the participants expressed interest in the idea and thought that being a white cane user helped them use the Virtual White Cane. Despite knowing how to operate the system, the participants found locating objects to be difficult. An extended training period would likely have made this easier, but this problem could also be lessened by understanding what model parameters (such as the length of the virtual cane) should be used.

  • 23.
    Ahlmark, Daniel Innala
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Fredriksson, Håkan
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Hyyppä, Kalevi
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Den seende rullstolen2011Conference paper (Other academic)
    Abstract [en]

    In its current form, the white cane has been used by visually impaired people for almost a hundred years. It is an intuitive device that helps visually impaired people navigate independently. For people who, in addition to a visual impairment, also have impaired movement, this independence is not as certain. If a wheelchair or a walker is needed, human assistance might be a necessity.MICA (Mobile Internet Connected Assistant) is a computerized wheelchair that has been equipped with a laser rangefinder that can measure the distance to obstacles in the environment. This information has been used to make the wheelhair able to drive on its own, avoiding obstacles, so that users unable to drive a wheelchair themselves are able to use it.The latest addition to MICA - a virtual white cane - allows visually impaired wheelchair users to virtually touch obstacles in their environment, and thus navigate in a similar way to those using a regular white cane. This is accomplished by generating a simplified 3D model based on the data acquired from the laser rangefinder, and sending this data to a haptic device, allowing users to feel the 3D model.The virtual white cane is still in an early development stage. The first test drive of MICA with the virtual white cane (together known as "The Sighted Wheelchair") was performed on 2011-05-10. A short video called "The Sighted Wheelchair" can be found on YouTube.Future work will focus on developing the software that communicates with the laser rangefinder and the haptic device to improve the user experience. Efforts will also be made to overcome the limitations of the laser rangefinder, improving the 3D model.

  • 24.
    Ahlmark, Daniel Innala
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Fredriksson, Håkan
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Hyyppä, Kalevi
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Obstacle Avoidance Using Haptics and a Laser Rangefinder2013In: 2013 IEEE Workshop on Advanced Robotics and its Social Impacts: Tokya, Japan, 7-9 Nov 2013, Piscataway, NJ: IEEE Communications Society, 2013, p. 76-81Conference paper (Refereed)
    Abstract [en]

    In its current form, the white cane has been used by visually impaired people for almost a century. It is one of the most basic yet useful navigation aids, mainly because of its simplicity and intuitive usage. For people who have a motion impairment in addition to a visual one, requiring a wheelchair or a walker, the white cane is impractical, leading to human assistance being a necessity. This paper presents the prototype of a virtual white cane using a laser rangefinder to scan the environment and a haptic interface to present this information to the user. Using the virtual white cane, the user is able to "poke" at obstacles several meters ahead and without physical contact with the obstacle. By using a haptic interface, the interaction is very similar to how a regular white cane is used. This paper also presents the results from an initial field trial conducted with six people with a visual impairment.

  • 25.
    Ahlmark, Daniel Innala
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Hyyppä, Kalevi
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Presentation of Spatial Information in Navigation Aids for the Visually Impaired2015In: Journal of Assistive Technologies, ISSN 1754-9450, E-ISSN 2042-8723, Vol. 9, no 3, p. 174-181Article in journal (Refereed)
    Abstract [en]

    Purpose: The purpose of this article is to present some guidelines on how different means of information presentation can be used when conveying spatial information non-visually. The aim is to further the understanding of the qualities navigation aids for visually impaired individuals should possess.Design/methodology/approach: A background in non-visual spatial perception is provided, and existing commercial and non-commercial navigation aids are examined from a user interaction perspective, based on how individuals with a visual impairment perceive and understand space.Findings: The discussions on non-visual spatial perception and navigation aids lead to some user interaction design suggestions. Originality/value: This paper examines navigation aids from the perspective of non-visual spatial perception. The presented design suggestions can serve as basic guidelines for the design of such solutions.

  • 26.
    Ahlmark, Daniel Innala
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Prellwitz, Maria
    Luleå University of Technology, Department of Health Sciences, Health and Rehab.
    Röding, Jenny
    Luleå University of Technology, Department of Health Sciences, Health and Rehab.
    Nyberg, Lars
    Luleå University of Technology, Department of Health Sciences, Health and Rehab.
    Hyyppä, Kalevi
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    An Initial Field Trial of a Haptic Navigation System for Persons with a Visual Impairment2015In: Journal of Assistive Technologies, ISSN 1754-9450, E-ISSN 2042-8723, Vol. 9, no 4, p. 199-206Article in journal (Refereed)
    Abstract [en]

