Perception for autonomous drive systems is the most essential function for safe and reliable driving. LiDAR sensors can be used for perception and are vying for being crowned as an essential element in this task. In this thesis, we present a novel real-time solution for detection and tracking of moving objects which utilizes deep learning based 3D object detection. Moreover, we present a joint solution which utilizes the predictability of Kalman Filters to infer object properties and semantics to the object detection algorithm, resulting in a closed loop of object detection and object tracking.On one hand, we present YOLO++, a 3D object detection network on point clouds only. A network that expands YOLOv3, the latest contribution to standard real-time object detection for three-channel images. Our object detection solution is fast. It processes images at 20 frames per second. Our experiments on the KITTI benchmark suite show that we achieve state-of-the-art efficiency but with a mediocre accuracy for car detection, which is comparable to the result of Tiny-YOLOv3 on the COCO dataset. The main advantage with YOLO++ is that it allows for fast detection of objects with rotated bounding boxes, something which Tiny-YOLOv3 can not do. YOLO++ also performs regression of the bounding box in all directions, allowing for 3D bounding boxes to be extracted from a bird's eye view perspective. On the other hand, we present a Multi-threaded Object Tracking (MTKF) solution for multiple object tracking. Each unique observation is associated to a thread with a novel concurrent data association process. Each of the threads contain an Extended Kalman Filter that is used for predicting and estimating an associated object's state over time. Furthermore, a LiDAR odometry algorithm was used to obtain absolute information about the movement of objects, since the movement of objects are inherently relative to the sensor perceiving them. We obtain 33 state updates per second with an equal amount of threads to the number of cores in our main workstation.Even if the joint solution has not been tested on a system with enough computational power, it is ready for deployment. Using YOLO++ in combination with MTKF, our real-time constraint of 10 frames per second is satisfied by a large margin. Finally, we show that our system can take advantage of the predicted semantic information from the Kalman Filters in order to enhance the inference process in our object detection architecture.

Veterinært speciale, 27 ECTS point. / Haves kun i elektronisk udg.

The world-wide present business-to-business product- and service selling companies define their global and local strategies in a different way. The main aim of this research is to investigate these differences and analyze them in terms of their origins and influence on these companies. Primary research question: How service- and product selling companies differ in defining their global and local strategies? Supporting research question: How significant are these differences in light of the performances of the companies? As a research method a single-case study with holistic design has been chosen. Both primary and secondary data have been used in analysis. The authors build, present and test two strategy definition-based models: one for product- and one for service selling company. For verification, empirical data from two corresponding case companies have been used. Conclusion: there are clear differences between product- and service selling companies when it comes to strategy definitions. Service selling companies tend to build a deep and long-lasting relationship between the company and customer which is a base of driving this type of business. For these types of companies the customer itself is in center. In case of product-selling companies more focus is being put on channel optimization, focusing on core businesses, making concessions and terminating bad customer accounts, but the main core of strategy is based on quality and innovation of the end product.

This master thesis presents the design of an implementation of a working prototype for an augmented motion capture acting environment. Motion capture (MoCap), the recording of movements to be applied to characters or objects in computer graphics simulations, is widely used in video games, advertisement, and cinema. MoCap is realized through different techniques, where one common problem is the efficiency to capture actor’s motion performances. To capture motions without obstacles for the motion detectors, actors act blindly, without graphic references while acting. Mistakes or a poor correlation between the actors performances and the computer graphics simulation requires the scene either to be taken many times or to be corrected afterwards in time-consuming post-production. These issues slow down the production process or lead to a low quality product.We suggest that one way to limit the problem of efficiency in motion capture is to let actors perform in a virtual environment. To this end, this master thesis presents a simple prototypeenvironment with the goal to support actors’ performances to improve motion capture efficiency. The idea is to surround an actor with four screens which display the virtual environment. A Microsoft Kinect camera is utilized for motion capture. Gestures are usedto trigger interactions between the actor and the virtual environment. Furthermore, the thesis explores the applicability of open source libraries, game engines, and inexpensivegeneral purpose technology. We suggest, as indicated by demonstrated validity, that virtual environments and augmented motion capture improve the conditions for actors, thus providing more efficient motion capture shots. However, further research and quantitative measurements are needed to understand and fully evaluate the effect of the presented prototype tool.

