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In the intersection between machine learning, artificial intelligence and mathe- matical computation lies optimization. A powerful tool that enables us to solve a variety of large scale problems. The purpose of this work is to explore optimiza- tion in the distributed setting. We will then touch on factors that contribute to a faster and more stable algorithm while solving a distributed optimization problem. The main factor we will look into is how we can integrate control.

The aim of this project is to implement a Radio Controlled (RC) car with a Light Detection and Ranging (LiDAR) sensor and a stereoscopic camera setup based on the Robot Operating System (ROS) to conduct Simultaneous Localization and Mapping (SLAM). The LiDAR sensor used is a 2D LiDAR, RPlidar A1, and the stereoscopic camera setup is made of two monocular cameras, Raspberry Pi Camera v2. The sensors were mounted on the RC car and connected using two Raspberry Pi microcomputers.  The 2D LiDAR sensor was used for two-dimensional mapping and the stereo vision from the camera setup for three-dimensional mapping. RC car movement information, odometry, necessary for SLAM was derived using either the LiDAR data or the data from the stereoscopic camera setup. Two means of SLAM were implemented both separately and together for mapping an office space. The SLAM algorithms adopted the Real Time Appearance Based Mapping (RTAB-map) package in the open-source ROS.    The results of the mapping indicated that the RPlidar A1 was able to provide a precise mapping, but showed difficulty when mapping in large circular patterns as the odometry drift resulted in the mismatch of the current mapping with the earlier mapping of the same positions and secondly in localization when turning quickly. The camera setup derived more information about surrounding and showed more robust odometry. However, the setup performed poorly for the mapping of visual loop closures, i.e., the current mapping did not match the earlier mapping of earlier visited positions.

Recycling is becoming more crucial due to the fast pace of consumerism. This thesis explores how well a robot arm, with three degrees of freedom, can be implemented to give an autonomous recycling process. After the prototyping phase it was found that a cylindrical robot arm was best suited for the project. Computer vision in addition with machine learning is used for sorting and detecting objects. The end effector is a suction cup, connected to a plastic 60-milliliter syringe. Negative pressure is created by pulling and pushing a lead screw connected to a stepper motor. The accuracy of the ML-model, the robot’s movement andmax weight are evaluated. The ML-model is trained to detect four classes; plastic, metal, paper, and glass. The thesis found that the ML-model could classify plastic the most sufficient and paper the least. The robot arm’s movement had an average error of 0.54 cm and the maximum weight was 900 grams. For future development it would be interesting to compare a range of different suction cups, to see how the material, diameter, and depth would affect its ability to pick up various objects. Additionally, the model could be enhanced by training it on a larger dataset.

The operation and control of the power system in an efficient way is important in order to keep the system secure, reliable and economical. With advancements in smart grid, several new algorithms have been developed for improved operation and control. These algorithms need to be extensively tested and validated in real time before applying to the real electric power grid. This work focuses on the development of a real time test bed for testing and validating power system control algorithms, hardware devices and cyber security vulnerability. The test bed developed utilizes several hardware components including relays, phasor measurement units, phasor data concentrator, programmable logic controllers and several software tools. Current work also integrates historian for power system monitoring and data archiving. Finally, two different power system test cases are simulated to demonstrate the applications of developed test bed. The developed test bed can also be used for power system education.

To study communication between people about solutions to combat climate change a megagame was created. The megagame is played like a boardgame with multiple boards which various pieces can be placed on. Players play different communities like farmers, elderly and politicians. To study the game the board needs to be tracked. The game goes through many changes to facilitate various tests and to develop the game further. Because of this a general solution is preferred. The solution this paper will investigate is a QR code based one. Various other solutions exist such as computer vision and RFID (Radio Frequency Identification). These solutions have pros and cons. To track pieces on the board a camera is mounted above the board filming the boards tracking QR codes. The data is sent to a central system which combines it with other monitoring systems creating a CSV file. The CSV file can be used by researchers and game developers to track how the game progresses. Results show that the system works and fulfills the needs, but the data needs to be filtered to reduce false information. This paper will discuss difficulties and solutions for implementing a QR code scanner with the purpose of tracking game pieces. Ways to further develop the solution will also be discussed.

