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The accuracy and portability of depth cameras have increased by a lot in recent years, which allows for advanced 3D scanning of the environment for robotic applications. In this thesis we have developed a system that uses a depth camera mounted on a robot arm to identify and localize arbitrary objects, and give hints on how to move the camera to get better localization results. The system works by
This Master thesis work was performed in Ericsson AB, Lund. It studies and validates two classes of algorithms to be used in mm-wave massive MIMO antenna arrays, for their use in the future 5G mobile communication systems. The first class of algorithms relates to the calibration of the transceiver (TRX) chains responses of the antenna array and makes use of the antenna array mutual coupling, which
The phase field method emerged as a tool to solve free boundary problems with a sharp interface. In previous methods, this involved the computationally inefficient and complicated tracking of a moving interface. The phase field method overcomes this limitation by introducing an auxiliary variable called the order parameter which varies continuously over the whole domain and takes on finite values
Despite the increased focus on sustainable urban development both within academia and in urban planning practices, authors seem to agree that we are mostly continuing business as usual and are not embarking on different socio-environmental trajectories. On the contrary, such urban sustainability practices can often lead to processes of displacement and gentrification, thus worsening the conditions
När man jobbar med stora pogrammeringsprojekt är ett av de stora problemen att skriva koden så den går att underhålla. Skriver man kod som är lätt att underhålla är det också enklare att göra tillägg, ändringar och åtgärda problem. I detta projekt har två stora, liknande projekt undersökts för hitta likheter i koden. Om likheterna kan sammanföras till en generisk lösning kommer koden att vara lätWhen working with large programming projects, one of the major problems is to write the code so it can be maintained. If you write code that is easy to maintain it is also easier to extend, change and fix bugs in the code. In this project two large, similar projects were investigated to find similarities in the code. If the similarities could be brought together in a generic solution, the code wo
Non-stationary signals are very common in nature, consider for example speech, music or heart rate. Using the concept of time-frequency analysis this thesis studies the performance of different time-frequency distributions of both simulated and real non-stationary signals. The signals studied are linear and non-linear frequency modulated (FM) signals. Two methods are studied to increase performanc
Traffic accidents cause over 1.2 million deaths, and tens of millions of people are injured or disabled every year. Advanced driver assistant systems and other safety features have the possibility to reduce traffic accidents but do not account for human errors. Studies show that over 90% of all traffic accidents are caused by human errors. One way to reduce human errors is to introduce automation,
A problem within the mobile instustry today is creating third-party applications. Generally developer teams have to develop the same application for several platforms and each platform uses a specific native language. A result of this is that many applications both look and act similar; but have different code bases and work very differently beneath the surface. This is a double maintenance prob
The present study examined the effect of manipulated (threatened or affirmed) sense of agency on Swedish students’ preference for leadership, by ease of retrieval. Three hundred and twelve students (Mage = 23.04, SD = 2.70) participated in the experiment. The aim of the study was to investigate whether individuals’ leadership preferences was affected by perceived sense of agency. By contrasting a
Methyl ammonium lead halides (MAPbX3 , X=Cl-, Br-,I-), crystallizing in a perovskite structure, have in recent years been shown to be a promising material as a light harvesting material in solar cells. It has many interesting properties which makes it suitable for solar cell applications, such as near-optimal band gap and long electron-hole diffusion lengths, as well as the possibility of synthesi
The Modelica language is an object-oriented, equation-based language used for modeling and design in many different domains and for various physical applications. In order to exchange models both between Modelicabased tools and other tools the Functional Mock-up Interface (FMI) has emerged. This interface enables exchange of virtual models between manufacturers and/or divisions within a company. T
El Niño and the Southern Oscillation (ENSO) have a great impact on global climate, often with disas-trous effects in many parts of the world. The carbonate skeleton of corals record El Niño activity by tracing sea surface temperature and salinity in the oceans where they grow. As El Niño’s core region is the equatorial Pacific Ocean, this is where the most direct consequences of ENSO are seen, com
One of the topics that has generated discussions and focuses on demographic theory is undoubtedly the treatment of fertility rates, another important number of studies have incorporated different methods for measuring behaviors in count data, such as Poisson models, also used in the present document. On the other hand, by using panel data, we estimate a random effects model and evaluate the dete
We have studied the effect of axial ligation of chlorophyll and bacteriochlorophyll using density functional calculations. Eleven different axial ligands have been considered, including models of histidine, aspartate/glutamate, asparagine/glutamine, serine, tyrosine, methionine, water, the protein backbone, and phosphate. The native chlorophylls, as well as their cation and anion radical states an
Paramagnetic versions of the CLEAR supports were prepared by entrapment of magnetite particles during suspension polymerization of allylamine, trimethylolpropane ethoxylate (14/3 EO/OH) triacrylate, and trimethylolpropane trimethacrylate. Swelling studies in a broad range of solvents showed comparable swelling of magnetic beads and regular CLEAR beads. The application of the magnetic beads as the
This study was aimed at increasing our understanding of environmental and parental factors influencing mode choice for children's journeys to organized leisure activities. Three hundred and fifty-seven Swedish parents of 8-11-year-old children completed a questionnaire and kept a travel diary. The design of urban environment, in which the families lived, was assessed by a group of five experts. By
Blood lipids are important cardiovascular disease (CVD) risk factors with both genetic and environmental determinants. The Whitehall II study (n = 5592) was genotyped with the gene-centric HumanCVD BeadChip (Illumina). We identified 195 SNPs in 16 genes/regions associated with 3 major lipid fractions and 2 apolipoprotein components at p < 10(-5), with the associations being broadly concordant with
Background: In workplace health promotion, all potential resources needs to be taken into consideration, not only factors relating to the absence of injury and the physical health of the workers, but also psychological aspects. A dynamic balance between the resources of the individual employees and the demands of work is an important prerequisite. In the home care services, there is a noticeable t