    Purpose– The purpose of this paper is to describe conceptions of feasibility of a haptic navigation system for persons with a visual impairment (VI). Design/methodology/approach– Six persons with a VI who were white cane users were tasked with traversing a predetermined route in a corridor environment using the haptic navigation system. To see whether white cane experience translated to using the system, the participants received no prior training. The procedures were video-recorded, and the participants were interviewed about their conceptions of using the system. The interviews were analyzed using content analysis, where inductively generated codes that emerged from the data were clustered together and formulated into categories. Findings– The participants quickly figured out how to use the system, and soon adopted their own usage technique. Despite this, locating objects was difficult. The interviews highlighted the desire to be able to feel at a distance, with several scenarios presented to illustrate current problems. The participants noted that their previous white cane experience helped, but that it nevertheless would take a lot of practice to master using this system. The potential for the device to increase security in unfamiliar environments was mentioned. Practical problems with the prototype were also discussed, notably the lack of auditory feedback. Originality/value– One novel aspect of this field trial is the way it was carried out. Prior training was intentionally not provided, which means that the findings reflect immediate user experiences. The findings confirm the value of being able to perceive things beyond the range of the white cane; at the same time, the participants expressed concerns about that ability. Another key feature is that the prototype should be seen as a navigation aid rather than an obstacle avoidance device, despite the interaction similarities with the white cane. As such, the intent is not to replace the white cane as a primary means of detecting obstacles.

  • 27.
    Ahlmark, Daniel Innala
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Prellwitz, Maria
    Luleå University of Technology, Department of Health Sciences, Health and Rehab.
    Röding, Jenny
    Luleå University of Technology, Department of Health Sciences, Health and Rehab.
    Nyberg, Lars
    Luleå University of Technology, Department of Health Sciences, Health and Rehab.
    Hyyppä, Kalevi
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Virtuell vit käpp för den seende rullstolen2013Conference paper (Other academic)
  • 28.
    Ahlmark, Daniel Innala
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    van Deventer, Jan
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Hyyppä, Kalevi
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Hand-held navigation aid for visually impaired using haptic feedback2014Conference paper (Other academic)
    Abstract [en]

    The white cane is used by many visually impaired individuals as the primary aid for avoiding obstacles. In this it is unparalleled, but it cannot provide a large-scale view of the surroundings the way vision does. This makes navigating independently a challenge for the visually impaired. We are developing the Virtual White Cane (VWC), a device that uses sensors and haptic technologies to complement the limited view of the cane. Sensors makes it possible to probe obstacles far beyond the range of the white cane, and haptic feedback is familiar to users of the regular cane. The purpose of this device is to act as a complement to the standard cane, providing information about the surroundings that are beyond the cane's reach. This kind of extended view not only helps in anticipating obstacles, but also to navigate. The presentation will focus on the hardware of the currently developed prototype, in addition to some initial user experiences.

  • 29. Ahmad, Riaz
    et al.
    Afzal, Muhammad Zeshan
    Rashid, Sheikh Faisal
    Liwicki, Marcus
    Breuel, Thomas
    Scale and Rotation Invariant OCR for Pashto Cursive Script using MDLSTM Network2015In: 13th International Conference on Document Analysis and Recognition, IEEE , 2015, p. 1101-1105Conference paper (Refereed)
    Abstract [en]

    Optical Character Recognition (OCR) of cursive scripts like Pashto and Urdu is difficult due the presence of complex ligatures and connected writing styles. In this paper, we evaluate and compare different approaches for the recognition of such complex ligatures. The approaches include Hidden Markov Model (HMM), Long Short Term Memory (LSTM) network and Scale Invariant Feature Transform (SIFT). Current state of the art in cursive script assumes constant scale without any rotation, while real world data contain rotation and scale variations. This research aims to evaluate the performance of sequence classifiers like HMM and LSTM and compare their performance with descriptor based classifier like SIFT. In addition, we also assess the performance of these methods against the scale and rotation variations in cursive script ligatures. Moreover, we introduce a database of 480,000 images containing 1000 unique ligatures or sub-words of Pashto. In this database, each ligature has 40 scale and 12 rotation variations. The evaluation results show a significantly improved performance of LSTM over HMM and traditional feature extraction technique such as SIFT. Keywords.

  • 30. Ahmad, Riaz
    et al.
    Afzal, Muhammad Zeshan
    Rashid, Sheikh Faisal
    Liwicki, Marcus
    Dengel, Andreas
    Breuel, Thomas
    Recognizable Units in Pashto Language for OCR2015In: 13th International Conference on Document Analysis and Recognition, IEEE , 2015, p. 1246-1250Conference paper (Refereed)
    Abstract [en]

    Atomic segmentation of cursive scripts into con- stituent characters is one of the most challenging problems in pattern recognition. To avoid segmentation in cursive script, concrete shapes are considered as recognizable units. Therefore, the objective of this work is to find out the alternate recognizable units in Pashto cursive script. These alternatives are ligatures and primary ligatures. However, we need sound statistical analysis to find the appropriate numbers of ligatures and primary ligatures in Pashto script. In this work, a corpus of 2, 313, 736 Pashto words are extracted from a large scale diversified web sources, and total of 19, 268 unique ligatures have been identified in Pashto cursive script. Analysis shows that only 7000 ligatures represent 91% portion of overall corpus of the Pashto unique words. Similarly, about 7, 681 primary ligatures are also identified which represent the basic shapes of all the ligatures.

