Auf der Sonne sind viele Phänomene zu sehen die mit der solaren magnetischen Aktivität zusammenhängen. Das dafür zuständige Magnetfeld wird durch einen Dynamo erzeugt, der sich vermutlich am Boden der Konvektionszone in der sogenannten Tachocline befindet. Angetrieben wird der Dynamo teils von der differenziellen Rotation, teils von den magnetischen Turbulenzen in der Konvektionszone. Die differentielle Rotation kann an der Sonnenoberfläche durch beobachten der Sonnenfleckbewegungen gemessen werden.<br>Um einen größeren Parameterraum zum Testen von Dynamotheorien zu erhalten, kann man diese Messungen auch auf andere Sterne ausdehnen. Das primäre Problem dabei ist, dass die Oberflächen von Sternen nicht direkt beobachtet werden können. Indirekt kann man dies jedoch mit Hilfe der Doppler-imaging Methode erreichen, die die Doppler-Verbreitung der Spektrallinien von schnell rotierenden Sternen benützt. Um jedoch ein Bild der Sternoberfläche zu erhalten, bedarf es vieler hochaufgelöster spektroskopischer Beobachtungen, die gleichmäßig über eine Sternrotation verteilt sein müssen. Für Sterne mit langen Rotationsperioden sind diese Beobachtungen nur schwierig durchzuführen. Das neue robotische Observatorium STELLA adressiert dieses Problem und bietet eine auf Dopplerimaging abgestimmte Ablaufplanung der Beobachtungen an. Dies wird solche Beobachtungen nicht nur leichter durchführbar machen, sondern auch effektiver gestalten.<br>Als Vorschau welche Ergebnisse mit STELLA erwartet werden können dient eine Studie an sieben Sternen die allesamt eine lange (zwischen sieben und 25 Tagen) Rotationsperiode haben. Alle Sterne zeigen differentielle Rotation, allerdings sind die Messfehler aufgrund der nicht zufriedenstellenden Datenqualität von gleicher Größenordnung wie die Ergebnisse, ein Problem das bei STELLA nicht auftreten wird. Um die Konsistenz der Ergebnisse zu prüfen wurde wenn möglich sowohl eine Kreuzkorrelationsanalyse als auch die sheared-image Methode angewandt. Vier von diesen sieben Sternen weisen eine differentielle Rotation in umgekehrter Richtung auf als auf der Sonne zu sehen ist. Die restlichen drei Sterne weisen schwache, aber in der Richtung sonnenähnliche differentielle Rotation auf.<br>Abschließend werden diese neuen Messungen mit bereits publizierten Werten kombiniert, und die so erhaltenen Daten auf Korrelationen zwischen differentieller Rotation, Rotationsperiode, Evolutionsstaus, Spektraltyp und Vorhandensein eines Doppelsterns überprüft. Alle Sterne zusammen zeigen eine signifikante Korrelation zwischen dem Betrag der differenziellen Rotation und der Rotationsperiode. Unterscheidet man zwischen den Richtungen der differentiellen Rotation, so bleibt nur eine Korrelation der Sterne mit antisolarem Verhalten. Darüberhinaus zeigt sich auch, dass Doppelsterne schwächer differentiell rotieren. / The sun shows a wide variety of magnetic-activity related phenomena. The magnetic field responsible for this is generated by a dynamo process which is believed to operate in the tachocline, which is located at the bottom of the convection zone. This dynamo is driven in part by differential rotation and in part by magnetic turbulences in the convection zone. The surface differential rotation, one key ingredient of dynamo theory, can be measured by tracing sunspot positions.<br>To extend the parameter space for dynamo theories, one can extend these measurements to other stars than the sun. The primary obstacle in this endeavor is the lack of resolved surface images on other stars. This can be overcome by the Doppler imaging technique, which uses the rotation-induced Doppler-broadening of spectral lines to compute the surface distribution of a physical parameter like temperature. To obtain the surface image of a star, high-resolution spectroscopic observations, evenly distributed over one stellar rotation period are needed. This turns out to be quite complicated for long period stars. The upcoming robotic observatory STELLA addresses this problem with a dedicated scheduling routine, which is tailored for Doppler imaging targets. This will make observations for Doppler imaging not only easier, but also more efficient.<br>As a preview of what can be done with STELLA, we present results of a Doppler imaging study of seven stars, all of which show evidence for differential rotation, but unfortunately the errors are of the same order of magnitude as the measurements due to unsatisfactory data quality, something that will not happen on STELLA. Both, cross-correlation analysis and the sheared image technique where used to double check the results if possible. For four of these stars, weak anti-solar differential rotation was found in a sense that the pole rotates faster than the equator, for the other three stars weak differential rotation in the same direction as on the sun was found.<br>Finally, these new measurements along with other published measurements of differential rotation using Doppler imaging, were analyzed for correlations with stellar evolution, binarity, and rotation period. The total sample of stars show a significant correlation with rotation period, but if separated into antisolar and solar type behavior, only the subsample showing anti-solar differential rotation shows this correlation. Additionally, there is evidence for binary stars showing less differential rotation as single stars, as is suggested by theory. All other parameter combinations fail to deliver any results due to the still small sample of stars available.

