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  • 1.
    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.

  • 2.
    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)
  • 3.
    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.

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  • 4.
    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.

  • 5.
    Alexis, Kostas
    et al.
    Electrical and Computer Engineering Department, University of Patras, GR 26500, Achaia, Greece.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Tzes, Anthony
    Electrical and Computer Engineering Department, University of Patras, GR 26500, Achaia, Greece.
    Experimental Constrained Optimal Attitude Control of a Quadrotor subject to Wind Disturbances2014In: International Journal of Control, Automation and Systems, ISSN 1598-6446, E-ISSN 2005-4092, 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.

  • 6.
    Alexis, Kostas
    et al.
    University of Patras, Department of Electrical and Computer Engineering, Greece.
    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, Greece.
    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.

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  • 7.
    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 1934-6093, 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.

  • 8.
    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.
    Switching model predictive attitude control for a quadrotor helicopter subject to atmospheric disturbances2011In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 19, no 10, p. 1195-1207Article in journal (Refereed)
    Abstract [en]

    In this article a Switching Model Predictive Attitude Controller for an Unmanned quadrotor Helicopter subject to atmospheric disturbances is presented. The proposed control scheme is computed based on a Piecewise Affine (PWA) model of the quadrotor’s attitude dynamics, where the effects of the atmospheric turbulence are taken into consideration as additive disturbances. The switchings among the PWA models are ruled by the rate of the rotation angles and for each PWA system a corresponding model predictive controller is computed. The suggested algorithm is verified in experimental studies in the execution of sudden maneuvers subject to forcible wind disturbances. The quadrotor rejects the induced wind–disturbances while performing accurate attitude tracking.

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  • 9.
    Alexis, Kostas
    et al.
    Department of Electrical and Computer Engineering, University of Patras, Greece.
    Papachristos, Christos
    Department of Electrical and Computer Engineering, University of Patras, Greece.
    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, Greece.
    Model predictive quadrotor indoor position control2011In: 19th Mediterranean Conference on Control & Automation (MED 2011): [Aquis Corfu Holiday Palace], Corfu, Greece, 20 - 23 June 2011, Piscataway, NJ: IEEE Communications Society, 2011Conference paper (Refereed)
    Abstract [en]

    This article addresses the control problem of quadrotors in environments where absolute-localization data (GPS, positioning from external cameras) is inadequate. Based on an attached IMU and an optical flow sensor the quadrotor’s translational velocity is estimated using an Extended Kalman Filter. Subject to the velocity measurements, the roll, pitch and yaw (RPY) angles, the angular rates and the translational accelerations a switching Model Predictive Controller is designed. The quadrotor dynamics is linearized at various operating points according to the angular rates and the RP angles. The switching is inferred according to the various linearized models of the quadrotor. The controller is applied on a quadrotor prototype in low-altitude position hold maneuvers at very constrained environments. The experimental results indicate the overall system’s efficiency in position/altitude set–point maneuvers.

  • 10.
    Alhashimi, Anas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Characterization of Neato Lidar2015Report (Other academic)
    Abstract [en]

    The Lidars are very useful sensors in many robotic applications. The problem is that the price of these sensors are quite expensive. A cheap version of these sensors is the Neato {Neato Robotics, Inc. https://www.neatorobotics.com/company/} Lidar. In this report we will present different experiments that had been done to characterize this device. Also discuss the possibilities that can be done to improve its performance in the robotics applications.

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  • 11.
    Alhashimi, Anas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Project: Cooperative Simultaneous Localization and Mapping2013Other (Other (popular science, discussion, etc.))
  • 12.
    Alhashimi, Anas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Project: Quad Rotor2013Other (Other (popular science, discussion, etc.))
  • 13.
    Alhashimi, Anas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Project: Robot Android control2013Other (Other (popular science, discussion, etc.))
  • 14.
    Alhashimi, Anas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Project: Robot Mapping2013Other (Other (popular science, discussion, etc.))
  • 15.
    Alhashimi, Anas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Project: Robot Navigation2013Other (Other (popular science, discussion, etc.))
  • 16.
    Alhashimi, Anas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Statistical Calibration Algorithms for Lidars2016Licentiate thesis, comprehensive summary (Other academic)
    Abstract [en]

    Robots are becoming increasingly available and capable, are becoming part of everyday life in applications: robots that guide blind or mentally handicapped people, robots that clean large office buildings and department stores, robots that assist people in shopping, recreational activities, etc.Localization, in the sense of understanding accurately one's position in the environment, is a basic building block for performing important tasks. Therefore, there is an interest in having robots to perform autonomously and accurately localization tasks in highly cluttered and dynamically changing environments.To perform localization, robots are required to opportunely combine their sensors measurements, sensors models and environment model. In this thesis we aim at improving the tools that constitute the basis of all the localization techniques, that are the models of these sensors, and the algorithms for processing the raw information from them. More specifically we focus on:- finding advanced statistical models of the measurements returned by common laser scanners (a.k.a. Lidars), starting from both physical considerations and evidence collected with opportune experiments;- improving the statistical algorithms for treating the signals coming from these sensors, and thus propose new estimation and system identification techniques for these devices.In other words, we strive for increasing the accuracy of Lidars through opportune statistical processing tools.The problems that we have to solve, in order to achieve our aims, are multiple. The first one is related to temperature dependency effects: the laser diode characteristics, especially the wave length of the emitted laser and the mechanical alignment of the optics, change non-linearly with temperature. In one of the papers in this thesis we specifically address this problem and propose a model describing the effects of temperature changes in the laser diode; these include, among others, the presence of multi-modal measurement noises. Our contributions then include an algorithm that statistically accounts not only for the bias induced by temperature changes, but also for these multi-modality issues.An other problem that we seek to relieve is an economical one. Improving the Lidar accuracy can be achieved by using accurate but expensive laser diodes and optical lenses. This unfortunately raises the sensor cost, and -- obviously -- low cost robots should not be equipped with very expensive Lidars. On the other hand, cheap Lidars have larger biases and noise variance. In an other contribution we thus precisely targeted the problem of how to improve the performance indexes of inexpensive Lidars by removing their biases and artifacts through opportune statistical manipulations of the raw information coming from the sensor. To achieve this goal it is possible to choose two different ways (that have been both explored):1- use the ground truth to estimate the Lidar model parameters;2- find algorithms that perform simultaneously calibration and estimation without using ground truth information. Using the ground truth is appealing since it may lead to better estimation performance. On the other hand, though, in normal robotic operations the actual ground truth is not available -- indeed ground truths usually require environmental modifications, that are costly. We thus considered how to estimate the Lidar model parameters for both the cases above.In last chapter of this thesis we conclude our findings and propose also our current future research directions.