  • 31.
    Aitomäki, Yvonne
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Online fibre property measurements: foundations for a method based on ultrasound attenuation2009Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    This thesis presents the foundations of a method for estimating fibre properties of pulp suitable for online application in the pulp and paper industry. In the pulp and paper industry, increased efficiency and greater paper quality control are two of the industry's main objectives. It is proposed that online fibre property measurements are a means of achieving progress in both of these objectives. Optical based systems that provide valuable geometric data on the fibres and other pulp characteristics are commercially available. However, measurements of the elastic properties of the fibres are not currently implemented using these systems. To fill this gap an ultrasound based system for measuring the elastic properties of the wood fibres in pulp is proposed. Ultrasound propagation depends on the elastic properties of a solid. Hence attenuation measurements from suspensions of fibres depend on their elastic properties. The method is based on solving the inverse problem where the output is known and the objective is to establish the inputs. In this case, attenuation is measured and a model of attenuation based on ultrasound scattering is developed. A search algorithm is used for finding elastic properties that minimize the error between the model and measured attenuation. The results of the search are estimates of the elastic properties of the fibres in suspension. The results show resonance peaks in the attenuation, in the frequency region tested, for fibres with radii of the order of 10 microns. These peaks are found in both the measured and modelled attenuation spectra. Further investigation of these resonances suggests that they are due to modes of vibration in the fibre where the fibre modelled as an infinitely long cylinder. These resonances are shown to aid in the identification of the elastic properties. The attenuation is found to depend heavily on the geometry of the fibres. Hence fibre geometry, which can be obtained from online optical fibre measurement system, provides the key to extracting the elastic properties from the attenuation signal. Studies are also carried out on the effect of viscosity on attenuation as well as the differences in attenuation between hollow and solid synthetic fibres in suspensions. The measurement method is also applied to hardwood and softwood Kraft pulps. The results of these studies show that using the model derived in the thesis and attenuation measurements, estimates of the elastic properties can be obtained. The elastic property estimates for synthetic fibres agree well with values from other methods. The elastic property estimates for pulps require further validation due to the difficulty in comparing between different testing methods and different types of pulp. The conclusions, based on the work so far and under three realisable conditions, are that the shear modulus and the transverse Young's modulus of pulp fibres can be measured. Once these conditions are met a system based on this method can be implemented. By doing this the industry would benefit from the increase in paper quality control and energy saving such system could provide.

  • 32.
    Aitomäki, Yvonne
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Towards a measurement of paper pulp quality: ultrasonic spectroscopy of fibre suspensions2006Licentiate thesis, comprehensive summary (Other academic)
    Abstract [en]

    For the paper and pulp industry in Sweden and Finland to remain competitive against countries with lower overheads, they have to constantly strive to improve the quality and the efficiency of the manufacturing processes. One of the ways of doing this is to introduce sensors that will provide valuable online feedback on the characteristics of the pulp so that adjustments can be made to optimise the manufacturing process. The measurement method proposed in this thesis is based on ultrasound, since it is rapid, inexpensive, non-destructive and non-intrusive. Thus could be done online. Since ultrasound propagation and attenuation depends on the material properties through which is propagates, it has the potential to provide measurements of material properties such as pulp fibre density and elasticity. The aim of this thesis is to investigate the possibility of using ultrasound to measure pulp fibre material properties. The idea is to solve the inverse problem of estimating these properties from attenuation measurements and to establish the degree of accuracy to which this can be done. Firstly a model is developed and is tested with synthetic fibres to establish is validity. It is then used to solve the inverse problem of estimating material properties from attenuation measurements, again with synthetic fibres, to test the accuracy to which these properties can be estimated. Resonance peaks in the frequency response of the attenuation were found. On closer investigation it was established that the location of these peaks in the frequency domain is sensitive to the diameter of the fibres and their material properties. If the diameter is known, these peaks improve the accuracy of the estimation process. The results of the estimation process for synthetic fibre suspensions show values for the shear modulus are within known ranges but the estimation of Poisson's ratio and Young's modulus is poor. Improving the model or the estimation procedure may lead to better results. For the method as it is to have application in the paper and pulp industry there are certain conditions that need to be fulfilled. These are that we find peaks in the frequency response of the attenuation in pulp, know the diameter distribution of the fibres and the hollow nature of the fibres does not significantly alter the results. We can then, potentially, be able to establish the shear modulus of the pulp fibres. If the shear modulus is a factor in paper quality, we may be close to an online measurement of paper pulp quality using ultrasonic spectroscopy. Improving the model may allow us to estimate further properties and take into account the fibres being hollow. The thesis consists of two parts. The first part includes an overview of the pulp and paper industry and current testing methods, background theory on which the model is based and an overview of the model that is used in predicting ultrasound attenuation. There then follows a summary of the work done, some addition points are raised in the discussion before drawing conclusions. Finally we discuss what needs to be done to take this further. The second part contains a collection of four papers describing the research.

