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  • 1.
    Bajones, Markus
    et al.
    TU Wien, Vienna, Austria..
    Fischinger, David
    TU Wien, Vienna, Austria..
    Weiss, Astrid
    TU Wien, Vienna, Austria..
    De La Puente, Paloma
    Univ Politecn Madrid, Madrid, Spain..
    Wolf, Daniel
    TU Wien, Vienna, Austria..
    Vincze, Markus
    TU Wien, Vienna, Austria..
    Koertner, Tobias
    Acad Aging Res, Vienna, Austria..
    Weninger, Markus
    Acad Aging Res, Vienna, Austria..
    Papoutsakis, Konstantinos
    FORTH, Iraklion, Greece..
    Michel, Damien
    FORTH, Iraklion, Greece..
    Qammaz, Ammar
    FORTH, Iraklion, Greece..
    Panteleris, Paschalis
    FORTH, Iraklion, Greece..
    Foukarakis, Michalis
    FORTH, Iraklion, Greece..
    Adami, Ilia
    FORTH, Iraklion, Greece..
    Ioannidi, Danae
    FORTH, Iraklion, Greece..
    Leonidis, Asterios
    FORTH, Iraklion, Greece..
    Antona, Margherita
    FORTH, Iraklion, Greece..
    Argyros, Antonis
    FORTH, Iraklion, Greece..
    Mayer, Peter
    TU Wien, Vienna, Austria..
    Panek, Paul
    TU Wien, Vienna, Austria..
    Eftring, Håkan
    Lund Univ, Lund, Sweden..
    Frennert, Susanne
    Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT). Malmö University, Internet of Things and People (IOTAP). Malmo Univ, Malmo, Sweden..
    Results of Field Trials with a Mobile Service Robot for Older Adults in 16 Private Households2019In: ACM Transactions on Human-Robot Interaction, E-ISSN 2573-9522, Vol. 9, no 2, p. 10:1-10:27, article id 10Article in journal (Refereed)
    Abstract [en]

    In this article, we present results obtained from field trials with the Hobbit robotic platform, an assistive, social service robot aiming at enabling prolonged independent living of older adults in their own homes. Our main contribution lies within the detailed results on perceived safety, usability, and acceptance from field trials with autonomous robots in real homes of older users. In these field trials, we studied how 16 older adults (75 plus) lived with autonomously interacting service robots over multiple weeks. Robots have been employed for periods of months previously in home environments for older people, and some have been tested with manipulation abilities, but this is the first time a study has tested a robot in private homes that provided the combination of manipulation abilities, autonomous navigation, and nonscheduled interaction for an extended period of time. This article aims to explore how older adults interact with such a robot in their private homes. Our results show that all users interacted with Hobbit daily, rated most functions as well working, and reported that they believe that Hobbit will be part of future elderly care. We show that Hobbit's adaptive behavior approach towards the user increasingly eased the interaction between the users and the robot. Our trials reveal the necessity to move into actual users' homes, as only there, we encounter real-world challenges and demonstrate issues such as misinterpretation of actions during non-scripted human-robot interaction.

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  • 2.
    Bucuroiu, Denisa Maria
    Malmö University, Faculty of Culture and Society (KS), School of Arts and Communication (K3).
    Emergent Social Interactions between a Hospital Patient and a Service Robot: A Research Through Design inquiry into the social dynamics of the interaction framework hospital patient, service robot, caregiver2021Independent thesis Basic level (degree of Bachelor), 15 credits / 22,5 HE creditsStudent thesis
    Abstract [en]

    The following documents a research through design inquiry into how socialites of a hospital environment are disrupted or improved by implementing a service robot. The robot, support for excessive work, represents a new intermediary between a patient and a caregiver. Robotic work routines appear as better, more efficient, and more affordable. Apart from other ethical and inclusive considerations given to this dialogue, the social values hidden in traditional workflows are of equal importance. 

    This thesis attempts to generate constructive design research about emergent social norms and social dynamics caused by service robots’ implementation. The lessons learned are presented in a final research discussion. Further applied, the knowledge held common grounds with a rehabilitation robot developed by Blue Ocean Robotics. 

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  • 3.
    Dahl, Ola
    et al.
    Malmö högskola, School of Technology (TS).
    Heyden, Anders
    Malmö högskola, School of Technology (TS).
    Dynamic Structure and Motion Estimation based on Non-linear Adaptive Observers2008In: 2008 19th International Conference on Pattern Recognition, 2008Conference paper (Refereed)
    Abstract [en]

    Structure and motion estimation from long image sequences is a an important and difficult problem in computer vision. We propose a novel approach based on nonlinear and adaptive observers based on a dynamic model of the motion. The estimation of the threedimensional position and velocity of the camera as well as the three-dimensional structure of the scene is done by observing states and parameters of a nonlinear dynamic system, containing a perspective transformation in the output equation, often referred to as a perspective dynamic system. An advantage of the proposed method is that it is filter-based, i.e. it provides an estimate of structure and motion at each time instance, which is then updated based on a novel image in the sequence. The observer demonstrates a trade-off compared to a more computer vision oriented approach, where no specific assumptions regarding the motion dynamics are required, but instead additional feature points are needed. Finally, the performance of the proposed method is shown in simulated experiments.