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  • 17.
    Alhashimi, Anas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Statistical Sensor Calibration Algorithms2018Doctoral thesis, monograph (Other academic)
    Abstract [en]

    The use of sensors is ubiquitous in our IT-based society; smartphones, consumer electronics, wearable devices, healthcare systems, industries, and autonomous cars, to name but a few, rely on quantitative measurements for their operations. Measurements require sensors, but sensor readings are corrupted not only by noise but also, in almost all cases, by deviations resulting from the fact that the characteristics of the sensors typically deviate from their ideal characteristics.

    This thesis presents a set of methodologies to solve the problem of calibrating sensors with statistical estimation algorithms. The methods generally start with an initial statistical sensor modeling phase in which the main objective is to propose meaningful models that are capable of simultaneously explaining recorded evidence and the physical principle for the operation of the sensor. The proposed calibration methods then typically use training datasets to find point estimates of the parameters of these models and to select their structure (particularlyin terms of the model order) using suitable criteria borrowed from the system identification literature. Subsequently, the proposed methods suggest how to process the newly arriving measurements through opportune filtering algorithms that leverage the previously learned models to improve the accuracy and/or precision of the sensor readings.

    This thesis thus presents a set of statistical sensor models and their corresponding model learning strategies, and it specifically discusses two cases: the first case is when we have a complete training dataset (where “complete” refers to having some ground-truth informationin the training set); the second case is where the training set should be considered incomplete (i.e., not containing information that should be considered ground truth, which implies requiring other sources of information to be used for the calibration process). In doing so, we consider a set of statistical models consisting of both the case where the variance of the measurement error is fixed (i.e., homoskedastic models) and the case where the variance changes with the measured quantity (i.e., heteroskedastic models). We further analyzethe possibility of learning the models using closed-form expressions (for example, when statistically meaningful, Maximum Likelihood (ML) and Weighted Least Squares (WLS) estimation schemes) and the possibility of using numerical techniques such as Expectation Maximization (EM) or Markov chain Monte Carlo (MCMC) methods (when closed-form solutions are not available or problematic from an implementation perspective). We finally discuss the problem formulation using classical (frequentist) and Bayesian frameworks, and we present several field examples where the proposed calibration techniques are applied on sensors typically used in robotics applications (specifically, triangulation Light Detection and Rangings (Lidars) and Time of Flight (ToF) Lidars).

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  • 18.
    Alhashimi, Anas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    The application of auto regressive spectrum modeling for identification of the intercepted radar signal frequency modulation2012In: Inventi Impact Telecom, ISSN 2249-1414, Vol. 2012, no 3Article in journal (Refereed)
    Abstract [en]

    In the Electronic Warfare receivers, it is important to know the type of modulation of the intercepted Radar signals (MOP modulation on pulse). This information can be very helpful in identifying the type of Radar present and to take the appropriate actions against it. In this paper, a new signal processing method is presented to identify the FM (Frequency Modulation) pattern from the received Radar pulses. The proposed processing method based on Auto Regressive Spectrum Modelling used for digital modulation classification [1]. This model uses the instantaneous frequency and instantaneous bandwidth as obtained from the roots of the autoregressive polynomial. The instantaneous frequency and instantaneous bandwidth together were used to identify the type of modulation in the Radar pulse. Another feature derived from the instantaneous frequency is the frequency rate of change. The frequency rate of change was used to extract the pattern of the frequency change. Results show that this method works properly even for low signal to noise ratios.

  • 19.
    Alhashimi, Anas
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Del Favero, Simone
    Varagnolo, Damiano
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Gustafsson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Pillonetto, Gianluigi
    Bayesian strategies for calibrating heteroskedastic static sensors with unknown model structures2018In: 2018 European Control Conference (ECC), Piscataway, NJ: IEEE, 2018, p. 2447-2453Conference paper (Other academic)
    Abstract [en]

    This paper investigates the problem of calibrating sensors affected by (i) heteroskedastic measurement noise and (ii) a polynomial bias, describing a systematic distortion of the measured quantity. First, a set of increasingly complex statistical models for the measurement process was proposed. Then, for each model the authors design a Bayesian parameters estimation method handling heteroskedasticity and capable to exploit prior information about the model parameters. The Bayesian problem is solved using MCMC methods and reconstructing the unknown parameters posterior in sampled form. The authors then test the proposed techniques on a practically relevant case study, the calibration of Light Detection and Ranging (Lidar) sensor, and evaluate the different proposed procedures using both artificial and field data.

  • 20.
    Alhashimi, Anas
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Hostettler, Roland
    Gustafsson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    An Improvement in the Observation Model for Monte Carlo Localization2014In: Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics: Vienna, Austria, 1-3, September, 2014, SciTePress, 2014, p. 498-505Chapter in book (Refereed)
    Abstract [en]

    Accurate and robust mobile robot localization is very important in many robot applications. Monte Carlo localization (MCL) is one of the robust probabilistic solutions to robot localization problems. The sensor model used in MCL directly influence the accuracy and robustness of the pose estimation process. The classical beam models assumes independent noise in each individual measurement beam at the same scan. In practice, the noise in adjacent beams maybe largely correlated. This will result in peaks in the likelihood measurement function. These peaks leads to incorrect particles distribution in the MCL. In this research, an adaptive sub-sampling of the measurements is proposed to reduce the peaks in the likelihood function. The sampling is based on the complete scan analysis. The specified measurement is accepted or not based on the relative distance to other points in the 2D point cloud. The proposed technique has been implemented in ROS and stage simulator. The result shows that selecting suitable value of distance between accepted scans can improve the localization error and reduce the required computations effectively.