  • 33.
    Aitomäki, Yvonne
    et al.
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Material Science.
    Berglund, Linn
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Material Science.
    Noël, Maxime
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Material Science.
    Linder, Tomas
    Löfqvist, Torbjörn
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Oksman, Kristiina
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Material Science.
    Light scattering in cellulose nanofibre suspensions: Model and experiments2016In: Computers in Chemistry Proceeding from ACS National Meeting San Diego: Proceeding from ACS National Meeting San Diego, American Chemical Society (ACS), 2016, p. 122-, article id CELL 235Conference paper (Other academic)
    Abstract [en]

    Here light scattering theory is used to assess the size distribution in a suspension of cellulose as it is fibrillated from micro-scaled to nano-scaled fibres. A model based on Monte carlo simulations of the scattering of photons by different sizes of cellulose fibres was used to predict the UV-IF spectrum of the suspensions. Bleached cellulose hardwood pulp was tested and compared to the visually transparent tempo-oxidised hardwood cellulose nanofibres (CNF) suspension. The theoretical results show that different diameter size classes exhibit very different scattering patterns. These classes could be identified in the experimental results and used to establish the size class dominating the suspension. A comparison to AFM/microscope size distribution was made and the results indicated that using the UV-IF light scattering spectrum maybe more reliable that size distribution measurement using AFM and microscopy on dried CNF samples. The UV-IF spectrum measurement combined with the theoretical prediction can be used even at this initial stage of development of this model to assess the degree of fibrillation when processing CNF.

  • 34. Aitomäki, Yvonne
    et al.
    Löfqvist, Torbjörn
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Estimating suspended fibre material properties by modelling ultrasound attenuation2006In: Mathematical Modeling of Wave Phenomena: conference on mathematical modeling of wave phenomea, Växjö, Sweden, 14 - 19 August 2005 / [ed] Börje Nilsson; Louis Fishman, Melville, NY: American Institute of Physics (AIP), 2006, p. 250-259Conference paper (Refereed)
    Abstract [en]

    An analytical model for use in the inverse problem of estimating material properties of suspended fibres from ultrasonic attenuation has been developed. The ultrasound attenuation is derived theoretically from the energy losses arising when a plane wave is scattered and absorbed off an infinitely long, isotropic, viscoelastic cylinder. By neglecting thermal considerations and assuming low viscosity in the suspending fluid, we can make additional assumptions that provide us with a tractable set of equations that can be solved analytically. The model can then be to used in inverse methods of estimating material properties. We verify the model with experimentally obtained values of attenuation for saturated Nylon fibres. The experimental results from Nylon fibres show local peaks in the attenuation which are thought to be due to the resonant absorption at the eigenfrequencies of the fibres. The results of the experiments show that the model is sufficiently sensitive to detect differences in different types of Nylon. Applications for suspended fibre characterization can be found in the paper manufacturing industry.

  • 35. Aitomäki, Yvonne
    et al.
    Löfqvist, Torbjörn
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Material property estimates from ultrasound attenuation in fibre suspensions2009In: Ultrasonics, ISSN 0041-624X, E-ISSN 1874-9968, Vol. 49, no 4-5, p. 432-437Article in journal (Refereed)
    Abstract [en]

    An investigation of a new method for measuring fibre material properties from ultrasonic attenuation in a dilute suspension of synthetic fibres of uniform geometry is presented. The method is based on inversely solving an ultrasound scattering and absorption model of suspended fibres in water for the material properties of the fibres. Experimental results were obtained from three suspensions of nylon 66 fibres each with different fibre diameters. A forward solution to the model with reference material values is compared to experimental data to verify the model's behaviour. Estimates of the shear and Young's modulus, the compressional wave velocity, Poisson's ratio and loss tangent from nylon 66 fibres are compared to data available from other sources. Experimental data confirms that the model successfully predicts that the resonance features in the frequency response of the attenuation are a function of diameter. Consistent estimated values for the compressional wave velocity and the Poisson's ratio were found to be difficult to obtain but in combination gave values of shear modulus within previously reported values and with low sensitivity to noise. Young's modulus was underestimated by 54% but was consistent and had low sensitivity to noise. The underestimation is believed to be caused by the assumption of isotropic material used in the model. Additional tests on isotropic fibre would confirm this. Further analysis of the model sensitivity and the reasons for the resonance features are required.

