Since their introduction in the 1950s, industrial Automated Guided Vehicles (AGV) have gone from automatic machinery limited by hardware to complex robots limited by software, called Autonomous Mobile Robots. Small and medium businesses need to be able to utilize cutting-edge technology. Therefore, this research focuses on deploying mapless AMRs on cheap open source AMRs in dynamic industrial environments. The study implements Dijkstra’s and A-STAR algorithms on a simulated Turtlebot3 model deployed in a Gazebo rendering of an industrial warehouse with moving objects added. The Turtlebot3 model traverses the environment where time and distance results are observed. The results shown in the research indicate that Dijkstra’s algorithm is barely affected by the change of the initial map state, while the A-STAR algorithm performed worse on average. Future work should focus on minimizing the sensors needed and continue testing with more algorithms, but early tests show promising results.

Utility network fieldworkers of today want to access more information and can benefit a lot from new technical development. Today most fieldwork is conducted using paper plans or locally stored data on laptops as a visual aid. Therefore there is a need for improvement and development of new reliable software for fieldwork. Also the abil- ity to use advanced Geographic Information Systems (GIS) solutions and enhanced visualization methods while out in the field could help improve fieldwork. In order to be as e↵ective as possible when carrying out di↵erent tasks in the field, di↵erent ways of visualizing the same network data are required. 2D and 3D visualization methods have di↵erent advantages and disadvantages when it comes to visualizing network data, which will be accounted for in this thesis. There are three main objectives in this thesis. The first is to evaluate how suitable di↵erent visualization methods are for fieldwork users working with utility networks. The second is to get a better understanding of what hardware and software that can be used for implementing the visualization methods. The last one is to use the first and second objectives to develop a prototype for utility network fieldwork. To address the objectives, the first step is to understand the users that work in the field. By conducting interviews, information about the current workflow for fieldworkers and their opinions about how the systems currently work is gathered. Based on this information the thesis is divided into cases and criteria which is the foundation for proposing a solution in form of mock-up sketches which is then imple- mented in form of a prototype. Finally the prototype is evaluated quantitatively and qualitatively using a web survey and presentations for potential end users. The prototype is created using web technologies and is mainly intended for tablets. Because of its mobility, screen size and adequate computational power the tablet is a good hardware choice for conducting fieldwork. The prototype presents network data in a 2D interactive map view, a 3D augmented reality (AR) view and a combined view. These choices are based on information gathered by studying related work and performing interviews with potential end users in the beginning of the study. The results of the thesis highlights large possibilities in making field work more e↵ective for fieldworkers. This in concluded partly by the results of the interviews with potential end users, but also by the response of the survey and presentation of the suggested solution. It is shown that there are new ways to improve the work process out in the field and that AR can help in visualizing the network in a new informative way for fieldwork. However, several challenges remain, but rapid techno- logical development implies possible solutions to deal with these challenges.

Requirements engineering (RE) involves human-centric activities that require interaction among different stakeholders. Traditionally, RE has been considered as a centralized, collocated, and phase-specific process. However, in open source software (OSS) development environments, the core RE activities are iterative and dynamic and follow a rather decentralized software engineering paradigm. This crosscutting characteristic of open source RE can be conceptualized using the “Twin Peaks” model that weaves RE together with software architecture. Although many weaving mechanisms have been proposed in recent years, the lack of theoretical underpinning limits a mechanism’s applicability and usefulness in different scenarios. In this research, we hypothesize stakeholders’ social interaction as an ecologically valid weaving mechanism of the “Twin Peaks” in open source RE. In this work, we use the phrase “stakeholders’ social interaction” to indicate interaction among stakeholders regarding the software system that takes place through some communication means, such as posting comments and artifacts over the issue tracking system. We investigate the influence of stakeholders’ social interaction in different RE activities, in particular, requirements identification, creativity in RE, and requirements implementation of OSS systems. This research enables us to gain valuable insights to generate guidelines for enhancing software engineering practice in relevant areas.