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  • 21.
    Alhashimi, Anas
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Kominiak, Dariusz
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Project: Line Following Robot2013Other (Other (popular science, discussion, etc.))
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  • 22.
    Alhashimi, Anas
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nayl, Thaker
    Project: Robot Pathplaning2013Other (Other (popular science, discussion, etc.))
  • 23.
    Alhashimi, Anas
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Gustafsson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    An improvement in the observarion model for Monte Carlo localization2014Conference paper (Refereed)
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  • 24.
    Alhashimi, Anas
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Nikolakopoulos, George
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Gustafsson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Observation model for Monte Carlo Localization2014Conference paper (Other academic)
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  • 25.
    Alhashimi, Anas
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems. Department of Computer EngineeringUniversity of Baghdad.
    Pierobon, Giovanni
    Department of Information EngineeringUniversity of Padova.
    Varagnolo, Damiano
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Gustafsson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Modeling and Calibrating Triangulation Lidars for Indoor Applications2018In: Informatics in Control, Automation and Robotics: 13th International Conference, ICINCO 2016 Lisbon, Portugal, 29-31 July, 2016 / [ed] Kurosh Madani, Dimitri Peaucelle, Oleg Gusikhin, Cham: Springer Publishing Company, 2018, p. 342-366Conference paper (Refereed)
    Abstract [en]

    We present an improved statistical model of the measurement process of triangulation Light Detection and Rangings (Lidars) that takes into account bias and variance effects coming from two different sources of uncertainty:                                                                           {\$}{\$}(i) {\$}{\$}                 mechanical imperfections on the geometry and properties of their pinhole lens - CCD camera systems, and                                                                           {\$}{\$}(ii) {\$}{\$}                 inaccuracies in the measurement of the angular displacement of the sensor due to non ideal measurements from the internal encoder of the sensor. This model extends thus the one presented in [2] by adding this second source of errors. Besides proposing the statistical model, this chapter considers:                                                                           {\$}{\$}(i) {\$}{\$}                 specialized and dedicated model calibration algorithms that exploit Maximum Likelihood (ML)/Akaike Information Criterion (AIC) concepts and that use training datasets collected in a controlled setup, and                                                                           {\$}{\$}(ii) {\$}{\$}                 tailored statistical strategies that use the calibration results to statistically process the raw sensor measurements in non controlled but structured environments where there is a high chance for the sensor to be detecting objects with flat surfaces (e.g., walls). These newly proposed algorithms are thus specially designed and optimized for inferring precisely the angular orientation of the Lidar sensor with respect to the detected object, a feature that is beneficial especially for indoor navigation purposes.

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  • 26.
    Alhashimi, Anas
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Varagnolo, Damiano
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Gustafsson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Calibrating distance sensors for terrestrial applications without groundtruth information2017In: IEEE Sensors Journal, ISSN 1530-437X, E-ISSN 1558-1748, Vol. 17, no 12, p. 3698-3709, article id 7911206Article in journal (Refereed)
    Abstract [en]

    This paper describes a new calibration procedure for distance sensors that does not require independent sources of groundtruth information, i.e., that is not based on comparing the measurements from the uncalibrated sensor against measurements from a precise device assumed as the groundtruth. Alternatively, the procedure assumes that the uncalibrated distance sensor moves in space on a straight line in an environment with fixed targets, so that the intrinsic parameters of the statistical model of the sensor readings are calibrated without requiring tests in controlled environments, but rather in environments where the sensor follows linear movement and objects do not move. The proposed calibration procedure exploits an approximated expectation maximization scheme on top of two ingredients: an heteroscedastic statistical model describing the measurement process, and a simplified dynamical model describing the linear sensor movement. The procedure is designed to be capable of not just estimating the parameters of one generic distance sensor, but rather integrating the most common sensors in robotic applications, such as Lidars, odometers, and sonar rangers and learn the intrinsic parameters of all these sensors simultaneously. Tests in a controlled environment led to a reduction of the mean squared error of the measurements returned by a commercial triangulation Lidar by a factor between 3 and 6, comparable to the efficiency of other state-of-the art groundtruth-based calibration procedures. Adding odometric and ultrasonic information further improved the performance index of the overall distance estimation strategy by a factor of up to 1.2. Tests also show high robustness against violating the linear movements assumption.

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  • 27.
    Alhashimi, Anas
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Varagnolo, Damiano
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Gustafsson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Joint Temperature-Lasing Mode Compensation for Time-of-Flight LiDAR Sensors2015In: Sensors, E-ISSN 1424-8220, Vol. 15, no 12, p. 31205-31223Article in journal (Refereed)
    Abstract [en]

    We propose an expectation maximization (EM) strategy for improving the precision of time of flight (ToF) light detection and ranging (LiDAR) scanners. The novel algorithm statistically accounts not only for the bias induced by temperature changes in the laser diode, but also for the multi-modality of the measurement noises that is induced by mode-hopping effects. Instrumental to the proposed EM algorithm, we also describe a general thermal dynamics model that can be learned either from just input-output data or from a combination of simple temperature experiments and information from the laser’s datasheet. We test the strategy on a SICK LMS 200 device and improve its average absolute error by a factor of three.

  • 28.
    Alhashimi, Anas W.
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Varagnolo, Damiano
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Gustafsson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Statistical modeling and calibration of triangulation Lidars2016In: ICINCO 2016: Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics / [ed] Peaucelle D.,Gusikhin O.,Madani K, SciTePress, 2016, p. 308-317Conference paper (Refereed)
    Abstract [en]

    We aim at developing statistical tools that improve the accuracy and precision of the measurements returned by triangulation Light Detection and Rangings (Lidars). To this aim we: i) propose and validate a novel model that describes the statistics of the measurements of these Lidars, and that is built starting from mechanical considerations on the geometry and properties of their pinhole lens - CCD camera systems; ii) build, starting from this novel statistical model, a Maximum Likelihood (ML) / Akaike Information Criterion (AIC) -based sensor calibration algorithm that exploits training information collected in a controlled environment; iii) develop ML and Least Squares (LS) strategies that use the calibration results to statistically process the raw sensor measurements in non controlled environments. The overall technique allowed us to obtain empirical improvements of the normalized Mean Squared Error (MSE) from 0.0789 to 0.0046

  • 29.
    Al-Kahwati, Kammal
    et al.
    Predge AB, Västra Varvsgatan 11, 97236 Luleå, Sweden.
    Birk, Wolfgang
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems. Predge AB, Västra Varvsgatan 11, 97236 Luleå, Sweden.
    Flygel Nilsfors, Evert
    LKAB Norge AS, Bolagsgata 40, 8514 Narvik, Norway.
    Nilsen, Rune
    LKAB Norge AS, Bolagsgata 40, 8514 Narvik, Norway.
    Experiences of a Digital Twin Based Predictive Maintenance Solution for Belt Conveyor Systems2022In: PHME 2022: Proceedings of the 7th European Conference of the Prognostics and Health Management Society 2022 / [ed] Phuc Do; Gabriel Michau; Cordelia Ezhilarasu, PHM Society , 2022, p. 1-8Conference paper (Refereed)
    Abstract [en]

    Availability of belt conveyor systems is essential in production and logistic lines to safeguard production and delivery targets to customers. In this paper, experiences from commissioning, validation, and operation of an interactive predictive maintenance solution are reported. The solution and its development is formerly presented in Al-Kahwati et.al. (Al-Kahwati, Saari, Birk, & Atta, 2021), where the principles to derive a digital twin of a typical belt conveyor system comprising component-level degradation models, estimation schemes for the remaining useful life and the degradation rate, and vision-based hazardous object detection.