  • 36.
    Aitomäki, Yvonne
    et al.
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Material Science.
    Löfqvist, Torbjörn
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Sounding Out Paper Pulp: Ultrasound Spectroscopy of Dilute Viscoelastic Fibre Suspensions Acoustics and Ultrasonics2006Conference paper (Other academic)
    Abstract [en]

    A model of attenuation of ultrasound in fibre suspensions is compared to a model of backscattering pressure from submersed cylinders subjected to a sound wave. This analysis is carried out in the region where the wavelength is of the same order as that of the diameter of the fibre. In addition we assume the cylinder scatterer to have no intrinsic attenuation and the longitudinal axis of the scatterer is assumed to be perpendicular to the direction of propagation of the incident wave. Peaks in the frequency response of both the backscattering pressure, expressed in the form of a form function, and the attenuation are shown to correspond. Similarities between the models are discussed. Since the peaks in the form function are due to resonance of the cylinder, we infer that the peaks in the attenuation are also due to resonance. The exact nature of the waves causing the resonance are still unclear however the first resonance peaks are related to the shear wave and hence the shear modulus of the material. The aim is to use the attenuation model for solving the inverse problem of calculating paper pulp material properties from attenuation measurements. The implications of these findings for paper pulp property estimation is that the supporting fluid could, if possible, be matched to density of that of pulp fibres and that the estimation of material properties should be improved by selecting a frequency range that in the region of the first resonance peaks.

  • 37.
    Aitomäki, Yvonne
    et al.
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Material Science.
    Löfqvist, Torbjörn
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Delsing, Jerker
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Estimating material properties of solid and hollow fibers in suspension using ultrasonic attenuation2013In: IEEE Transactions on Ultrasonics, Ferroelectrics and Frequency Control, ISSN 0885-3010, E-ISSN 1525-8955, Vol. 60, no 7, p. 1424-1434Article in journal (Refereed)
    Abstract [en]

    Estimates of the material properties of hollow fibers suspended in a fluid using ultrasound measurements and a simple, computationally efficient analytical model are made. The industrial application is to evaluate the properties of wood fibers in paper pulp. The necessity of using a layered cylindrical model (LCM) as opposed to a solid cylindrical model (SCM) for modeling ultrasound attenuation in a suspension of hollow fibers is evaluated. The two models are described and used to solve the inverse problem of estimating material properties from attenuation in suspensions of solid and hollow polyester fibers. The results show that the measured attenuation of hollow fibers differs from that of solid fibers. Elastic properties estimates using LCM with hollow-fiber suspension measurements are similar to those using SCM with solid-fiber suspension measurements and compare well to block polyester values for elastic moduli. However, using the SCM with the hollow-fiber suspension did not produce realistic estimations. In conclusion, the LCM gives reasonable estimations of hollow fiber properties and the SCM is not sufficiently complex to model hollow fibers. The results also indicate that the use of a distributed radius in the model is important in estimating material properties from fiber suspensions.

  • 38.
    Aittamaa, Simon
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Programming embedded real-time systems: implementation techniques for concurrent reactive objects2011Licentiate thesis, comprehensive summary (Other academic)
    Abstract [en]

    An embedded system is a computer system that is a part of a larger device with hardware and mechanical parts. Such a system often has limited resources (such as processing power, memory, and power) and it typically has to meet hard real-time requirements. Today, as the area of application of embedded systems is constantly increasing, resulting in higher demands on system performance and a growing complexity of embedded software, there is a clear trend towards multi-core and multi-processor systems. Such systems are inherently concurrent, but programming concurrent systems using the traditional abstractions (i.e., explicit threads of execution) has been shown to be both difficult and error-prone. The natural solution is to raise the abstraction level and make concurrency implicit, in order to aid the programmer in the task of writing correct code. However, when we raise the abstraction level, there is always an inherent cost. In this thesis we consider one possible concurrency model, the concurrent reactive object approach that offers implicit concurrency at the object level. This model has been implemented in the programming language Timber, which primarily targets development of real-time systems. It is also implemented in TinyTimber, a subset of the C language closely matching Timber’s execution model. We quantify various costs of a TinyTimber implementation of the model (such as context switching and message passing overheads) on a number of hardware platforms and compare them to the costs of the more common thread-based approach. We then demonstrate how some of these costs can be mitigated using stack resource policy. On a separate track, we present a feasibility test for garbage collection in a reactive real-time system with automatic memory management, which is a necessary component for verification of correctness of a real-time system implemented in Timber

  • 39.
    Aittamaa, Simon
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Eriksson, Johan
    Lindgren, Per
    Uniform scheduling of internal and external events under SRP-EDF2010In: Annual International Conference on Real-Time and Embedded Systems ( RTES 2010): 1-2 November 2010, Mandarin Orchard Hotel, Singapore, 2010Conference paper (Refereed)
    Abstract [en]