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  • 4.
    Dahl, Ola
    et al.
    Malmö högskola, School of Technology (TS).
    Heyden, Anders
    Malmö högskola, School of Technology (TS).
    Exact Observer Error Linearization for Perspective Dynamic Systems2008In: Procedings SSBA 2008, Swedish Society for Automated Image Analysis , 2008, p. 43-46Conference paper (Other academic)
    Abstract [en]

    Estimation of 3D position information from 2D images in computer vision systems can be formulated as a state estimation problem for a nonlinear perspective dynamic system. The state estimation can be performed using different kinds of nonlinear observers. In this paper we investigate observer error linearization, where the goal is to find a coordinate transformation that results in a system for which a linear observer can be constructed. It is shown that using a state transformation combined with an output transformation, the system admits an observer form which leads to an observer with linear error dynamics.

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  • 5.
    Dahl, Ola
    et al.
    Malmö högskola, School of Technology (TS).
    Heyden, Anders
    Malmö högskola, School of Technology (TS).
    Nyberg, Fredrik
    Malmö högskola, School of Technology (TS).
    Provably stable nonlinear and adaptive observers for dynamic structure and motion estimation2007In: International Conference on Dynamic Vision;III, 2007Conference paper (Refereed)
  • 6.
    Dahl, Ola
    et al.
    Malmö högskola, School of Technology (TS).
    Nyberg, Fredrik
    Malmö högskola, School of Technology (TS).
    Heyden, Anders
    Malmö högskola, School of Technology (TS).
    Nonlinear and Adaptive Observers for Perspective Dynamic Systems2007In: Proceedings American Control Conference, IEEE, 2007, p. 2230-2235Conference paper (Refereed)
    Abstract [en]

    Estimation of 3D structure and motion from 2D images in computer vision systems can be performed using a dynamic system, often referred to as a perspective dynamic system. This paper presents a novel parametrization of the nonlinear perspective dynamic system, from which different estimators for rigid body structure as well as motion can be derived in a straightforward manner. The parametrization allows a structure estimator to be formulated as a nonlinear observer which estimates 3D position, assuming knowledge of angular and linear velocities. The observer performance is demonstrated using simulation examples, where it is also shown how a time scaling parameter can be used to tune the transient response. The parametrization also allows a motion estimator to be formulated as an adaptive observer, estimating angular velocity and 3D position assuming knowledge of the linear velocity. This is demonstrated by deriving an estimator and illustrating its performance in a simulation example. The presented investigations and simulations indicate that the parametrization has a potential for future development of estimators for structure as well as motion in perspective dynamic systems, and for the investigation of similarities and differences in comparison to discrete, projective geometry based, methods.

  • 7.
    Dahl, Ola
    et al.
    Malmö högskola, School of Technology (TS).
    Nyberg, Fredrik
    Malmö högskola, School of Technology (TS).
    Heyden, Anders
    Malmö högskola, School of Technology (TS).
    On Observer Error Linearization for Perspective Dynamic Systems2007In: Proceedings American Control Conference, IEEE, 2007Conference paper (Refereed)
    Abstract [en]

    State estimation in perspective dynamic systems can be performed using different kinds of nonlinear observers. In this paper we investigate observer error linearization for perspective dynamic systems, where the goal is to find a coordinate transformation that results in a system for which a linear observer can be constructed. We present preliminary results in this direction, showing that such linearizing coordinate transformations indeed exist, subject to certain constraints on the angular and linear velocities. Specifically, it is shown that in many situations a linearizing coordinate transformation can be found only when additional states are added to the original system. This results in what is referred to as dynamic observer error linearization. Our investigations further provide additional insight into observability issues for perspective dynamic systems by showing how an observability condition can be interpreted in terms of the focus of expansion, and how the condition is related to the derivation of appropriate coordinate transformations.

