One of the challenging issues in robotics is to give robots the ability to navigate itself in unknown environment without human help. In this thesis, we explored and evaluated object localization method for a mobile robot using radio-frequency identification (RFID) technology. The workplace included objects with RFID tags, a mobile robot with dual antenna RFID reader and obstacles: chairs, tables and a human. Using RFID reader, we were able to have the mobile robot communicate with the RFID tag to navigate the tagged object. This research employed the following methods for navigating a mobile robot and locating objects. First, a mobile robot was implemented as Braitenberg vehicle. It used the received signal strength of the RFID tag to compute instantaneously and produce movement of the wheel and generate suitable motion in order to navigate the object. Second, a mobile robot with directional antenna that collects data about relative direction of the interested RFID tag in its local coordinate system and computes tag positions by taking several measurements for different positions of the robot. Our experiment results showed that proposed RFID system can locate an object and can track the movement of a target object in real time. To verify effectiveness of the system we performed several experiments in the workplace.

The Novint Falcon is a low cost, 3-axis, haptic device primarily designed and built for the gaming industry. Meant to replace the conventional mouse, the Novint Falcon has sub- millimeter accuracy and is capable of real time updates. The device itself has the potential to be used in telerobotics applications when coupled with a robotic gripper for example. Recently, the Intelligent Control Lab at Örebro University in Sweden built such a robotic gripper. The robotic gripper has three fingers and an additional w-axis which is able to move two of the fingers into alternate positions. Four motors control the movement of each respective axis. The purpose of this thesis is to integrate the afore mentioned devices in such a way that the Novint Falcon will control the robotic gripper movements. As the user moves the Novint Falcon handle in, the robotic gripper fingers will match this movement and close. Grasp and Home Position sub-routines will be implemented to showcase the buttons found on the Novint Falcon handle. The entire control system consists of a user friendly graphical user interface (GUI), an initialization procedure for both devices and workspace matching functions to ensure that any movement in the Novint Falcon is mirrored in the robotic gripper. The robotic gripper is controlled by a Galil motion controller. Experiments with haptic feedback have been carried out with Squirrel scripting and in C++. The GUI has been written using OpenGL and OpenGLUT resulting in a simple, yet informative user GUI. The robotic gripper experiments have been carried out by using Galil Tools Lite, C++ and the Galil programming language. All experiments have led to a robust and stable control system which allows the Novint Falcon to control all movements available on the robotic gripper, paving the way for future telerobotic applications.

This thesis shows new domains for social media applications. More specifically, it explores how communication and collaboration can be supported in the process automation industry.´A concept demonstrator was implemented using the Sencha Touch framework. The prototype is based on several identified use cases, and has been tested and evaluated with end users.The design and functionality is inspired from social media applications such as Facebook and Stack Overow. These kinds of popular social media platforms have developed an intuitive way of structuring and grouping information. This report shows that these information structures are indeed applicable in non traditional domains, such as the process automation industry.The concept answers to identified problem scenarios, e.g., communicating information between shifts and support of handling alarms. It also approaches personalization in order to support users focus and interest.

The increase in accidents, involving emergency vehicles, the last few years has led to a new approach regarding the drivers’ training. The idea is to find new tools and methodologies to complement the training of emergency drivers. Therefore, an application, that is supposed to give emergency drivers the opportunity to improve their understanding and risk awareness, has been requested. This projects goal has been to develop a working prototype of such an application, user-test it and acquire knowledge on learning to further enhance the prototype into a finished product. The results come in the form of a design document, which addresses what kind of support is needed for the application to fill its purpose.

Games are becoming increasingly realistic. Real-time physics simulation were almost unimaginable just decades ago but are now a vital part of many games. Even dynamic physics simulation e.g. interactive fluids has found a place in game development.This paper investigates and evaluates three methods of simulating fluids with the purpose of testing these in a 2dgame environment. These methods are allLagrangian i.e. particlebased, Sph methods, and chosen because of their dierences but also their importance to the field of interactive fluid simulation. In order to integrate the methods, they will be implemented with use of the 2dmechanics engineBox2dwhich is a popular choice in 2d game development.To evaluate the methods, water is the flluid of choice. Water is the most abundant of fluids and is bound to be found in most games containing fluids. Water is almost incompressible, therefore, the methods ability to withhold incompressibility is tested. Also, the convergence properties of kinetic energy is tested in order to find out more about stability.The results showed that the method based on Muller et al. [2003] demanded a prohibitively small time-step to be especially useful. The method from Clavet et al. [2005] managed to keep a suficiently large time-step but failed in simulating incompressible low-viscosity fluids. However, it excelled in the simulation of highly viscous fluids like gel. Finally, the method based on Bodin et al. [2011] showed impressive result in incompressibility but is more difficult to implement and requires a bit more resources and run-time.The paper concludes that if easy-to-implement cool effect is sought, then the method of Clavet et al. [2005] could be used with great results. However, Bodin et al. [2011] would be the best choice for games where physical accuracy is of greater importance. Also, Box2d is a good choice to extend with a fluid engine. However, it will never be as good as creating a physics engine with an integrated fluid engine.

