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Krishnan, R., Björsell, N., Gutierrez-Farewik, E. & Smith, C. (2019). A survey of human shoulder functional kinematic representations. Medical and Biological Engineering and Computing, 57(2), 339-367
Open this publication in new window or tab >>A survey of human shoulder functional kinematic representations
2019 (English)In: Medical and Biological Engineering and Computing, ISSN 0140-0118, E-ISSN 1741-0444, Vol. 57, no 2, p. 339-367Article, review/survey (Refereed) Published
Abstract [en]

In this survey, we review the field of human shoulder functional kinematic representations. The central question of this review is to evaluate whether the current approaches in shoulder kinematics can meet the high-reliability computational challenge. This challenge is posed by applications such as robot-assisted rehabilitation. Currently, the role of kinematic representations in such applications has been mostly overlooked. Therefore, we have systematically searched and summarised the existing literature on shoulder kinematics. The shoulder is an important functional joint, and its large range of motion (ROM) poses several mathematical and practical challenges. Frequently, in kinematic analysis, the role of the shoulder articulation is approximated to a ball-and-socket joint. Following the high-reliability computational challenge, our review challenges this inappropriate use of reductionism. Therefore, we propose that this challenge could be met by kinematic representations, that are redundant, that use an active interpretation and that emphasise on functional understanding.

Place, publisher, year, edition, pages
Heidelberg: Springer, 2019
Keywords
Human Movement Understanding, Kinematics
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-27893 (URN)10.1007/s11517-018-1903-3 (DOI)000456747000001 ()30367391 (PubMedID)2-s2.0-85055874727 (Scopus ID)
Funder
Vinnova, AAL 2013-6-042
Available from: 2018-09-11 Created: 2018-09-11 Last updated: 2020-01-29Bibliographically approved
Panigrahi, S. R., Björsell, N. & Bengtsson, M. (2019). Data Fusion in the Air With Non-Identical Wireless Sensors. IEEE Transactions on Signal and Information Processing over Networks, 5(4), 646-656
Open this publication in new window or tab >>Data Fusion in the Air With Non-Identical Wireless Sensors
2019 (English)In: IEEE Transactions on Signal and Information Processing over Networks, ISSN 2373-776X, Vol. 5, no 4, p. 646-656Article in journal (Refereed) Published
Abstract [en]

In this paper, a multi-hypothesis distributed detection technique with non-identical local detectors is investigated. Here, for a global event, some of the sensors/detectors can observe the whole set of hypotheses, whereas the remaining sensors can either see only some aspects of the global event or infer more than one hypothesis as a single hypothesis. Another possible option is that different sensors provide complementary information. The local decisions are sent over a multiple access radio channel so that the data fusion is formed in the air before reaching the decision fusion center (DFC). An optimal energy fusion rule is formulated by considering the radio channel effects and the reliability of the sensors together, and a closed-form solution is derived. A receive beamforming algorithm, based on a modification of Lozano's algorithm, is proposed to equalize the channel gains from different sensors. Sensors with limited detection capabilities are found to boost the overall system performance when they are used along with fully capable sensors. The additional transmit power used by these sensors is compensated by the designed fusion rule and the antenna array gain. Additionally, the DFC, equipped with a large antenna array, can reduce the overall transmit energy consumption without sacrificing the detection performance.

Keywords
Temperature sensors, Manganese, Wireless sensor networks, Antenna arrays, Sensor fusion, Data integration, Wireless Sensor Network, Multiple hypotheses, Non-identical local detector, MAC, Data Fusion in the air, Optimal power fusion rule, Large antenna array
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:hig:diva-30918 (URN)10.1109/TSIPN.2019.2928175 (DOI)000492993200003 ()2-s2.0-85074191069 (Scopus ID)
Funder
Swedish Agency for Economic and Regional GrowthEuropean Regional Development Fund (ERDF)
Available from: 2019-11-11 Created: 2019-11-11 Last updated: 2019-11-22Bibliographically approved
Panigrahi, S. R., Björsell, N. & Bengtsson, M. (2019). Distributed detection with non-identical wireless sensors for industrial applications. In: Proceedings of the IEEE International Conference on Industrial Technology: . Paper presented at 2019 IEEE International Conference on Industrial Technology, ICIT 2019; Melbourne; Australia; 13-15 February 2019 (pp. 1403-1408). IEEE
Open this publication in new window or tab >>Distributed detection with non-identical wireless sensors for industrial applications
2019 (English)In: Proceedings of the IEEE International Conference on Industrial Technology, IEEE, 2019, p. 1403-1408Conference paper, Published paper (Refereed)
Abstract [en]