  • 8.
    Dahl, Ola
    et al.
    Malmö högskola, School of Technology (TS).
    Nyberg, Fredrik
    Malmö högskola, School of Technology (TS).
    Heyden, Anders
    Malmö högskola, School of Technology (TS).
    Structure and Motion Estimation in Perspective Systems using a Dynamic Vision Parametrization2007In: 2007 European Control Conference (ECC), European Control Society , 2007Conference paper (Refereed)
    Abstract [en]

    Estimation of 3D structure and motion from 2D images in computer vision systems can be performed using a nonlinear dynamic system, often referred to as a perspective dynamic system. In this paper we describe how a specific parametrization of the perspective dynamic system can be utilized when formulating estimation problems for structure and motion. The parametrization allows for a single estimation problem formulation which is applicable to structure estimation as well as motion estimation. The parameters to be estimated appear explicitly in the resulting dynamic system, and available partial knowledge of parameters can be taken into account in a straightforward manner. The problem formulation allows estimators for structure and motion to be derived using available methods from nonlinear and adaptive control. We demonstrate how estimators for structure and motion can be constructed based on the parametrization, and illustrate the estimation performance by simulations. In this way, it is demonstrated how a nonlinear observer can be used for motion estimation as well as recovery of three-dimensional position in a monocular vision system, using measurements from two-dimensional images.

  • 9.
    Hua, D.
    et al.
    China University of Mining and Technology, Xuzhou, China.
    Liu, X.
    China University of Mining and Technology, Xuzhou, China.
    Li, W.
    University of Wollongong, Wollongong, NSW, Australia.
    Krolczyk, G.
    Opole University of Technology, Opole, Poland.
    Malekian, Reza
    Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT).
    Li, Z.
    Yonsei University, Seoul, South Korea.
    A Novel Ferrofluid Rolling Robot: Design, Manufacturing, and Experimental Analysis2021In: IEEE Transactions on Instrumentation and Measurement, ISSN 0018-9456, E-ISSN 1557-9662, Vol. 70, article id 9495803Article in journal (Refereed)
    Abstract [en]

    With the increasing applications of magnetic robots in medical instruments, the research on different structures and locomotion approaches of magnetic robots has become a hotspot in recent years. A ferrofluid rolling robot (FRR) with magnetic actuation is proposed and enabled to realize a novel locomotion approach in this article. The drive performance of ferrofluid is elaborated, which is characterized by the magnetic torque of a rectangle-shaped object filled with ferrofluid under magnetic field. First, the proposed structure and locomotion mechanism of the FRR are detailed. Moreover, based on the established mathematical models of the FRR, the simulations with straight and turning locomotion are carried out, respectively. Finally, the FRR prototype is manufactured by 3-D printing, and experimental results demonstrate that the feasibility of straight and turning locomotion is verified. The locomotion performance of the FRR is in good agreement with the theoretical models where the root mean square (rms) value of displacement for experiments and simulations is 1.2 mm. In this work, the proposed FRR can automatically switch from straight to turning locomotion with a fast response in an external magnetic field, and does not has magnetism when without a magnetic field. 

  • 10.
    Khansomboon, Pratchaya
    Malmö University, Faculty of Technology and Society (TS).
    Usage of End-to-End Machine Learning for Self-Driving Vehicle2023Independent thesis Basic level (university diploma), 180 HE creditsStudent thesis
    Abstract [en]

    This thesis is about the usage of a machine learning model for self-driving vehicles running on a small mobile computing unit, in this case, a smartphone. We use NVIDIA’s PilotNet model which is a simple feed-forward machine learning model for steering a vehicle. Their testing is conducted on a real-world vehicle and the model is used for lane keeping. Instead, we’ve adopted to be able to drive around an oval track that has no lane marking. The primary goal was to be able to run the model on a smartphone and this was a simple task as we’ve seen that the inference time is small enough that it can run at 30 FPS. As of now the model only generate a good steering output in the testing phase with prerecorded data and was only able to complete a corner on one side of the track.

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  • 11.
    McGookin, David
    et al.
    Aalto University, Helsinki, Finland.
    Escobar, Dariela
    Malmö högskola, Faculty of Culture and Society (KS), School of Arts and Communication (K3).
    Hajukone: Developing an Open Source Olfactory Device2016In: CHI EA '16: Proceedings of the 2016 CHI Conference Extended Abstracts on Human Factors in Computing Systems, ACM Publications, 2016, p. 1721-1728Conference paper (Refereed)
    Abstract [en]

    In comparison to our other senses, there has been relatively little work on how our sense of smell can be effectively utilised in a Human-Computer Interface. We argue that the lack of easy access to 'off-the-shelf' computer controlled scent delivery devices restricts research in this area, and that without understanding what smell can be used for, there is little commercial case to make such devices available. In considering these issues, we have developed Hajukone: a smell delivery device that is both open source and can be built with low technical skills, yet provides high quality olfactory capabilities. We outline the design of Hajukone, showing how it overcomes critical design requirements that have restricted prior research, before outlining our future plans for its development and use.