The number of people working together in repositories grows every day. With increasing activity and interaction in a repository the amount of work required to maintain high quality and productivity is a problem. Automating workflows is a solution many developers lean towards in order to handle the problem but the effects of workflow automation is not yet determined enough to say that it actually helps. Based on GitHub’s workflow automation tool, GitHub Actions, this study looks at the effects of workflow automation by analysing the amount and speed of work in repositories on GitHub. To further understand the effects this study looks at the impact of the number of people interacting with a repository on the speed in which developers work. This study performs a statistical analysis on the difference between repositories that use workflow automation and those that do not to further increase knowledge of developers so that they can make informed decisions. Analysis on the effects of workflow automation shows that repositories that use it have an increased amount of committed code, more pull requests, uses issues more, faster pull request closure, and faster issue closure rates. In general repositories using workflow automation have more stars and contributors than those without. Analysis of the impact of the number of contributors show that usage of workflow automation increases with contributors. The study concludes that further research is required to determine if workflow automation is the causing factor of this or the implementation of workflow automation is an effect of increased activity in repositories.

Compared to other instruments for chemical analyses, electrochemical analyzers are relatively simple, inexpensive, easy to miniaturize and require little-to-no maintenance. However, like all commercially available instruments, commercial electrochemical analyzers like potentiostats primarily operate as black boxes with manufacturers providing little or no information about internal circuitry and programming. This practice can limit a researcher’s ability to develop new techniques or adapt an instrument for applications outside its typical use. In contrast, creators of open-source instruments release all the necessary information for reproduction of the hardware and software – minimizing such barriers to innovation in chemical analyses. Here, we report a low-cost, compact potentiostat based on an open-source Arduino microcontroller capable of performing electrochemical analyses such as cyclic and linear sweep voltammetry with an operating range of ± 208 𝜇A and ± 2.5 V. Performance of the potentiostat is investigated with low-cost pencil graphite electrodes and compared to a commercial potentiostat.

Open-source software development is becoming increasingly popular in the public sector due toits potential for innovation and technology integration. This study investigates the possibilities of developing an open-source trip planner using OpenTripPlanner (OTP) for the Uppsala region's growing public transport needs. This thesis aims to increase understanding of the opportunitiesand challenges of open-source software development within the public sector and what lessons can be learned from previous implementations of OTP. The methods used were the development of a stand-alone web-based Proof of Concept of an OTP solution as well as a case study including public organizations that have worked with open-source software development and specifically implementations of OTP. The implementation of the Proof of Concept shows the work effort put in to set up a web-based OTP solution, how it can be used and adapted to the Uppsala region's needs. The results from the case study show that open-source applications can be developed through cooperation within and between regions and countries, resulting in innovative solutions with more transparency and flexibility. The use of OTP has the potential for creating a less complex, streamlined system with flexible and efficient data processing. Challenges include the administration of the data sets used, changing the work culture to more open ways of working and understanding ones needs to develop the right product. The need for a comprehensive system review and the establishment of competent teams or suppliers are identified as critical factors in successful open-source development.

With the trend toward more connected and automated industries, the benefits of an open-source version of standard solutions become clear. It is common place to use proprietary Automated Guided Vehicles (AGV); however, using open-source Autonomous Mobile Robot (AMR) solutions would allow smaller and medium-sized businesses to compete with larger businesses. Implementing an open-source solution would require adapting a mapping technique that it will use. The study compares using a predefined map and a dynamically run-time generated map and the difference in time from start to destination and the distance traveled. The results show that the dynamic and predefined perform better or worse depending on the environment. Using predefined mapping indicates an overall better solution for industries because while the distance and time are pretty close, the variance difference is too significant for an environment that requires consistency.

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Data for empirical studies of software engineering can be difficult to obtain. Extrapolations from small controlled experiments to large development environments are tenuous and observation tends to change the behavior of the subjects. In this thesis we propose the use of data gathered from software repositories in observational studies of software engineering. We present tools we have developed to extract data from CVS repositories and the SourceForge Research Archive. We use these tools to gather data from 9,999 Open Source projects. By analyzing these data we are able to provide insights into the structure of Open Source projects. For example, we find that the vast majority of the projects studied have never had more than three contributors and that the vast majority of authors studied have never contributed to more than one project. However, there are projects that have had up to 120 contributors in a single year and authors who have contributed to more than 20 projects which raises interesting questions about team dynamics in the Open Source community. We also use these data to empirically test the belief that productivity is constant in terms of lines of code per programmer per year regardless of the programming language used. We find that yearly programmer productivity is not constant across programming languages, but rather that developers using higher level languages tend to write fewer lines of code per year than those using lower level languages.