    With the growing complexity of modern embedded real-time systems, scheduling and managing of resources has become a daunting task. While scheduling and resource management for internal events can be simplified by adopting a commonplace real-time operating system (RTOS), scheduling and resource management for external events are left in the hands of the programmer, not to mention managing resources across the boundaries of external and internal events. In this paper we propose a unified system view incorporating earliest deadline first (EDF) for scheduling and stack resource policy (SRP) for resource management. From an embedded real-time system view, EDF+SRP is attractive not only because stack usage can be minimized, but also because the cost of a pre-emption becomes almost as cheap as a regular function call, and the number of preemptions is kept to a minimum. SRP+EDF also lifts the burden of manual resource management from the programmer and incorporates it into the scheduler. Furthermore, we show the efficiency of the SRP+EDF scheme, the intuitiveness of the programming model (in terms of reactive programming), and the simplicity of the implementation.

  • 40.
    Akos, Dennis
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Ene, A.
    Stanford University.
    Thor, Jonas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    A prototyping platform for multi-frequency GNSS receivers2003In: ION GPS/GNSS Proceedings, Institute of Navigation, The , 2003Conference paper (Refereed)
    Abstract [en]

    The future satellite positioning/navigation systems (i.e. GPS and Galileo) will provide civil signals on multiple frequencies, similar to those currently available for military purposes only. This paper presents a direct RF sampling front end design well suited for multiple frequency satellite navigation receiver design. No frequency downconversion is necessary; rather the particular frequency bands of interest are intentionally aliased using a wide band analog-to-digital converter (ADC). The resulting samples are passed to the memory space of a host PC for storage, and are saved to disk for eventual processing of the multiple frequency transmissions. The present paper describes the design of the front-end, validates its concept with collected data, and discusses the variations on the design of a generic multiple frequency GPS front end. Methods for processing the data obtained by the front end design are also presented.

  • 41.
    Akos, Dennis
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    From, Markus
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Karlsson, Mattias
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Larsson, Kjell
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Receiver measured time in the VDL mode 4 system2000In: IEEE 2000 Position Location and Navigation Symposium: San Diego, California, March 13 - 16, 2000, Piscataway, NJ: IEEE Communications Society, 2000, p. 309-316Conference paper (Refereed)
    Abstract [en]

    This paper details an investigation into the receiver measured time (RMT) concept of VDL Mode 4, basically the ability to derive estimates of time from the transmission of the VDL Mode 4 signals themselves. The RMT concept is based on determining the accurate time of transmission by measuring the time of arrival (TOA) of a received signal. The reverse aspect, or that of user position, can also be computed in the same manner and all computed simulations hold for errors in position. If synchronized time is available, or can be derived, then the user position can be computed based on signals from known transmitter locations. A complete, end-to-end RMT simulation model for the Gaussian filtered frequency shift keying (GFSK) and differential 8-phase shift keying (D8PSK) modulation techniques has been developed in which various transmitters, channels and receiver models as well as an RMT measurement system have been included. The timing results, which are included, are described in terms of two-sigma errors as a function of signal-to-noise ratios (SNRs). The performance varies for the different receiver structures over the typical operation region and for a 1-bit differential GFSK detector the two-sigma error is as low as 0.40 microseconds, corresponding to a ranging error of approximately 120 meters. When incorporating co-channel interference (CCI), multipath and Doppler frequency shifts the RMT performance has been shown to decrease in terms of higher two-sigma errors

  • 42.
    Akos, Dennis
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Stockmaster, Michael
    Rockwell Collins, Cedar Wells.
    Tsui, James B.Y.
    Wright-Patterson Air Force Base, Dayton.
    Caschera, Joe
    Wright-Patterson Air Force Base, Dayton.
    Direct bandpass sampling of multiple distinct RF signals1999In: IEEE Transactions on Communications, ISSN 0090-6778, E-ISSN 1558-0857, Vol. 47, no 7, p. 983-988Article in journal (Refereed)
    Abstract [en]

    A goal in the software radio design philosophy is to place the analog-to-digital converter as near the antenna as possible. This objective has been demonstrated for the case of a single input signal. Bandpass sampling has been applied to downconvert, or intentionally alias, the information bandwidth of a radio frequency (RF) signal to a desired intermediate frequency. The design of the software radio becomes more interesting when two or more distinct signals are received. The traditional approach for multiple signals would be to bandpass sample a continuous span of spectrum containing all the desired signals. The disadvantage with this approach is that the sampling rate and associated discrete processing rate are based on the span of spectrum as opposed to the information bandwidths of the signals of interest. Proposed here is a technique to determine the absolute minimum sampling frequency for direct digitization of multiple, nonadjacent, frequency bands. The entire process is based on the calculation of a single parameter-the sampling frequency. The result is a simple, yet elegant, front-end design for the reception and bandpass sampling of multiple RF signals. Experimental results using RF transmissions from the US Global Positioning System-Standard Position Service (GPS-SPS) and the Russian Global Navigation Satellite System (GLONASS) are used to illustrate and verify the theory