  • 12.
    Saleem, Hajira
    et al.
    Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT). Malmö University, Internet of Things and People (IOTAP).
    Malekian, Reza
    Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT). Malmö University, Internet of Things and People (IOTAP).
    Munir, Hussan
    Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT).
    Neural Network-Based Recent Research Developments in SLAM for Autonomous Ground Vehicles: A Review2023In: IEEE Sensors Journal, ISSN 1530-437X, E-ISSN 1558-1748, Vol. 23, no 13, p. 13829-13858Article, review/survey (Refereed)
    Abstract [en]

    The development of autonomous vehicles has prompted an interest in exploring various techniques in navigation. One such technique is simultaneous localization and mapping (SLAM), which enables a vehicle to comprehend its surroundings, build a map of the environment in real time, and locate itself within that map. Although traditional techniques have been used to perform SLAM for a long time, recent advancements have seen the incorporation of neural network techniques into various stages of the SLAM pipeline. This review article provides a focused analysis of the recent developments in neural network techniques for SLAM-based localization of autonomous ground vehicles. In contrast to the previous review studies that covered general navigation and SLAM techniques, this paper specifically addresses the unique challenges and opportunities presented by the integration of neural networks in this context. Existing review studies have highlighted the limitations of conventional visual SLAM, and this article aims to explore the potential of deep learning methods. This article discusses the functions required for localization, and several neural network-based techniques proposed by researchers to carry out such functions. First, it presents a general background of the issue, the relevant review studies that have already been done, and the adopted methodology in this review. Then, it provides a thorough review of the findings regarding localization and odometry. Finally, it presents our analysis of the findings, open research questions in the field, and a conclusion. A semisystematic approach is used to carry out the review.

  • 13.
    Östlund, Britt
    et al.
    Royal Inst Technol KTH, Dept Biomed Engn & Hlth Syst, Stockholm, Sweden..
    Malvezzi, Monica
    Univ Siena, Dept Informat Engn & Math, Siena, Italy..
    Frennert, Susanne
    Malmö University, Faculty of Technology and Society (TS), Department of Computer Science and Media Technology (DVMT). Malmö University, Internet of Things and People (IOTAP).
    Funk, Michael
    Univ Vienna, Fac Comp Sci, Cooperat Syst, Vienna, Austria..
    Gonzalez-Vargas, Jose
    Ottobock SE & Co, KGaA OBG, Duderstadt, Germany..
    Baur, Kilian
    Swiss Fed Inst Technol, CYBATHLON, Zurich, Switzerland..
    Alimisis, Dimitris
    European Lab Educ Technol EDUMOTIVA, Athens, Greece..
    Thorsteinsson, Freygardur
    OSSUR, Reykjavik, Iceland..
    Alonso-Cepeda, Antonio
    ACCIONA Construct, Dept Technol Innovat, Madrid, Spain..
    Fau, Guillaume
    Space Applicat Serv SA, Brussels, Belgium..
    Haufe, Florian
    Swiss Fed Inst Technol, Inst Robot & Intelligent Syst, Sensory Motor Syst Lab, Zurich, Switzerland..
    Di Pardo, Massimo
    Ctr Ric Fiat CRF, Res & Innovat Dept, SPW, Orbassano, Italy..
    Moreno, Juan C.
    CSIC, Cajal Inst, Neural Rehabil Grp, Madrid, Spain..
    Interactive robots for health in Europe: Technology readiness and adoption potential2023In: Frontiers In Public Health, ISSN 2296-2565, Vol. 11, article id 979225Article in journal (Refereed)
    Abstract [en]

    Introduction: Social robots are accompanied by high expectations of what they can bring to society and in the healthcare sector. So far, promising assumptions have been presented about how and where social robots are most relevant. We know that the industry has used robots for a long time, but what about social uptake outside industry, specifically, in the healthcare sector? This study discusses what trends are discernible, to better understand the gap between technology readiness and adoption of interactive robots in the welfare and health sectors in Europe.

    Methods: An assessment of interactive robot applications at the upper levels of the Technology Readiness Level scale is combined with an assessment of adoption potential based on Rogers' theory of diffusion of innovation. Most robot solutions are dedicated to individual rehabilitation or frailty and stress. Fewer solutions are developed for managing welfare services or public healthcare.

    Results: The results show that while robots are ready from the technological point of view, most of the applications had a low score for demand according to the stakeholders.

    Discussion: To enhance social uptake, a more initiated discussion, and more studies on the connections between technology readiness and adoption and use are suggested. Applications being available to users does not mean they have an advantage over previous solutions. Acceptance of robots is also heavily dependent on the impact of regulations as part of the welfare and healthcare sectors in Europe.

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