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Fire fighting operations, sometimes, can put the life of fire fighters in threat. For example an environment with potential fire risk and with the presence of gas bottles can cause an explosion, besides other dangers, and certainly put the life of both the victims and fire fighters at risk. Recent advancements in the field of robotics enabled to develop a robotic system which can assist the fire fighters to avoid any human injury and property damage. The live update of the map displayed on the operator’s screen, while teleoperating the robot for search process, can help to properly plan the rescue operation. This thesis details the implementation of a rich 2D mapping system for FUMO2 a fire fighting assistant robot developed by AB Realisator. Rich 2D mapping system produces an occupancy grid map, having the geometry and temperature of the environment with position of fire extinguishers, by fusing different sensor modalities. By rich we mean any type of additional information on top of the standard, geometric only, 2D maps. A sensor fusion method is proposed to integrate the distance measurements reported by a laser range finder, temperature readings acquired by a thermal IR camera and the position of fire extinguishers delivered by visible spectrum camera based object detector. The object detector detects the object in real time and is developed utilizing the technique of cascade of boosted classifiers using MB-LBP features. The proposed system is implemented on both FUMO2 a fire fighting assistant robot and in Gazebo simulator for testing and evaluation.

As technology evolves, the need to use software for critical applications increases. It is then required that this software will always behave correctly. Verification is the process of formally proving that a program is correct. Model checking is a technique used to perform verification, which has been successful with finite state concurrent programs. In the recent years, there has been progress in the area of the verification of infinite state concurrent programs. There can be several sources of infiniteness. Relevant to this thesis are recent model checking techniques developed at LiU, that can automatically establish correctness for programs manipulating variables that range over infinite domains, and spawning arbitrary many threads, which can synchronize using shared variables, barriers, semaphores etc. These techniques resulted in the tool PACMAN for the verification of multi-threaded programs. The aim of this thesis is to extract analyzable models from multi-threaded C programs, in order to use them for verifying the program that they describe, by using PACMAN. In addition, we augment the C programming language to allow the possibility of expressing some important concepts of multi-threaded programs, such as non-determinism, atomicity etc, with the use of the traditional C syntax. In a following step, we target PACMAN's input format, in order to verify our extracted models. Such verification engines usually accept as input the description of a multi-threaded program expressed in some modeling language. We, therefore, translate a minimum subset of the C programming language, which has been augmented, to effectively describe a multithreaded program, to PACMAN's input format and then pass the description to the engine. In the context of this thesis, we have successfully defined a set of annotation for the C programming language, in order to assist the description of multi-threaded programs. We have implemented a tool that effectively translates annotated C code into the modeling language of PACMAN. The output of the tool is later passed to the verification engine. As a result, we have contributed to the automation of verifying multi-threaded C programs.

The purpose of this project is to investigate RESS, Responive + Server Side, a startegy for serving optimized web content to different types of end user devices. RESS is also compared to other mutli-device targeting solutions, Responisve Web Design and Server Side Adaptation, from different points of view, such as performance and workload.

Är ett byte mellan språken R och PHP genomförbart, är det en bra idé att lägga kraft och tid på vid generering av diagram på en hemsida? När det kommer till att skapa en hemsida hjälper CodeIgniter till med strukturen, men det hjälper enbart om koden i sig sedan är väl strukturerad och välskriven. Att byta från ett litet språk som R till ett stort som PHP har sina fördelar, speciellt med att det är fler som kan PHP och kan gå in och hjälpa till om förändringar behövs. För att detta ska gå att genomföras på ett enkelt sätt krävs dock att den ursprungliga koden är välskriven.

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Konstruktion utav stora stadsmiljöer i 3D består, från idé till färdig scen, utav många olika processer och tekniker. Från koncept genom planering, modellering, texturering och rendering till slutresultatet. Det är därför önskvärt att minimera mängden onödigt arbete och effektivisera dessa processer där det är möjligt. Den här studien undersöker hur modularitet kan användas och implementeras i semi-automatiserade konstruktionslösningar i syftet för att användas i filmsammanhang. Kärnan utav studien utgår ifrån att en grafiker skapar diverse byggstenar för olika stadsmiljöer. För att sedan konstruera en miljö utifrån dessa byggstenar kan programvaror automatisera processen med hjälp av olika variabler som kontrolleras utav grafikern. Detta sparar grafikern enorma mängder repetitivt arbete som istället kan fokusera på detaljarbete och slutresultatet. Genom en mer automatiserad process skapas en bättre balans i arbetet mellan detaljrikedom och den spenderade arbetstiden, vilket ger ett mer effektiviserat arbetsflöde.

Abstract In most of the animation pipelines today, motion capture and different simulations e.g. Autodesk Maya Muscle is used to get a more realistic feel of an animation. The main goal of this Thesis is to make a character appear and move in as natural a way as possible and exploring different methods on receiving a good result. It will answer different question on how to record movement and using that data together with a system that simulates muscles. To complete this process we will record using a Microsoft Kinect Camera, which is originally hardware for Xbox movement software. For our muscle simulation we used Autodesk Maya Muscle, where we built a muscle system. This will be research through finding information on each subject separately and trough experiments combing the two together

Software is continually and rapidly evolving with constant risk of introducing faults. Software testing has long been used to aid in the detection of faults, and agile development strategies have been driving the use of automated tests and regression testing specifically. As development continues, test suites eventually grow in the number of test cases to the extent that the execution time is extensive. When it has increased to the point that it prevents efficient software engineering, a regression testing technique is required to reduce the feedback cycle times - the times for receiving feedback from tests on changes. This thesis has investigated regression testing techniques presented in previous research. The focus has been on test case selection techniques - for selecting a subset of all test cases for execution - and test case prioritization techniques - for determining the execution order of test cases. With some evaluation criteria in mind, a safe modification-based selection and prioritization technique was chosen and a proof-of-concept implementation was developed. First, the implemented technique was evaluated for robustness using an example application. Following, a case study was conducted on an existing software development project, where the perceived problems with regression testing were documented by interviewing a software developer. The technique was then integrated with the project's existing regression testing and its efficiency was evaluated. It was concluded that a regression testing technique is, to some extent, practical to implement, although difficult to verify for complete correctness. Empirical evaluations in the case study showcased reduced feedback cycle times of 60% or more compared to when not using the technique - assuming a uniform distribution of failing test cases. However, it was stated as important to evaluate the efficiency of the technique on a per-project basis.

Context Inference and Planning are becoming more and more valuable in robot oriented technology and several artificial intelligence techniques exist for solving both context inference and planning problems. However, not many combinations of context inference and planning solving have been tried and evaluated as well as comparison between these combinations. This thesis aims to compare two different algorithms, using two different approaches to the problems of context inference and planning. The algorithms studied are Graphplan, which is a classical planning approach to context inference and planning, and SAM, a framework created by the Örebro University, that uses a temporal constraint-based approach. It will also evaluate the expressiveness of these two algorithms applied to the system. To do so an implementation and test of the two approaches is evaluated on a real robot system. This evaluation will show that SAM is much more expressive in terms of domain definition than Graphplan and that reasoning about temporal constraints could become crucial for achieving a system that can succesfully recognize context inference and plan accordingly. The decision on whether to apply one or another is just depending on the kind of system the user needs. If temporal constraints are mandatory, then SAM is the choice to make; in case the only thing the system needs is a fast algorithm able to always find a plan, if it exists, then Graphplan is a better choice.