    Furthermore, the validation approach of modifying the belt conveyor and thus exploiting the idler misalignment load (IML) for the degradation predictions for individual components (including long-lasting ones) together with the actionable insights for the decision support is presented and assessed. Moreover, the approach to testing and validation of the object detection and its performance is assessed and presented in the same manner. An overall system assessment is then given and concludes the paper together with lessons learned.

    As pilot site for the study a belt conveyor system at LKAB Narvik in northern Norway is used.

  • 30.
    Al-Kahwati, Kammal
    et al.
    Predge AB, SE-972 36 Luleå, Sweden.
    Saari, Esi
    LKAB Kiruna, SE-981 86, Kiruna, Sweden.
    Birk, Wolfgang
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems. Predge AB, SE-972 36 Luleå, Sweden.
    Atta, Khalid
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Condition Monitoring of Rollers in Belt Conveyor Systems2021In: 2021 5th International Conference on Control and Fault-Tolerant Systems (SysTol), IEEE, 2021Conference paper (Refereed)
    Abstract [en]

    Predictive maintenance strategies for the mining sector are of utmost importance considering the automated behavior of industrial systems and the oftentimes inaccessible environment around belt conveyor systems. In this paper, we present a model combining IoT sensors and dead-reckoning modeling, focused on early theoretical work in the field of modeling the behavior of belt conveyor systems to act as a decision support tool in maintenance strategies, by estimating the remaining useful life (RUL) of rotating components in a belt conveyor system. The estimation of RUL is a function of the degradation of the ball bearings in idler rollers due to the forces acting on the rollers during the conveyance of material. The forces occur due to the material loading, the belt weight, roller shell weight, and the idler misalignment load (IML). Furthermore, the dynamics of bulk material during conveyance can be modeled in several ways considering earth pressure theory. A model considering this is derived from the Krausse Hettler method to determine the forces acting on the wing rollers of a thee-roll idler trough set by the notion that the bulk material undergoes active and passive stress states during conveyance. The model is further compared and extended to the works of Sokolovski, to get a bounded delta RUL reduction estimate on the roller bearings in each idler set of a belt conveyor system.

  • 31.
    Alkalsh, Mustafa Mohammed Hasan
    et al.
    Department of Mobile Networks, Nokia Solutions and Networks, 54-130 Wroclaw, Poland; Institute of Radiocommunications, Poznan University of Technology, 60-965 Poznan, Poland.
    Kliks, Adrian
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems. Institute of Radiocommunications, Poznan University of Technology, 60-965 Poznan, Poland.
    Enhancing Wireless Network Efficiency with the Techniques of Dynamic Distributed Load Balancing: A Distance-Based Approach2024In: Sensors, E-ISSN 1424-8220, Vol. 24, no 16, article id 5406Article in journal (Refereed)
    Abstract [en]

    The unique combination of the high data rates, ultra-low latency, and massive machine communication capability of 5G networks has facilitated the development of a diverse range of applications distinguished by varying connectivity needs. This has led to a surge in data traffic, driven by the ever-increasing number of connected devices, which poses challenges to the load distribution among the network cells and minimizes the wireless network performance. In this context, maintaining network balance during congestion periods necessitates effective interaction between various network components. This study emphasizes the crucial role that mobility management plays in mitigating the uneven load distribution across cells. This distribution is a significant factor impacting network performance, and effectively managing it is essential for ensuring optimal network performance in 5G and future networks. The study investigated the complexities associated with congested cells in wireless networks to address this challenge. It proposes a Dynamic Distance-based Load-Balancing (DDLB) algorithm designed to facilitate efficient traffic distribution among contiguous cells and utilize available resources more efficiently. The algorithm reacts with congested cells and redistributes traffic to its neighboring cells based on specific network conditions. As a result, it alleviates congestion and enhances overall network performance. The results demonstrate that the DDLB algorithm significantly improves key metrics, including load distribution and rates of handover and radio link failure, handover ping-pong, and failed attached requests.

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  • 32.
    Alkhaled, Lama
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Fei, Ng Yee
    Asia Pacific University, Faculty of Computing, Kuala Lumpur, Malaysia.
    Automated Invoice Processing System2023In: 2023 IEEE International Conference on Industrial Engineering and Engineering Management, IEEM 2023, IEEE, 2023, p. 0188-0192Conference paper (Refereed)
  • 33.
    Alkhaled, Lama
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Khamis, Taha
    Faculty of Engineering, University of Malaya, Malaysia.
    Supportive Environment for Better Data Management Stage in the Cycle of ML Process2024In: Artificial Intelligence and Applications, E-ISSN 2811-0854, Vol. 2, no 2, p. 121-128Article in journal (Refereed)
    Abstract [en]

    The objective of this study is to explore the process of developing artificial intelligence and machine learning (ML) applications to establish an optimal support environment. The primary stages of ML include problem understanding, data management (DM), model building, model deployment, and maintenance. This paper specifically focuses on examining the DM stage of ML development and the challenges it presents, as it is crucial for achieving accurate end models. During this stage, the major obstacle encountered was the scarcity of adequate data for model training, particularly in domains where data confidentiality is a concern. The work aimed to construct and enhance a framework that would assist researchers and developers in addressing the insufficiency of data during the DM stage. The framework incorporates various data augmentation techniques, enabling the generation of new data from the original dataset along with all the required files for detection challenges. This augmentation process improves the overall performance of ML applications by increasing both the quantity and quality of available data, thereby providing the model with the best possible input.