Die dynamische Schätzung der Fahrzeugposition durch Sensordatenfusion ist eine der grundlegenden Aufgaben für moderne Verkehrsanwendungen wie zum Beispiel fahrerlose Transportsysteme oder Pre-Crash-Sicherheitssysteme. In dieser Arbeit wird ein Verfahren zur dezentralen kooperativen Fahrzeuglokalisierung vorgestellt, das auf einer allgemeinen Methode zur Fusion von Informationen mehrerer Teilnehmer beruht. Sowohl die lokale als auch die übertragene Schätzung wird durch Partikel dargestellt. Innerhalb einer Simulation wird gezeigt, dass sich die Positionsschätzung der einzelnen Teilnehmer im Netzwerk im Vergleich zu einer reinen GPS-basierten Lösung verbessert.

Background: Video surveillance is a growing area where it can help with deterring crime, support investigation or to help gather statistics. These are just some areas where video surveillance can aid society. However, there is an improvement that could increase the efficiency of video surveillance by introducing tracking. More specifically, tracking between cameras in a network. Automating this process could reduce the need for humans to monitor and review since the tracking can track and inform the relevant people on its own. This has a wide array of usability areas, such as forensic investigation, crime alerting, or tracking down people who have disappeared. Objectives: What we want to investigate is the common setup of real-time multi-target multi-camera tracking (MTMCT) systems. Next up, we want to investigate how the components in an MTMCT system affect each other and the complete system. Lastly, we want to see how image enhancement can affect the MTMCT. Methods: To achieve our objectives, we have conducted a systematic literature review to gather information. Using the information, we implemented an MTMCT system where we evaluated the components to see how they interact in the complete system. Lastly, we implemented two image enhancement techniques to see how they affect the MTMCT. Results: As we have discovered, most often, MTMCT is constructed using a detection for discovering object, tracking to keep track of the objects in a single camera and a re-identification method to ensure that objects across cameras have the same ID. The different components have quite a considerable effect on each other where they can sabotage and improve each other. An example could be that the quality of the bounding boxes affect the data which re-identification can extract. We discovered that the image enhancement we used did not introduce any significant improvement. Conclusions: The most common structure for MTMCT are detection, tracking and re-identification. From our finding, we can see that all the component affect each other, but re-identification is the one that is mostly affected by the other components and the image enhancement. The two tested image enhancement techniques could not introduce enough improvement, but other image enhancement could be used to make the MTMCT perform better. The MTMCT system we constructed did not manage to reach real-time.

The concept of Computer Vision is not new or fresh. On contrary ideas have been shared and worked on for almost 60 years. Many use cases have been found throughout the years and various systems developed, but there is always a place for improvement. An observation was made, that methods used today are generally focused on a single purpose and implement expensive technology, which could be improved. In this report, we are going to go through an extensive research to find out if a professionally sold, expensive software, can be replaced by an off the shelf, low-cost solution entirely designed and developed in-house. To do that we are going to look at the history of Computer Vision, examples of applications, algorithms, and find general scenarios or computer vision problems which can be solved. We are then going take a step further and define solid use cases for each of the scenarios found. Finally, a prototype solution is going to be designed and presented. After analysing the results gathered we are going to reach out to the reader convincing him/her that such application can be developed and work efficiently in various areas saving investments to businesses.

Industrial robot programs are usually created with the programming language that the manufacturer provides. These languages are often limited to cover the common usages within the industry. However, when a more advanced program is needed, then third-party programs are often used to, e.g., locating objects using vision systems, applying correct force with force torque sensors, etc. Instead of using both the language of the robot and third-party programs to create more advanced programs, it is preferable to have one system that can fully control the robot. Such systems exist, e.g., Robot Operating System (ROS), Yet Another Robot Language (YARP), etc. These systems require more time to fully set up, but once they are set up supposedly they can be used for a lot of different applications and can be used on several industrial robots from different manufacturers. Currently, University of Skövde have robots from Universal Robots (UR) with several peripheral equipment which has limited control because the built-in language does not support it. Therefore, they need help with both investigating which robot system could be used and implementing that robot system. This thesis will prove the suitability of using ROS to control aforesaid hardware, fulfilling all the requirements. It will be also demonstrated the feasibility of ROS in the long-term, according to the future plans for this equipment in University of Skövde.