The development of smart ID cards necessitates the development of secure methods for verifying the authenticity of these cards by organizations, businesses, and government authorities. This motivated the development of such a scanner capable of reading several ID cards from various countries. 365id presented its solution in 2016 by introducing a unique scanner that can verify the authenticity of ID cards. The verification process works by capturing three images using the scanner's three distinct techniques to validate the ID cards' hidden features. After many years of the company's success and the services it provides, including the 365id scanner, it is now the time to take the scanner a step further and improve its services. Thus, this project was founded by the 365id company to research and generate various suggestions for improving the quality of the scanner's photo environment. Either by modifying the way light is reflected inside the scanner or by modifying the parameters that control the camera's operation and investigating the possibility of replacing the camera with a better alternative. This is to increase the image quality and accuracy of the verification procedure. The results proved that the desired effect could be achieved at the lowest costs by adjusting the camera settings and adding new materials to reduce and isolate the light's reflection inside the scanner. In comparison, the results proved that it is not feasible to replace the camera at present. Nevertheless, it is an option that may be available soon.

京都大学 / 新制・課程博士 / 博士(医学) / 甲第23567号 / 医博第4781号 / 新制||医||1054(附属図書館) / 京都大学大学院医学研究科医学専攻 / (主査)教授 花川 隆, 教授 永井 純正, 教授 渡邊 直樹 / 学位規則第4条第1項該当 / Doctor of Medical Science / Kyoto University / DGAM

F1FO-ATP synthase is the primary source of cellular energy production in most living organisms. Malfunction of this enzyme is implicated in diseases. There are many functional motifs in and around the catalytic sites of this enzyme. One of them is the highly conserved α-subunit VISIT-DG sequence that is close to the Pi binding subdomain. The questions arise "Are they involved in Pi binding? Or are they there simply for the structural integrity of the catalytic sites?" Here, αIle-346and αIle-348, two important residues of the conserved VISIT-DG sequence, are discussed. Each residue was mutated to A/R/D/Q. Growth assays in limiting glucose media and on succinate plates suggests αIle-346 and αIle-348 are critical for the normal enzymatic function (oxidative phosphorylation). And the biochemical assays do suggest both αI-346 and αI-348 are required to maintain catalytic site, involved in Pi binding indirectly, but αI-348 plays more important role than αI-346.

Esta tesis consiste en tres trabajos enfocados al desarrollo de varios sistemas que sean capaces de registrar el movimiento sísmico de la tierra y grabarlo en ficheros para su posterior análisis. Partimos de la base de la creación de una serie de sensores para el registro del ruido sísmico, dispuestos en forma circular y así poder detectar las ondas sismológicas. La hipótesis con la que trabajamos es la de interconectar entre si los nodos sensoriales y de esta manera crear una red sensorial la cual reporte las muestras de ruido sísmico a un servidor y éste sea capaz de mostrar la forma de las señales en tiempo real. Este sistema nos facilitará el almacenamiento y tratamiento de los datos registrados por cada uno de los nodos con la posibilidad de análisis casi instantáneo. Como línea de partida, se ha implementado un sistema de comunicación sensorial a través de una red wifi en la cual se monitoriza en tiempo real un sistema de climatización y se optimiza el consumo de éste regulando distintos factores en función de los valores de los sensores distribuidos por toda el área afectada. Este trabajo ha generado el primer artículo de investigación publicado en la revista Sensors (doi:10.3390/s20133611). El código generado junto con la experiencia, las pruebas realizadas y los resultados obtenidos nos van a servir para los sensores sísmicos. En el segundo trabajo se ha diseñado, implementado y probado un sistema de zonificación mediante una red wireless de sensores triaxiales los cuales son capaces de registrar en tiempo real el movimiento sísmico de edificios y mostrar estas señales en un navegador cliente ubicado en Internet. Este trabajo ha generado el segundo artículo de investigación publicado en la revista Sensors (doi: 10.3390/s21113875). En el tercer y último trabajo se ha diseñado, implementado y probado un sistema de grabación del ruido sísmico en array por medio de una red de sensores wireless. El sistema es capaz de utilizar sensores verticales de 4,5Hz de bajo coste y también sensores triaxiales proporcionando una curva de dispersión cuasi idéntica a los sistemas comeciales actuales pero a un coste mucho menor. Este trabajo ha generado el tercer artículo de investigación publicado en la revista Sensors (doi: 10.3390/s22218103). Este trabajo a dado pie a una solicitud de patente (P202230702).