There has been very little exploration when it comes to design distributed detection techniques and data fusion rules with non-identical sensors. This concept can be utilized in many possible applications within industrial automation, surveillance and safety. Here, for a global event, some of the sensors/detectors in the network can observe the full set of the hypotheses, whereas the remaining sensors infer more than one hypotheses as a single hypothesis. The local decisions are sent to the decision fusion center (DFC) over a multiple access wireless channel. In this paper, a fusion rule based on minimization of variance of the local mis-detection is proposed. The presence of sensors with limited detection capabilities is found to have a positive impact on the overall system performance, both in terms of probability of detection and transmit power consumption. Additionally, when the DFC is equipped with a large antenna array, the overall transmit power consumption can be reduced without sacrificing the detection performance. 

Place, publisher, year, edition, pages
IEEE, 2019
Keywords
Large antenna array, Mac fusion rule, Multiple hypotheses, Non-identical local detectors, Wireless sensor network, Accident prevention, Antenna arrays, Data fusion, Electric power utilization, Detection performance, Distributed detection, Fusion rule, Industrial automation, Large antennas, Multiple hypothesis, Non-identical, Probability of detection, Wireless sensor networks
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:hig:diva-30587 (URN)10.1109/ICIT.2019.8755012 (DOI)000490548300221 ()2-s2.0-85069036657 (Scopus ID)978-1-5386-6376-9 (ISBN)
Conference
2019 IEEE International Conference on Industrial Technology, ICIT 2019; Melbourne; Australia; 13-15 February 2019
Available from: 2019-08-26 Created: 2019-08-26 Last updated: 2019-11-29Bibliographically approved
Krishnan, R., Cruciani, S., Gutierrez-Farewik, E. M., Björsell, N. & Smith, C. (2019). Reliably Segmenting Motion Reversals of a Rigid-IMU Cluster Using Screw-Based Invariants. In: 2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS): . Paper presented at 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 06-09 November 2018, Beijing, China (pp. 88-95). , Article ID 8624969.
Open this publication in new window or tab >>Reliably Segmenting Motion Reversals of a Rigid-IMU Cluster Using Screw-Based Invariants
Show others...
2019 (English)In: 2018 IEEE-RAS 18TH INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS), 2019, p. 88-95, article id 8624969Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

Human-robot interaction (HRI) is moving towards the human-robot synchronization challenge. In robots like exoskeletons, this challenge translates to the reliable motion segmentation problem using wearable devices. Therefore, our paper explores the possibility of segmenting the motion reversals of a rigid-IMU cluster using screw-based invariants. Moreover, we evaluate the reliability of this framework with regard to the sensor placement, speed and type of motion. Overall, our results show that the screw-based invariants can reliably segment the motion reversals of a rigid-IMU cluster.

Series
IEEE-RAS International Conference on Humanoid Robots
Keywords
Humanoid kinematics, Medical, health and mental care, Prostheses & Ortheses
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-28724 (URN)10.1109/HUMANOIDS.2018.8624969 (DOI)000458689700013 ()2-s2.0-85062299962 (Scopus ID)
Conference
2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 06-09 November 2018, Beijing, China
Projects
FACT
Funder
Swedish Foundation for Strategic Research , GMT14-0082
Note

Funding agencies:

- Royal Melbourne Institute of Technology

- Active and Assisted Living programme at KTH

Available from: 2018-11-30 Created: 2018-11-30 Last updated: 2020-01-29Bibliographically approved
Rönnow, D., Björsell, N. & Laporte-Fauret, B. (2017). Determination of elongation of electrically smallobjects in building structures by polarimetric synthetic aperture radar. In: I2MTC 2017 - 2017 IEEE International Instrumentation and Measurement Technology Conference: Proceedings. Paper presented at International instrumentation and Measurement Technology Conference (I2MTC 2017), 23-25 May 2017, Torino, Italy (pp. 1520-1524). Torino: IEEE, Article ID 7969898.
Open this publication in new window or tab >>Determination of elongation of electrically smallobjects in building structures by polarimetric synthetic aperture radar
2017 (English)In: I2MTC 2017 - 2017 IEEE International Instrumentation and Measurement Technology Conference: Proceedings, Torino: IEEE, 2017, p. 1520-1524, article id 7969898Conference paper, Published paper (Refereed)
Abstract [en]

Short range synthetic aperture radar (SAR) wasused to study electrically small objects. A metallic rod and a metallic sphere could not be separated in the SAR images. Polarimetric SAR images were analyzed and images corresponding to different antenna orientations were obtained by applying rotation matrices to radar data. The target intensity varied with the rotation angle. Elongation and orientation of the objects could be determined from the ratio of minimum andmaximum intensity. Upper and lower limits for measurable elongation depend on measurement errors.