    Download full text (pdf)
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  • 34.
    Alkhaled, Lama
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Roy, Ayush
    Department of Electrical Engineering, Jadavpur University, India.
    Palaiahnakote, Shivakumara
    Faculty of Computer Science and Information Technology, University of Malaya, Malaysia.
    An Attention-Based Fusion of ResNet50 and InceptionV3 Model for Water Meter Digit Recognition2023In: Artificial Intelligence and Applications, E-ISSN 2811-0854Article in journal (Refereed)
    Abstract [en]

    Digital water meter digit recognition from images of water meter readings is a challenging research problem. One key reason is thatthis might be a lack of publicly available datasets to develop such methods. Another reason is the digits suffer from poor quality. In this work,we develop a dataset, called MR-AMR-v1, which comprises 10 different digits (0–9) that are commonly found in electrical and electronicwater meter readings. Additionally, we generate a synthetic benchmarking dataset to make the proposed model robust. We propose a weightedprobability averaging ensemble-based water meter digit recognition method applied to snapshots of the Fourier transformed convolution blockattention module-aided combined ResNet50-InceptionV3 architecture. This benchmarking method achieves an accuracy of 88% on test setimages (benchmarking data). Our model also achieves a high accuracy of 97.73% on the MNIST dataset. We benchmark the result on thisdataset using the proposed method after performing an exhaustive set of experiments.

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  • 35.
    Almquist, Lars-Olov
    et al.
    Lunds universitet.
    Olsson, Lennart
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Grennberg, Anders
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Holmner, Nils-Gunnar
    Lunds universitet.
    Registration and analysis of sound from the disintegration of kidney stones with acoustic shock waves1991In: WFUMB Symposium on Safety and Standardisation in Medical Ultrasound: issues and recommendations regarding thermal mechanisms for biological effects of ultrasound ; Hornbaek, Denmark, 30 August-1 September 1991 / [ed] Stan B. Barnett, New York: Pergamon Press, 1991Conference paper (Refereed)
  • 36.
    Alrifaiy, Ahmed
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    A gastight microfluidic system combined with optical tweezers and optical spectroscopy for electrophysiological investigations of single biological cells2011Licentiate thesis, comprehensive summary (Other academic)
    Abstract [en]

    Stroke affects around 20 million people around the world every year. Clinically, stroke is a result of brain damage due to the shortage of oxygen delivered to the nerve cells. To minimize suffering and costs related to the disease, extensive research is performed on different levels. The focus of our research is to achieve fundamental understanding on how the lack of oxygen in brain tissue activates intrinsic biomolecular defense mechanisms that may reduce brain damage. More knowledge may hopefully lead to new therapeutic and preventive strategies on the molecular level for individuals in the risk zone for stroke or those who have just suffered a stroke. The area of study is based on the discovery of a hemoprotein called neuroglobin (Ngb), which is found in various regions in the brain, in the islets of Langerhans, and in the retina. Several studies have shown that Ngb seems to have a protective function against hypoxia-related damage. However, until now, it has not been understood how Ngb affects the nerve system and protects neurons from damage. The well-established patch-clamp technique is routinely used to measure and analyze the electrophysiological activity of individual biological cells. To perform accurate patchclamp experiments, it is important to create well-controlled physiological conditions, i.e. different oxygen levels and fast changes of nutrients and other biochemical substances. A promising approach is to apply lab-on-a-chip technologies combined with optical manipulation techniques. These give optimal control over fast changing environmental conditions and enable multiple readouts. The conventional open patch-clamp configuration cannot provide adequate control of the oxygen content. Therefore, it was substituted by a gas-tight multifunctional microfluidic system, a lab-on-a-chip, with an integrated patch-clamp micropipette. The system was combined with optical tweezers and optical spectroscopy. Laser tweezers were used to optically guide and steer single cells towards the fixed micropipette. Optical spectroscopy was used to investigate the biochemical composition of the sample. The designed, closed lab-on-a-chip acted as a multifunctional system for simultaneous electrophysiological and spectroscopic experiments with good control over the oxygen content in the liquid perifusing the cells. The system was tested in a series of experiments: optically trapped human red blood cells were steered to the fixed patch-clamp pipette within the microfluidic system. The oxygen content within the microfluidic channels was measured to 1 % compared to the usual 4-7 %. The trapping dynamics were monitored in real-time while the spectroscopic measurements were performed simultaneously to acquire absorption spectra of the trapped cell under varying environments. To measure the effect of the optical tweezers on the sample, neurons from rats in a Petri dish were optically trapped and steered towards the patch-clamp micropipette where electrophysiological investigations were performed. The optical tweezers had no effect on the electrophysiological measurements. Similar investigations within a closed microfluidic system were initiated and showed promising results for further developments of a complete lab-on-a-chip multifunctional system for reliable patch-clamp measurements. The future aim is to perform complete protocols of patch-clamp electrophysiological investigations while simultaneously monitoring the biochemical composition of the sample by optical spectroscopy. The straightforwardness and stability of the microfluidic chip have shown excellent potential to enable high volume production of scalable microchips for various biomedical applications. The subsequent ambition is to use this system as a mini laboratory that has benefits in cell sorting, patch-clamp, and fertilization experiments where the gaseous and the biochemical content is of importance. The long-term goal is to study the response of individual neurons and defense mechanisms under hypoxic conditions that may establish new ways to understand cell behavior related to Ngb for various diseases such as stroke, Alzheimer’s and Parkinson’s.