During the last few years, awareness of environmental- and health related problems have grown dramatically. An area that has a contributed to these concerns are the food industry. It has affected the demand of greener products such as organic food, which aims to be healthier and better for the environment. Although there are different views on the exact benefits of organic food, it is considered to have a general positive effect on its surroundings. However, organic food has been costly, both for farmers and consumers, which has created an imbalance in supply and demand for organic products. Even if the sales of organic food has increased, the consumption is not enough for prices to decrease. It has also been found that people claim to buy that they buy organic to a higher extent than they actually do. Therefore this thesis focus on understanding how sales of organic food can be increased further, by identifying existing customer values and brand knowledge about organic products, in order to use the findings to improve problem areas and change buying behavior. The result is based on several research methods, although the greatest part comes from empirical tests examine the research questions derived from earlier research and interviews. The tests main focus was to investigate perceptions about price sensitivity, the effect of place and promotion, and finally the effect of clarifying the concept of organic food through arguments on the packages. The main conclusion is that the greatest opportunity to change consumer behavior towards buying more organic products is held by the retailers. The majority of all decisions are made in store, which is why the greatest change to influence consumer behavior is located there. Down- and upstream activities are recommended depending on the customer’s readiness to change purchase behaviors into new once. However, further studies of the arguments actual impact on sales are proposed to be further studied, and has been left out due to the limited scope of the tests and the possibility to measure it. Also, further research on to what extent the customer is willing to let the retail chains take decisions for them is proposed. / Under de senaste åren har medvetenheten om miljö- och hälsorelaterade problem ökat dramatiskt. Ett område som har bidragit till denna oro är livsmedelsindustrin. Detta har påverkat efterfrågan på miljövänliga produkter som ekologiska livsmedel, vars syfte är att främja hälsa och miljö. Även om det finns olika uppfattningar om de exakta fördelarna med ekologisk anses det i allmänhet ha positiva effekter på omgivningen. Ekologiska livsmedel är dock kostsamt, både för jordbrukare och konsumenter, vilket har skapat en obalans i utbud och efterfrågan. Även om försäljningen har ökat, är konsumtionen inte tillräcklig för att priset ska minska. Det har också visat sig att människor ofta utger sig för att köpa ekologiska produkter i högre grad än vad de faktiskt gör. Därför avser denna studie att analysera hur försäljningen av ekologiska livsmedel kan öka ytterligare genom att identifiera befintliga kundvärderingar och varumärkes kunskap om ekologiska produkter för sedan använda resultaten till att förbättra problemområden och förändra köpbeteendet. Resultatet bygger på flera forskningsmetoder, även om den största delen kommer från empiriska tester som undersöker forskningsfrågor skapade utifrån tidigare litteraturen på området samt intervjuer. Testernas huvudfokus var att pröva uppfattningar om priskänslighet, effekten av produktplacering och uppmärkning, samt effekten av förtydligande argument av ekologiska produkters innebörd. Den viktigaste slutsatsen av denna studie är att den största möjligheten att ändra konsumenternas beteende till att köpa mer ekologiska produkter innehas av återförsäljarna. Majoriteten av alla beslut fattas i butiken, vilket gör att de har störst möjlighet att påverka. Ned- och uppströms aktiviteter rekommenderas beroende på kundens benägenhet att ändra beteende. Det krävs dock ytterligare studier på argumentens inverkan på försäljningen Ytterligare forskning om hur villig kunden är att låta butikskedjorna fatta beslut åt dem rekommenderas.