Place, publisher, year, edition, pages
Torino: IEEE, 2017
Keywords
Polarimetry, Synthetic aperture radar
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:hig:diva-24112 (URN)10.1109/I2MTC.2017.7969898 (DOI)000431839600268 ()2-s2.0-85026738669 (Scopus ID)978-1-5090-3596-0 (ISBN)
Conference
International instrumentation and Measurement Technology Conference (I2MTC 2017), 23-25 May 2017, Torino, Italy
Available from: 2017-06-09 Created: 2017-06-09 Last updated: 2019-12-11Bibliographically approved
Hamid, M., Björsell, N. & Slimane, B. S. (2017). Empirical Statistical Model for LTE Downlink Channel Occupancy. Wireless personal communications, 96(1), 855-866
Open this publication in new window or tab >>Empirical Statistical Model for LTE Downlink Channel Occupancy
2017 (English)In: Wireless personal communications, ISSN 0929-6212, E-ISSN 1572-834X, Vol. 96, no 1, p. 855-866Article in journal (Refereed) Published
Abstract [en]

This paper develops an empirical statistical channel occupancy model for downlink long-term evolution (LTE) cellular systems. The model is based on statistical distributions mixtures for the holding times of the channels. Moreover, statistical distribution of the time when the channels are free is also considered. The data is obtained through an extensive measurement campaign performed in Stockholm, Sweden. Two types of mixtures are considered, namely, exponential and log-normal distributions to fit the measurement findings. The log-likelihood of both mixtures is used as a quantitative measure of the goodness of fit. Moreover, finding the optimal number of linearly combined distributions using the Akaike information criterion (AIC) is investigated. The results show that good fitting can be obtained by using either exponential or log-normal distributions mixture. Even though, the fitting is done for a representative case with a tempo-spatial consideration, the model is yet applicable in general for LTE and other cellular systems in a wider sense.

Keywords
LTE, Cellular Traffic, Channel Occupancy Model, Exponential Mixture Fitting, Log-normal Mixture Fitting, Akaike Information Criterion (AIC).
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:hig:diva-19029 (URN)10.1007/s11277-017-4205-4 (DOI)000408123600048 ()2-s2.0-85019117692 (Scopus ID)
Available from: 2015-02-03 Created: 2015-02-19 Last updated: 2020-03-25Bibliographically approved
Panigrahi, S. R., Björsell, N. & Bengtsson, M. (2017). Feasibility of Large Antenna Arrays towards Low Latency Ultra Reliable Communication. In: 2017 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT): . Paper presented at IEEE International Conference on Industrial Technology (ICIT), March 22-25 2017, Toronto, Canada (pp. 1289-1294). , Article ID 7915549.
Open this publication in new window or tab >>Feasibility of Large Antenna Arrays towards Low Latency Ultra Reliable Communication
2017 (English)In: 2017 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2017, p. 1289-1294, article id 7915549Conference paper, Published paper (Refereed)
Abstract [en]

Industrial automation and safety applications demand low latency and ultra reliable communication. Currently deployed wireless communication technologies are mostly developed for non-critical applications and hence, they are not suitable for these kind of applications. On the other hand, cable based communication is widely popular in industries, even though it has limitations towards cost of installment and is susceptible towards mechanical wear and tear. This paper reviews the feasibility of large antenna arrays at the receiver to achieve low latency and ultra reliable communication for up-link scenarios. The suitability of both coherent and non-coherent multiple input multiple output (MIMO) receivers are investigated. Non-coherent MIMO receiver is found to be a promising option as signal to noise power ratio (SNR) is fairly reasonable in achieving the desired reliability. The effect of antenna correlation at the transmitter and at receiver on reliability are also looked into. Its influence on the system performance is very nominal. Moreover, in certain scenarios, antenna correlation at the transmitter gives a significant improvement in system performance. Furthermore, having a single antenna at the sensors is found not to be a limiting factor in achieving the desired performance goal.