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  • 37.
    Alrifaiy, Ahmed
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Lab on a chip for electrophysiological measurements with control of the oxygen content: optical manipulation and spectroscopic analysis of biological cells2013Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    Stroke affects nearly 20 million people around the world every year. Clinically, stroke is a result of brain damage due to the shortage of oxygen delivered to the nerve cells. To minimize suffering and costs related to the disease, extensive research is performed on different levels. The focus of our research is to achieve fundamental understanding on how the lack of oxygen in brain tissue activates intrinsic biomolecular defense mechanisms that may reduce brain damage. More knowledge may hopefully lead to new therapeutic and preventive strategies on the molecular level for individuals in the risk zone for stroke or those who have just suffered a stroke.The area of study is based on the discovery of a hemoprotein called neuroglobin (Ngb), which is found in various regions in the brain, in the islets of Langerhans, and in the retina. Several studies have shown that Ngb seems to have a protective function against hypoxia-related damage. However, until now, it has not been understood how Ngb affects the nerve system and protects neurons from damage.The well-established patch-clamp technique is routinely used to measure and analyze the electrophysiological activity of individual biological cells. To perform accurate patchclamp experiments, it is important to create well-controlled physiological conditions, i.e. different oxygen levels and fast changes of nutrients and other biochemical substances. A promising approach is to apply lab on a chip technologies combined with optical manipulation techniques. These give optimal control over fast changing environmental conditions and enable multiple readouts.The conventional open patch-clamp configuration cannot provide adequate control of the oxygen content. Therefore, the aim of the thesis was to design and test a multifunctional microfluidic system, lab on a chip (LOC), that can achieve normoxic, anoxic and hypoxic conditions. The conventional patch clamp configuration was substituted by a gas-tight LOC system with an integrated patch-clamp micropipette. The system was combined with optical tweezers, optical sensor and optical spectroscopy.Optical tweezers were used to trap and guide single cells through the LOC microchannels towards the fixed micropipette. Optical spectroscopy was essential to investigate the biochemical composition of the biological samples. The developed, gas-tight LOC acted as a multifunctional system for simultaneous electrophysiological and spectroscopic experiments with good control over the oxygen content in the liquid perifusing the cells. The system was tested in series of experiments: optically trapped cells (red blood cells from human and chicken and nerve cells) were steered to the fixed patch-clamp pipette within the LOC system. The oxygen content within the microfluidic channels was measured to ∼ 1% compared to the usual 4-7% found in open system. The trapping dynamics were monitored in real-time while the spectroscopic measurements were performed simultaneously to acquire absorption spectra of the trapped cell under varying environments. To measure the effect of the laser tweezers on the sample, neurons from rats in a Petri dish were optically trapped and steered towards the patch-clamp micropipette where electrophysiological investigations were performed. The optical tweezers had no effect on the electrophysiological measurements.The future aim is to perform complete protocols of patch-clamp electrophysiological investigations while simultaneously monitoring the biochemical composition of the sample by optical spectroscopy. The straightforwardness and stability of the microfluidic chip have shown excellent potential to be applied for various biomedical applications. The subsequent ambition is to use this system as a mini laboratory that has benefits in cell sorting, patch-clamp and fertilization experiments where the gaseous and the biochemical content is of importance.The long-term goal is to study the response of individual neurons and defense mechanisms under hypoxic conditions that may establish new ways to understand cell behavior related to Ngb for various diseases such as stroke, Alzheimer’s and Parkinson’s.

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  • 38.
    Alrifaiy, Ahmed
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Bitaraf, Nazanin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Druzin, Michael
    Umeå universitet, Integrativ Medicinsk Biologi, Fysiologi.
    Lindahl, Olof
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Ramser, Kerstin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Hypoxia on a chip - a novel approach for patch-clamp studies in a microfluidic system with full oxygen control2012In: World Congress on Medical Physics and Biomedical Engineering, May 26-31, 2012, Beijing, China / [ed] Mian Long, Berlin: Encyclopedia of Global Archaeology/Springer Verlag, 2012, p. 313-316Conference paper (Refereed)
    Abstract [en]

    A new approach to perform patch-clamp experiments on living cells under controlled anoxic and normoxic conditions was developed and tested. To provide an optimal control over the oxygen content and the biochemical environment a patch-clamp recording micropipette was integrated within an oxygen tight poly-methyl methacrylate (PMMA) based microchip. The oxygen content within the microfluidic chamber surrounding patch-clamp micropipette was maintained at 0.5-1.5 % by a continuous flow of artificial extracellular solution purged with nitrogen. The nerve and glial cells acutely obtained from the male rat brain were trapped by the optical tweezers and steered towards the patch-clamp micropipette through the channels of the microchip in order to achieve a close contact between the pipette and the cellular membrane. The patch-clamp recordings revealed that optical tweezers did not affect the electrophysiological properties of the tested cells suggesting that optical trapping is a safe and non-traumatizing method to manipulate living cells in the microfluidic system. Thus, our approach of combining optical tweezers and a gas-tight microfluidic chamber may be applied in various electrophysiological investigations of single cells were optimal control of the experimental conditions and the sample in a closed environment are necessary.

  • 39.
    Alrifaiy, Ahmed
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Bitaraf, Nazanin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Druzin, Michael
    Department of Integrative Medical Biology, Section for Physiology, Umeå University, SE-901 87 Umeå, Sweden.
    Lindahl, Olof
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Ramser, Kerstin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Patch-clamp measurements on a chip with full control over the oxygen content2012In: Journal of Biochips & Tissue Chips, ISSN 2153-0777, Vol. 2, no 1, p. 1-5Article in journal (Refereed)
  • 40.
    Alrifaiy, Ahmed
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Bitaraf, Nazanin
    Lindahl, Olof
    Ramser, Kerstin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Development of microfluidic system and optical tweezers for electrophysiological investigations of an individual cell2010In: Optical Trapping and Optical Micromanipulation VII: 1 - 5 August 2010, San Diego, California, United States ; [part of SPIE optics + photonics] / [ed] Kishan Dholakia; Gabriel C. Spalding, Bellingham, Wash: SPIE - The International Society for Optics and Photonics, 2010Conference paper (Refereed)
    Abstract [en]

    We present a new approach of combining Lab-on-a-chip technologies with optical manipulation technique for accurate investigations in the field of cell biology. A general concept was to develop and combine different methods to perform advanced electrophysiological investigations of an individual living cell under optimal control of the surrounding environment. The conventional patch clamp technique was customized by modifying the open system with a gas-tight multifunctional microfluidics system and optical trapping technique (optical tweezers).The system offers possibilities to measure the electrical signaling and activity of the neuron under optimum conditions of hypoxia and anoxia while the oxygenation state is controlled optically by means of a spectroscopic technique. A cellbased microfluidics system with an integrated patch clamp pipette was developed successfully. Selectively, an individual neuron is manipulated within the microchannels of the microfluidic system under a sufficient control of the environment. Experiments were performed to manipulate single yeast cell and red blood cell (RBC) optically through the microfluidics system toward an integrated patch clamp pipette. An absorption spectrum of a single RCB was recorded which showed that laser light did not impinge on the spectroscopic spectrum of light. This is promising for further development of a complete lab-on-a-chip system for patch clamp measurements.