Mobile devices have become a massively prevalent part of everyday life, as their capabilities and functionality have expanded into new domains. One form factor that has attracted recent renewed interest is the smartwatch.  This paper looks at how devices can be used to track the time, and in particular how we can invent new visualisations for timekeeping. It draws on different psychological theories of time to sketch out six new time visualisations, drawing on both old and new timekeeping devices as inspiration. These visualisations address linear time visualisations and cyclical time visualisations. The designs are contrasted with each other, with a final design selected and prototyped on the Apple Watch. The prototype is briefly evaluated through a 48 hour user test with one user. The design is then reiterated upon based on the feedback from this user test. / Mobila enheter har blivit en allt större del av våra vardagliga liv i samma takt som deras kapacitet och funktionalitet har ökat och spridit sig till nya områden. Ett av dessa områden som nyligen fått ett nyfunnet intresse är smarta klockor. Den här uppsatsen tittar på hur mobila enheter och framför allt smarta klockor kan användas för att hålla reda på tiden. Den undersöker framför allt på hur vi kan ta fram nya sätt att visualisera tid. Arbetet bygger på olika psykologiska teorier om tid för att skissa sex stycken olika tidsvisualiseringar, de olika visualiseringarna använder också historiska tidmätningsinstrument som inspiration. Dessa visualiseringar bygger också på ett framtaget koncept om att tid kan ses som konstant eller cyklisk. Designförslagen jämförs sedan med varandra och en slutgiltig design väljs ut. En prototyp för Apple Watch skapas, baserat på den slutgiltiga designen. Prototypen utvärderas genom att en användare bär klockan under 48 timmar. Därefter förbättras och förändras designen baserat på återkopplingen från testet.

Parametric design can be used for structural design. This approach has someclear advantages compared to the conventional point-based approach using differentComputer Aided Design (CAD)-software, especially in early stage of design. Since themodel is parametrically defined, alternate designs, that are within the scope of theparametric definition, can be explored with little effort from the user compared tothe point-based models. In this way, optimization routines can be used to make moreinformed decisions about the design. Pipe bridges usually have a similar design that issuitable to be defined parametrically.The aim of the thesis is to automate the modeling of pipe bridges in the earlystages of design, to make an integrated analysis and to optimize the structure withregard to material cost and carbon dioxide equivalent-emissions as well as mass ofthe structure. Further, to investigate in what way these objectives are correlated.This thesis improves an existing grasshopper script used to design pipe bridges andimplement an automatic generation of a Bill of Quantity (BoQ).The results of the thesis case study suggests that there is potential in usingoptimization with parametric design to minimize the cost of pipe bridges. With a goodparametric design definition alternate designs can be explored with little effort fromthe user. This benefit to speed up the design process, and allowing the designer towork with adaptable design, could be reasons to turn to a parametric design method.It should also be stressed that this thesis suggests a correlation between the cost of thestructure and the carbon dioxide equivalent emission from the structure. Meaning thatwhile minimizing emissions one could also be minimizing the cost.