Keywords
5G, ultra reliable communication, MIMO diversity, coherent receiver, non-coherent receiver
National Category
Signal Processing
Identifiers
urn:nbn:se:hig:diva-24123 (URN)10.1109/ICIT.2017.7915549 (DOI)000404252400213 ()2-s2.0-85019610344 (Scopus ID)
Conference
IEEE International Conference on Industrial Technology (ICIT), March 22-25 2017, Toronto, Canada
Available from: 2017-06-09 Created: 2017-06-09 Last updated: 2019-12-11Bibliographically approved
Panigrahi, S. R., Björsell, N. & Bengtsson, M. (2017). Large Antenna Array for Low-Latency and Ultra-Reliable Communication. In: : . Paper presented at Swedish Communication Technologies Workshop (Swe-CTW), Göteborg, 1-2 Jun 2017.
Open this publication in new window or tab >>Large Antenna Array for Low-Latency and Ultra-Reliable Communication
2017 (English)Conference paper, Poster (with or without abstract) (Other academic)
Keywords
5G, ultra reliable communication, MIMO diversity, coherent receiver, non-coherent receiver
National Category
Signal Processing
Identifiers
urn:nbn:se:hig:diva-24127 (URN)
Conference
Swedish Communication Technologies Workshop (Swe-CTW), Göteborg, 1-2 Jun 2017
Available from: 2017-06-09 Created: 2017-06-09 Last updated: 2018-03-13Bibliographically approved
Björsell, N. & Van Moer, W. (2017). Measuring and Characterizing Nonlinear RF Systems: Faculty Course Development Award 2013. IEEE Instrumentation & Measurement Magazine, 20(4), 45-48
Open this publication in new window or tab >>Measuring and Characterizing Nonlinear RF Systems: Faculty Course Development Award 2013
2017 (English)In: IEEE Instrumentation & Measurement Magazine, ISSN 1094-6969, E-ISSN 1941-0123, Vol. 20, no 4, p. 45-48Article in journal (Refereed) Published
Place, publisher, year, edition, pages
IEEE, 2017
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:hig:diva-25754 (URN)000407462800009 ()
Available from: 2017-12-07 Created: 2017-12-07 Last updated: 2019-12-11Bibliographically approved
Krishnan, R., Björsell, N. & Smith, C. (2017). Segmenting humeral submovements using invariant geometric signatures. In: Bicchi, A., Okamura, A. (Ed.), 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (Iros): . Paper presented at 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 24–28 September 2017, Vancouver, Canada (pp. 6951-6958). IEEE, Article ID 8206619.
Open this publication in new window or tab >>Segmenting humeral submovements using invariant geometric signatures
2017 (English)In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (Iros) / [ed] Bicchi, A., Okamura, A., IEEE, 2017, p. 6951-6958, article id 8206619Conference paper, Published paper (Refereed)
Abstract [en]

Discrete submovements are the building blocks of any complex movement. When robots collaborate with humans, extraction of such submovements can bevery helpful in applications such as robot-assisted rehabilitation. Our work aims to segment these submovements based on the invariant geometric information embedded in segment kinematics. Moreover, this segmentation is achieved without any explicit kinematic representation.Our work demonstrates the usefulness of this invariant framework in segmenting a variety of humeral movements, which are performed at different speeds across different subjects. Our results indicate that this invariant framework has high computational reliability despite the inherent variability in human motion.

Place, publisher, year, edition, pages
IEEE, 2017
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords
Kinematics, Human Movement Understanding, Human-centric Robotics
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-25214 (URN)10.1109/IROS.2017.8206619 (DOI)000426978206070 ()2-s2.0-85041961221 (Scopus ID)978-1-5386-2682-5 (ISBN)978-1-5386-2681-8 (ISBN)
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 24–28 September 2017, Vancouver, Canada
Projects
(AAL Call) AXO-SUIT project
Funder
Vinnova, 2014-05953
Available from: 2017-09-12 Created: 2017-09-12 Last updated: 2019-12-11Bibliographically approved
Projects
Flexible Models for Smart Maintenance [2017-04807_Vinnova]; University of Gävle; Publications
Mattsson, P., Zachariah, D. & Björsell, N. (2019). Flexible Models for Smart Maintenance. In: Proceedings 2019 IEEE International Conference on Industrial Technology (ICIT): . Paper presented at 20th IEEE International Conference on Industrial Technology (ICIT), 13-15 February 2019, Melbourne, Australia (pp. 1772-1777). IEEE
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-5429-7223

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