This thesis report describes the process of developing an autonomous non-holonomic robot that can navigate and find targets in unknown environments. The goal was to create a system for a robot that was good enough to reach an honorable position in the SICK Robot Day competition 2009. The challenge of the competition was to build a autonomous vehicle that as fast as possible, found and marked number plates in a predefined order. To achieve this goal, we combined old and well known research with algorithms developed for this very purpose.The outcome of this project was an AI that could process sensor data and use it to plan smooth and safe routes to the destination. Behaviors for exploring unknown environments, detecting dead-ends, and avoiding collisions with other vehicles was also implemented. The report further explains and describes techniques such as SLAM and motion planning, which could have been applied to achieve a better and more accurate result.

AgX Multiphysics is a toolkit for performing physics-based simulations, developed by Algoryx Simulations AB. AgX provides stable physics simulations and is used for industrial and engineering simulations around the world.This thesis examines the possibilities for AgX to be used in the visual effects market for films and commercials. The thesis includes a survey of opinions of professionals from the visual effects company Digital Domain. The three most wanted capabilities from AgX was according to the survey; stiff constraints, fluid-rigid body interaction and hair simulation. Furthermore, all new tools must improve or be equal on all aspects compared to the old tools, and have good scalability.Several simulations were run to compare the stiff constraints and scalability of AgX with the currently used tools. The results show that AgX handles stiff constraints a lot better than the old tool and is also highly scalable.In summary, for saving time from doing tedius tasks and for using physics to an extent earlier not possible, AgX would be a good addition to the current use of physics in visual effects.

In this exam project a time tracking system is designed, evaluated and implemented at the Umeå based company Codemill AB. The system used within the company at the start of the project had several usability problems and lacked important features. The goal of the project was therefore to create a system that better meets their needs and can easily be extended with new features when neccessary.A requirements study collected information about what the users needed, how other systems had solved similair problems and what the issues with the existing solution were. A prototype was created from the requirments and evaluated with inspection methods anduser studies.The refined prototype was implemented as a web application. The final system was also evaluated with user studies and refined based on feedback.

24SevenOffice is a business software application delivered through an on-line rental computing approach called Software-as-a-Service (SaaS). Since its launch in 1996 the application has had a steady growth of functionality and, as a side effect, increased significantly in its complexity. That the application has turned out complex was arguably inevitable considering the varied and complex problems it is addressing. But as a result this led to some parts of the business software being complicated to learn and use. Fortunately, good interaction design can manage complexity by providing organization, structure and an underlying logic that once mastered makes everything fall into place. This thesis is analyzing one of the systems core components, the invoice system, and provides redesign suggestions for increasing its usability. The used methods are modeled on Cooper's Goal-Directed Design Methodology, which includes: Personas, Scenarios, Design Principles and Design Patterns. Suggested solutions address both tweaking the existing solution and presenting a vision for a major rework.

This thesis investigates how setting up a private cloud using the Eucalyptus Cloud system could be done along with it's usability, requirements and limitations as an open-source cloud platform providing private cloud solutions. It also studies if using the MapReduce framework through Apache Hadoop's implementation on top of the private Eucalyptus Cloud can provide near linear scalability in terms of time and the amount of virtual machines in the cluster. Analysis has shown that Eucalyptus is lacking in a few usability areas when setting up the cloud infrastructure in terms of private networking and DNS lookups, yet the API that Eucalyptus provides gives benefits when migrating from public clouds like Amazon. The MapReduce framework is showing an initial near-linear relation which is declining when the amount of virtual machines is reaching the maximum of the cloud infrastructure.