  • 41.
    Alrifaiy, Ahmed
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering.
    Bitaraf, Nazanin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering.
    Lindahl, Olof
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Ramser, Kerstin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Ett mikroflödessystem för multipla undersökningar av enstaka biologiska celler under hypoxiska förhållanden2011Conference paper (Refereed)
    Abstract [sv]

    Introduktion: Syftet med studien är att studera enstaka nervcellers respons vid syrebrist i ett mikroflödessystem för att förstå nervcellens respons vid stroke. Målet med studien var att utveckla ett slutet mikroflödessystem som ger optimal kontroll av den omgivande miljön och samtidigt möjliggöra elektrofysiologiska undersökningar under kontrollerade syreförhållande. Material och metoder: Mikroflödescellen utvecklades för ett inverterat mikroskop, utrustad med en optisk pincett och optisk spektroskopi samt patch-clamp för elektrofysiologiska studier på en enstaka nervcell. Istället för att föra en pipett mot en cell i ett öppet system fångades en enskild cell optiskt i ett slutet mikroflödessystem och fördes mot en fixerad patch-clamp mikropipett. Cellen utsattes för olika syrehalter och övervakades av ett UV-Vis spektroskop medan cellens elektrofysiologiska aktivitet registreras med patch-clamp. Det slutna mikroflödessystemet med integrerad mikropipett, kopplades till ett pumpsystem för införandet av celler och buffert med olika kemiska egenskaper och syrehalter. I ett inverterat mikroskop integrerades optisk pincett, UV-Vis spektrometer och patch-clamp. Resultat och diskussion: För att pröva konceptet fångades och fördes en röd blodcell optiskt mot mikropipetten som befann sig på en fast position i mikroflödescellen. Cellens syrebindningstillstånd varierades genom att tillsätta syrefri eller syresatt buffert och registrerades med UV-Vis spektrometern. I ett vidare experiment manipulerades en nervcell optiskt i ett öppet system mot patch-clamp pipetten och elektrofysiologiska mätningar utfördes. Vi kunde verifiera att den optiska pincetten inte påverkade den elektrofysiologiska mätningen. För närvarandet utförs elektrofysiologiska mätningar i det slutna mikroflödessystemet för att se hur nervcellerna reagerar under varierande syrehalt. Genom mätningarna hoppas vi att få mer kunskap om försvarsmekanismerna som igångsätts av neuroner under syrefattiga förhållanden.

  • 42.
    Alrifaiy, Ahmed
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems. Institute of Neuroscience and Physiology, Section of physiology, Gothenburg University - Sahlgrenska Academy, Göteborg, 405 30, Sweden; CMTF, Centre for Biomedical Engineering and Physics, Luleå and Umeå, Sweden.
    Borg, Johan
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Embedded Internet Systems Lab.
    Lindahl, Olof A.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems. Luleå University of Technology, Department of Engineering Sciences and Mathematics, Fluid and Experimental Mechanics. CMTF, Centre for Biomedical Engineering and Physics, Luleå and Umeå, Sweden; Department of Radiation Sciences, Biomedical Engineering, Umeå, 901 87, Sweden.
    Ramser, Kerstin
    Luleå University of Technology, Department of Engineering Sciences and Mathematics, Fluid and Experimental Mechanics. Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems. CMTF, Centre for Biomedical Engineering and Physics, Luleå and Umeå, Sweden.
    A lab-on-a-chip for hypoxic patch clamp measurements combined with optical tweezers and spectroscopy: first investigations of single biological cells2015In: Biomedical engineering online, E-ISSN 1475-925X, Vol. 14, article id 36Article in journal (Refereed)
    Abstract [en]

    The response and the reaction of the brain system to hypoxia is a vital research subject that requires special instrumentation. With this research subject in focus, a new multifunctional lab-on-a-chip (LOC) system with control over the oxygen content for studies on biological cells was developed. The chip was designed to incorporate the patch clamp technique, optical tweezers and absorption spectroscopy. The performance of the LOC was tested by a series of experiments. The oxygen content within the channels of the LOC was monitored by an oxygen sensor and verified by simultaneously studying the oxygenation state of chicken red blood cells (RBCs) with absorption spectra. The chicken RBCs were manipulated optically and steered in three dimensions towards a patch-clamp micropipette in a closed microfluidic channel. The oxygen level within the channels could be changed from a normoxic value of 18% O 2 to an anoxic value of 0.0-0.5% O 2. A time series of 3 experiments were performed, showing that the spectral transfer from the oxygenated to the deoxygenated state occurred after about 227 ± 1 s and a fully developed deoxygenated spectrum was observed after 298 ± 1 s, a mean value of 3 experiments. The tightness of the chamber to oxygen diffusion was verified by stopping the flow into the channel system while continuously recording absorption spectra showing an unchanged deoxygenated state during 5400 ± 2 s. A transfer of the oxygenated absorption spectra was achieved after 426 ± 1 s when exposing the cell to normoxic buffer. This showed the long time viability of the investigated cells. Successful patching and sealing were established on a trapped RBC and the whole-cell access (Ra) and membrane (Rm) resistances were measured to be 5.033 ± 0.412 M Ω and 889.7 ± 1.74 M Ω respectively.

  • 43. Alrifaiy, Ahmed
    et al.
    Lindahl, Olof
    Ramser, Kerstin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Ett mikroflödessystem med optisk pincett och UV- vis för studier på enskilda biologiska celler2010Conference paper (Other academic)
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  • 44.
    Alrifaiy, Ahmed
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Lindahl, Olof
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Ramser, Kerstin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Patch-clamp electrophysiological measurements on single cells under hypoxic conditions in microfluidic systems2012Conference paper (Refereed)
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  • 45.
    Alrifaiy, Ahmed
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Lindahl, Olof
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Ramser, Kerstin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Polymer-based microfluidic devices for pharmacy, biology and tissue engineering2012In: Polymers, E-ISSN 2073-4360, Vol. 4, no 3, p. 1349-1398Article in journal (Refereed)
    Abstract [en]

    This paper reviews microfluidic technologies with emphasis on applications in the fields of pharmacy, biology, and tissue engineering. Design and fabrication of microfluidic systems are discussed with respect to specific biological concerns, such as biocompatibility and cell viability. Recent applications and developments on genetic analysis, cell culture, cell manipulation, biosensors, pathogen detection systems, diagnostic devices, high-throughput screening and biomaterial synthesis for tissue engineering are presented. The pros and cons of materials like polydimethylsiloxane (PDMS), polymethylmethacrylate (PMMA), polystyrene (PS), polycarbonate (PC), cyclic olefin copolymer (COC), glass, and silicon are discussed in terms of biocompatibility and fabrication aspects. Microfluidic devices are widely used in life sciences. Here, commercialization and research trends of microfluidics as new, easy to use, and cost-effective measurement tools at the cell/tissue level are critically reviewed.