  • 43.
    Albano, Michele
    et al.
    CISTER, ISEP/INESC-TEC Polytechnic Institute of Porto.
    Barbosa, Paulo Miguel
    CISTER, ISEP/INESC-TEC Polytechnic Institute of Porto.
    Silva, Jose
    CISTER, ISEP/INESC-TEC Polytechnic Institute of Porto.
    Duarte, Roberto
    CISTER, ISEP/INESC-TEC Polytechnic Institute of Porto.
    Ferreira, Luis Lino
    CISTER, ISEP/INESC-TEC Polytechnic Institute of Porto.
    Delsing, Jerker
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Quality of Service on the Arrowhead Framework2017In: 2017 IEEE 13th International Workshop on Factory Communication Systems (WFCS), Piscataway, NJ: Institute of Electrical and Electronics Engineers (IEEE), 2017, article id 7991959Conference paper (Refereed)
    Abstract [en]

    Quality of Service (QoS) is an important enabler for communication in industrial environments. The Arrowhead Framework was created to support local cloud functionalities for automation applications by means of a Service Oriented Architecture. To this aim, the framework offers a number of services that ease application development, among them the QoSSetup and the Monitor services, the first used to verify and configure QoS in the local cloud, and the second for online monitoring of QoS. This paper describes how the QoSSetup and Monitor services are provided in a Arrowhead-compliant System of Systems, detailing both the principles and algorithms employed, and how the services are implemented. Experimental results are provided, from a demonstrator built over a real-time Ethernet network.

  • 44.
    Albertsson, Kim
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Gleyzer, Sergei
    University of Florida.
    Zapata, Omar
    OProject and University of Antioquia.
    Machine Learning in High Energy Physics Community White Paper2018In: Journal of Physics, Conference Series, ISSN 1742-6588, E-ISSN 1742-6596, Vol. 1085, article id 022008Article in journal (Refereed)
    Abstract [en]

    Machine learning is an important applied research area in particle physics, beginning with applications to high-level physics analysis in the 1990s and 2000s, followed by an explosion of applications in particle and event identification and reconstruction in the 2010s. In this document we discuss promising future research and development areas in machine learning in particle physics with a roadmap for their implementation, software and hardware resource requirements, collaborative initiatives with the data science community, academia and industry, and training the particle physics community in data science. The main objective of the document is to connect and motivate these areas of research and development with the physics drivers of the High-Luminosity Large Hadron Collider and future neutrino experiments and identify the resource needs for their implementation. Additionally we identify areas where collaboration with external communities will be of great benefit.

  • 45.
    Alepuz, Javier Pérez
    et al.
    University of Alicante.
    Emami, Reza
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Space Technology.
    Pomares, Jorge
    University of Alicante.
    Direct image-based visual servoing of free-floating space manipulators2016In: Aerospace Science and Technology, ISSN 1270-9638, E-ISSN 1626-3219, Vol. 55, p. 1-9Article in journal (Refereed)
    Abstract [en]

    This paper presents an image-based controller to perform the guidance of a free-floating robot manipulator. The manipulator has an eye-in-hand camera system, and is attached to a base satellite. The base is completely free and floating in space with no attitude control, and thus, freely reacting to the movements of the robot manipulator attached to it. The proposed image-based approach uses the system's kinematics and dynamics model, not only to achieve a desired location with respect to an observed object in space, but also to follow a desired trajectory with respect to the object. To do this, the paper presents an optimal control approach to guiding the free-floating satellite-mounted robot, using visual information and considering the optimization of the motor commands with respect to a specified metric along with chaos compensation. The proposed controller is applied to the visual control of a four-degree-of-freedom robot manipulator in different scenarios.

  • 46.
    Alerby, Theodor
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering.
    Cisco Application Centric Infrastructure: D0032D Examensarbete2016Independent thesis Basic level (university diploma), 5 credits / 7,5 HE creditsStudent thesis
    Abstract [en]

    In a world were data / network infrastructures grows by the day, it is not unfamiliar for tools that streamline the work and provides a great scalability is put into production. In this paper I will describe one of these solutions called ACI (Application Centric The infrastructure). Cisco ACI is possible thanks to a combination of different components that interact with dedicated hard / software, in this paper the fundamentals behind these different components will be described what ACI is and how it works. This will be compared to a traditional data solution implemented by myself. For four weeks, I worked at Axians IT in Solna researching automation / streamlining solutions and what pros / cons they have on real IT companies and data centers. During these four weeks I worked parallel to my research conducting an implementation of a data solution to the company EEHunddagis to give them their own production environment and then compare my hand configured solution with an automation solution and what pros / cons they both bring with them Automation is something that has risen up in the later years and is still on the rise. I will therefore in this paper explain why these types of solutions are necessary and who could use them in their own network environment. 