A reliable embedded real-time system has many requirements to fulfil. It must meet target deadlines in a number of situations, most of them in a situation that puts heavy stress on the system. To meet these demands, numerous tests have been created which test the hardware for any possible errors the developers might think of, in order to maximise system reliability and stability. These tests will take a lot of time to execute, and as system complexity grows, more tests are introduced leading to even longer testing times. In this thesis, a method to reduce the testing time of the software and, to a lesser extent, the hardware is examined. By using the full system simulator Simics, an existing industry system from ABB was integrated and tests were performed. A proof of concept test suite for automatic redundancy tests was also implemented. By looking at the test results, it was concluded that the method shows promise. However, problems with the average latency and performance troubles with Simics shows that more work must be put into this research before the system can be run at full speed.

This technical report publishes the proceedings of the 21th Prague Workshop, which was held from 25th to 26th December 2017. The workshop offers a possibility for young scientists to present their current research work in the fields of computer graphics, human-computer-interaction, robotics and usability. The works is meant as a platform to bring together researchers from both the Czech Technical University in Prague (CTU) and the University of Applied Sciences Dresden (HTW). The German Academic Exchange Service offers its financial support to allow student participants the bilateral exchange between Prague and Dresden.

Shape-based matching (SBM) is a method for matching objects in greyscale images. It extracts edges from search images and matches them to a model using a similarity measure. In this thesis we extend SBM to find the tilt and height position of the object in addition to the z-plane rotation and x-y-position. The search is conducted using a scale pyramid to improve the search speed. A 3D matching can be done for small tilt angles by using SBM on height data and extending it with additional steps to calculate the tilt of the object. The full pose is useful for picking objects with an industrial robot. The tilt of the object is calculated using a RANSAC plane estimator. After the 2D search the differences in height between all corresponding points of the model and the live image are calculated. By estimating a plane to this difference the tilt of the object can be calculated. Using the tilt the model edges are tilted in order to improve the matching at the next scale level. The problems that arise with occlusion and missing data have been studied. Missing data and erroneous data have been thresholded manually after conducting tests where automatic filling of missing data did not noticeably improve the matching. The automatic filling could introduce new false edges and remove true ones, thus lowering the score. Experiments have been conducted where objects have been placed at increasing tilt angles. The results show that the matching algorithm is object dependent and correct matches are almost always found for tilt angles less than 10 degrees. This is very similar to the original 2D SBM because the model edges does not change much for such small angels. For tilt angles up to about 25 degrees most objects can be matched and for nice objects correct matches can be done at large tilt angles of up to 40 degrees.

This thesis describes and evaluates a number of approaches and algorithms for nonuniform correction (NUC) and suppression of fixed pattern noise in a image sequence. The main task for this thesis work was to create a general NUC for infrared focal plane arrays. To create a radiometrically correct NUC, reference based methods using polynomial approximation are used instead of the more common scene based methods which creates a cosmetic NUC. The pixels that can not be adjusted to give a correct value for the incomming radiation are defined as dead. Four separate methods of identifying dead pixels are used to find these pixels. Both the scene sequence and calibration data are used in these identifying methods. The algorithms and methods have all been tested by using real image sequences. A graphical user interface using the presented algorithms has been created in Matlab to simplify the correction of image sequences. An implementation to convert the corrected values from the images to radiance and temperature is also performed.

En modern grafikprocessor är oerhört kraftfull och har en prestanda som potentiellt sett är många gånger högre än för en modern mikroprocessor. I takt med att grafikprocessorn blivit alltmer programmerbar har det blivit möjligt att använda den för beräkningstunga tillämpningar utanför dess normala användningsområde. Inom det här arbetet utreds vilka möjligheter och begränsningar som uppstår vid användandet av grafikprocessorer för generell programmering. Arbetet inriktas främst mot signal- och bildbehandlingstillämpningar men mycket av principerna är tillämpliga även inom andra områden. Ett ramverk för bildbehandling implementeras och några algoritmer inom bildanalys realiseras och utvärderas, bland annat stereoseende och beräkning av optiskt flöde. Resultaten visar på att vissa tillämpningar kan uppvisa en avsevärd prestandaökning i en grafikprocessor jämfört med i en mikroprocessor men att andra tillämpningar kan vara ineffektiva eller mycket svåra att implementera. / The modern graphical processing unit, GPU, is an extremely powerful unit, potentially many times more powerful than a modern microprocessor. Due to its increasing programmability it has recently become possible to use it in computation intensive applications outside its normal usage. This work investigates the possibilities and limitations of general purpose programming on GPUs. The work mainly concentrates on signal and image processing although much of the principles are applicable to other areas as well. A framework for image processing on GPUs is implemented and a few computer vision algorithms are implemented and evaluated, among them stereo vision and optical flow. The results show that some applications can gain a substantial speedup when implemented correctly in the GPU but others can be inefficent or extremly hard to implement.