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  • 46.
    Alrifaiy, Ahmed
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Ramser, Kerstin
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    How to integrate a micropipette into a closed microfluidic system: absorption spectra of an optically trapped erythrocyte2011In: Biomedical Optics Express, E-ISSN 2156-7085, Vol. 2, no 8, p. 2299-2306Article in journal (Refereed)
    Abstract [en]

    We present a new concept of integrating a micropipette within a closed microfluidic system equipped with optical tweezers and a UV-Vis spectrometer. A single red blood cell (RBC) was optically trapped and steered in three dimensions towards a micropipette that was integrated in the microfluidic system. Different oxygenation states of the RBC, triggered by altering the oxygen content in the microchannels through a pump system, were optically monitored by a UV-Vis spectrometer. The built setup is aimed to act as a multifunctional system where the biochemical content and the electrophysiological reaction of a single cell can be monitored simultaneously. The system can be used for other applications like single cell sorting, in vitro fertilization or electrophysiological experiments with precise environmental control of the gas-, and chemical content.

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  • 47.
    Andersson, Thomas
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Klimatzoner SAAB 90001989Report (Other academic)
  • 48.
    Andersson, Tobias
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Estimating particle size distributions based on machine vision2010Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    This thesis contributes to the field of machine vision and the theory of the sampling of particulate material on conveyor belts. The objective is to address sources of error relevant to surface-analysis techniques when estimating the sieve-size distribution of particulate material using machine vision. The relevant sources of error are segregation and grouping error, capturing error, profile error, overlapping-particle error and weight-transformation error. Segregation and grouping error describes the tendency of a pile to separate into groups of similarly sized particles, which may bias the results of surface-analysis techniques. Capturing error describes the varying probability, based on size, that a particle will appear on the surface of the pile, which may also bias the results of surface-analysis techniques. Profile error is related to the fact that only one side of an entirely visible particle can be seen, which may bias the estimation of particle size. Overlapping-particle error occurs when many particles are only partially visible, which may bias the estimation of particle size because large particles may be treated as smaller particles. Weight-transformation error arises because the weight of particles in a specific sieve-size class might significantly vary, resulting in incorrect estimates of particle weights. The focus of the thesis is mainly on solutions for minimizing profile error, overlapping-particle error and weight-transformation error.In the aggregates and mining industries, suppliers of particulate materials, such as crushed rock and pelletised iron ore, produce materials for which the particle size is a key differentiating factor in the quality of the material. Manual sampling and sieving techniques are the industry-standard methods for estimating the size distribution of these particles. However, as manual sampling is time consuming, there are long response times before an estimate of the sieve-size distributions is available. Machine-vision techniques promise a non-invasive, frequent and consistent solution for determining the size distribution of particles. Machine-vision techniques capture images of the surfaces of piles, which are analyzed by identifying each particle on the surface of the pile and estimating its size. Sampling particulate material being transported on conveyor belts using machine vision has been an area of active research for over 25 years. However, there are still a number of sources of error in this type of sampling that are not fully understood. To achieve a high accuracy and robustness in the analysis of captured surfaces, detailed experiments were performed in the course of this thesis work, towards the development and validation of techniques for minimizing overlapping-particle error, profile error and weight-transformation error. To minimise overlapping-particle error and profile error, classification algorithms based on logistic regression were proposed. Logistic regression is a statistical classification method that is used for visibility classification to minimize overlapping-particle error and in particle-size classification to minimize profile error. Commonly used size- and shape-measurement methods were evaluated using feature-selection techniques, to find sets of statistically significant features that should be used for the abovementioned classification tasks. Validation using data not used for training showed that these errors can be overcome.The existence of an effect that causes weight-transformation error was identified using statistical analysis of variance (ANOVA). Methods to minimize weight-transformation error are presented herein, and one implementation showed a good correlation between the results using the machine-vision system and manual sieving results.The results presented in this thesis show that by addressing the relevant sources of error, machine vision techniques allow for robust and accurate analysis of particulate material. An industrial prototype was developed that estimates the sieve-size distribution of iron-ore pellets in a pellet plant and crushed limestone in a quarry during ship loading. The industrial prototype also enables product identification of crushed limestone to prevent the loading of incorrectly sized products.

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  • 49. Andersson, Tobias
    et al.
    Thurley, Matthew
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Minimizing profile error when estimating the sieve-size distribution of iron ore pellets using ordinal logistic regression2011In: Powder Technology, ISSN 0032-5910, E-ISSN 1873-328X, Vol. 206, no 3, p. 218-226Article in journal (Refereed)
    Abstract [en]

    Size measurement of pellets in industry is usually performed by manual sampling and sieving techniques. Automatic on-line analysis of pellet size based on image analysis techniques would allow non-invasive, frequent and consistent measurement. We evaluate the statistical significance of the ability of commonly used size and shape measurement methods to discriminate among different sieve-size classes using multivariate techniques. Literature review indicates that earlier works did not perform this analysis and selected a sizing method without evaluating its statistical significance. Backward elimination and forward selection of features are used to select two feature sets that are statistically significant for discriminating among different sieve-size classes of pellets. The diameter of a circle of equivalent area is shown to be the most effective feature based on the forward selection strategy, but an unexpected five-feature classifier is the result using the backward elimination strategy. The discrepancy between the two selected feature sets can be explained by how the selection procedures calculate a feature's significance and that the property of the 3D data provides an orientational bias that favours combination of Feret-box measurements. Size estimates of the surface of a pellet pile using the two feature sets show that the estimated sieve-size distribution follows the known sieve-size distribution.

  • 50.
    Andersson, Tobias
    et al.
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Thurley, Matthew
    Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering, Signals and Systems.
    Visibility classification of rocks in piles2008In: Digital Image Computing: Techniques and Applications: DICTA 2008 ; [Conference on Digital Image Computing: Techniques and Applications] ; 1 - 3 December 2008, Canberra, Australia ; proceedings, IEEE Communications Society, 2008, p. 207-213Conference paper (Refereed)
    Abstract [en]

    Size measurement of rocks is usually performed by manual sampling and sieving techniques. Automatic on-line analysis of rock size based on image analysis techniques would allow non-invasive, frequent and consistent measurement. In practical measurement systems based on image analysis techniques, the surface of rock piles will be sampled and therefore contain overlapping rock fragments. It is critical to identify partially visible rock fragments for accurate size measurements. In this research, statistical classification methods are used to discriminate rocks on the surface of a pile between entirely visible and partially visible rocks. The feature visibility ratio is combined with commonly used 2D shape features to evaluate whether 2D shape features can improve classification accuracies to minimize overlapped particle error.

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