  • 47.
    Alexhs, Kostas
    et al.
    University of Patras, Department of Electrical and Computer Engineering.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tzes, Anthony
    University of Patras, Department of Electrical and Computer Engineering.
    Autonomous quadrotor position and attitude PID/PIDD control in GPS-denied environments2011In: International Review of Automatic Control, ISSN 1974-6059, E-ISSN 1974-6067, Vol. 4, no 3Article in journal (Refereed)
    Abstract [en]

    This article addresses the control problem of an unmanned quadrotor in the absence of absolute position measurement data (e.g. GPS, external cameras). Based on an attached Inertia Measurement Unit, a sonar and an optic flow sensor, the quadrotor’s translational and rotational motion-vector is estimated using sensor fusion algorithms. A control scheme consisted of three Proportional-Integral-Derivative (PID) controllers for the translational motions, combined with three Proportional-Integral-Derivative-second Derivative (PIDD) controllers for the attitude dynamics is utilized in order to achieve accurate position hold and attitude tracking. The controller is implemented on a quadrotor prototype in indoor position hold experiments and aggressive attitude regulation maneuvers.

  • 48.
    Alexis, Kostas
    et al.
    Swiss Federal Institute of Technology.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tzes, Anthony
    University of Patras.
    Experimental Constrained Optimal Attitude Control of a Quadrotor subject to Wind Disturbances2014In: International Journal of Control, ISSN 0020-7179, E-ISSN 1366-5820, Vol. 12, no 6, p. 1289-1302Article in journal (Refereed)
    Abstract [en]

    The design and experimental verification of a Constrained Finite Time Optimal Controller (CFTOC) for attitude maneuvers of an Unmanned Quadrotor operating under severe wind conditions is the subject of this article. The quadrotor’s nonlinear dynamics are linearized in various operating points resulting in a set of piecewise affine models. The CFTO–controller is designed for set-point maneuvers taking into account the switching between the linear models and the state and actuation constraints. The control scheme is applied on experimental studies on a prototype quadrotor operating both in absence and under presence of forcible atmospheric disturbances. Extended experimental results indicate that the proposed control approach attenuates the effects of induced wind–gusts while performing accurate attitude set–point maneuvers.

  • 49.
    Alexis, Kostas
    et al.
    Electrical and Computer Science Department, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tzes, Anthony
    Electrical and Computer Science Department, University of Patras.
    Model predictive quadrotor control: attitude, altitude, and position experimental studies2012In: IET Control Theory & Applications, ISSN 1751-8644, E-ISSN 1751-8652, Vol. 6, no 12, p. 1812-1827Article in journal (Refereed)
    Abstract [en]

    This article addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localization data. Based on an attached Inertia Measurement Unit, a sonar and an optic flow sensor, the state vector is estimated using sensor fusion algorithms. A novel Switching Model Predictive Controller is designed in order to achieve precise trajectory control, under the presence of forcible wind–gusts. The quadrotor’s attitude, altitude and horizontal linearized dynamics result in a set of Piecewise Affine models, enabling the controller to account for a larger part of the quadrotor’s flight envelope while modeling the effects of atmospheric disturbances as additive–affine terms in the system. The proposed controller algorithm accounts for the state and actuation constraints of the system. The controller is implemented on a quadrotor prototype in indoor position tracking, hovering and attitude maneuvers experiments. The experimental results indicate the overall system’s efficiency in position/altitude/attitude set–point maneuvers.

  • 50.
    Alexis, Kostas
    et al.
    Department of Electrical and Computer Engineering, University of Patras.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tzes, Anthony
    Department of Electrical and Computer Engineering, University of Patras.
    On trajectory tracking model predictive control of an unmanned quadrotor helicopter subject to aerodynamic disturbances2014In: Asian journal of control, ISSN 1561-8625, E-ISSN 1561-8625, Vol. 16, no 1, p. 209-224Article in journal (Refereed)
    Abstract [en]

    In this article a Model Predictive Control (MPC) strategy for the trajectory tracking of an unmanned quadrotor helicopter is presented. The quadrotor’s dynamics are modeled by a set of Piecewise Affine (PWA) systems around different operating points of the translational and rotational motions. The proposed control scheme is dual and is consisted by an integral MPC for the translational motions, followed by a MPC–scheme for the quadrotor’sattitude motions’ tracking. By the utilization of PWA representations, the controller is computed for a larger part of the quadrotor’s flight envelope. Theproposed dual control scheme is able to calculate optimal control actions with robustness against atmospheric disturbances (e.g. wind gusts) and physical constraints of the quadrotor (e.g. maximum lifting forces or fixed thrust limitations in order to extend flight endurance). Extended simulation studies prove the efficiency of the MPC–scheme, both in trajectory tracking and aerodynamic disturbances attenuation.

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