This qualitative research explores what logistics structures a growing retail company can employ to support its international expansion with a focus on high customer satisfaction levels. It delves into the logistics configurations for reaching efficiency in inbound logistics, especially meeting the complexities of growing volumes and extensive supplier networks. A case study is performed of a Swedish fashion company, which has achieved remarkable growth both within its domestic borders and on the global stage. This stresses a critical need of a logistics structure designed to manage the growing volumes and the global market. Using qualitative methodologies, including in-depth semi-structured interviews and literature reviews, this thesis unveils two central logistical solutions: the shift towards a multi-warehouse system and the integration of Consolidation Hubs. In the context of global expansion within retail, the study underscores the imperative nature of strategic logistics planning. Adopting a multi-terminal logistics system with geographically spread warehouses appears as an initial recommendation. This configuration facilitates accelerated delivery timelines and effectively addresses regional market nuances. Furthermore, regionalized warehousing minimizes administrative complexities and enhances customer trust. While centralized logistics structures have a cost benefit, the prioritization of service quality through a decentralized model emerges as central for maintaining high levels of customer satisfaction in the retail industry. Additionally, the research highlights the role of Consolidation Hubs in refining global logistics structure for retail companies. Beyond mere cost efficiencies, Consolidation Hubs significantly reduce transport-related environmental footprints. This aligns seamlessly with the modern consumer's sustainability preferences, potentially offering companies a distinct competitive advantage. More importantly, the adoption of Consolidation Hubs optimizes control over inbound logistics, ensuring stringent product quality checks, minimizing errors, and promoting strong supplier relationships. / Denna kvalitativa studie utforskar de logistikstrukturer som växande bolag inom detaljhandeln kan tillämpa i sin internationella expansion med fokus på hög kundnöjdhet. Den fördjupar sig i nödvändiga logistikstruktur för att uppnå effektivitet i den inkommande logistiken, särskilt för att möta komplexiteten av växande volymer och omfattande leverantörsnätverk. En fallstudie har genomförts på ett svenskt modeföretag som under de senaste åren har uppnått en betydande tillväxt både lokalt och på den globala marknaden. Denna tillväxt betonar ett kritiskt behov av en logistikstruktur anpassad för att hantera denna tillväxt och marknad. Med hjälp av kvalitativa metoder, inklusive djupgående semistrukturerade intervjuer och litteraturstudier, presenterar denna forskning två centrala strategiska förändringar och lösningar: övergången till ett multi-lagersystem samt införandet av konsolideringshubbar. Vid global expansion inom detaljhandeln lyfter studien behovet av en strategisk logistikplanering. Tillämpandet av ett multi-lagersystem med geografiskt spridda terminaler är den primära rekommendationen. Denna konfiguration underlättar korta leveranstider och bemöter även de olika nyanser marknader har. Dessutom minimerar regionala lager administrativ komplexitet och ökar kundernas förtroende. Medan centraliserade logistikstrukturer har en kostnads fördel,erbjuder den decentraliserade modellen en hög servicegrad, vilket är centralt för att upprätthålla en hög kundnöjdhet i detaljhandeln. Dessutom belyser forskningen den roll konsolideringshubbar spelar för att ytterligare förbättra den globala logistikstrukturen för bolag inom detaljhandel. Utöver kostnadseffektivitet minskar konsolideringshubbar transportrelaterade miljöavtryck avsevärt. Detta överensstämmer med den moderna konsumentens hållbarhetskrav, vilket kan ge bolag en tydlig konkurrensfördel. Än viktigare är att införandet av konsolideringshubbar optimerar kontrollen över den inkommande logistiken genom att säkerställa strikta produktkvalitetskontroller, minimera fel och främja starka relationer med leverantörer.

The aim of this thesis is partly to create a dynamic decision model for Sandvik Machining Solutions distribution flows and partly to evaluate how the stock transfer system logic handle four specific exceptional situations. The purpose is to reduce the total costs while keeping or improving the service level. The thesis presents a total cost model and guidelines for the planning function when deciding the main supplier in the distribution. The thesis also presents a system logic evaluation of the stock transfer logic used by Sandvik Machining Solutions.

The Bluetooth technology is still in an early stage of development. Much more research can and will be done before the performance of Bluetooth reaches its peak. During the recent years, ideas to integrate Bluetooth units in larger networks have arose, with the Bluetooth unit in the role as access point to the network. This behavior opens up for new possibilities but also increases the requirements on performance. In this thesis the main topic is improvement of piconet performance. The piconet, with the Master unit as access point, is studied from a teletraffic engineering point of view. Different performance attributes and behaviors have been found and investigated. With the outcome of these investigations in mind, new and more efficient policies and algorithms are proposed for both data and voice. A policy increasing the utilization of available bandwidth in a piconet is presented. Furthermore, a proposal is presented where multiple Bluetooth units are used in an efficient manner to support voice calls. The proposed solution does also enable creation of simple teletraffic models to be used for dimensioning. / Phone: +46709138850