| Author | Title | Year | Journal/Proceedings | Reftype | DOI/URL |
|---|---|---|---|---|---|
| Kommeri, J., Heikkilä, S.S., Vartiainen, A. and Niemi, T. | The Effect of Networking Performance on High Energy Physics Computing | 2016 | Sixth International Symposium on Business Modeling and Software Design, Special Session on Green IT Solutions (BMSD-ICGREEN) | inproceedings | URL |
| Abstract: High Energy Physics (HEP) data analysis consists of simulating and analysing events in particle physics. In order to understand physics phenomena, one must collect and go through a very large quantity of data generated by particle accelerators and software simulations. This data analysis can be done using the cloud computing paradigm in distributed computing environment where data and computation can be located in different, geographically distant, data centres. This adds complexity and overhead to networking. In this paper, we study how the networking solution and its performance affects the efficiency and energy consumption of HEP computing. Our results indicate that higher latency both prolongs the processing time and increases the energy consumption. | |||||
BibTeX:
@inproceedings{Kommeri_Effect_2016,
author = {Jukka Kommeri and Seppo S. Heikkilä and Aleksi Vartiainen and Tapio Niemi},
title = {The Effect of Networking Performance on High Energy Physics Computing},
booktitle = {Sixth International Symposium on Business Modeling and Software Design, Special Session on Green IT Solutions (BMSD-ICGREEN)},
year = {2016},
url = {http://vapahtaja.com/papers/Kommeri_Effect_2016.pdf}
}
|
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| Arsuaga-Ríos, M., Heikkilä, S.S., Duellmann, D., Meusel, R., Blomer, J. & Couturier, B. | Using S3 cloud storage with ROOT and CvmFS | 2015 | Journal of Physics: Conference Series Vol. 664(2), pp. 022001 |
article | URL |
| Abstract: Amazon S3 is a widely adopted web API for scalable cloud storage that could also fulfill storage requirements of the high-energy physics community. CERN has been evaluating this option using some key HEP applications such as ROOT and the CernVM filesystem (CvmFS) with S3 back-ends. In this contribution we present an evaluation of two versions of the Huawei UDS storage system stressed with a large number of clients executing HEP software applications. The performance of concurrently storing individual objects is presented alongside with more complex data access patterns as produced by the ROOT data analysis framework. Both Huawei UDS generations show a successful scalability by supporting multiple byte-range requests in contrast with Amazon S3 or Ceph which do not support these commonly used HEP operations. We further report the S3 integration with recent CvmFS versions and summarize the experience with CvmFS/S3 for publishing daily releases of the full LHCb experiment software stack. | |||||
BibTeX:
@article{Arsuaga_Using_2015,
author = {María Arsuaga-Ríos and Seppo S. Heikkilä and Dirk Duellmann and René Meusel and Jakob Blomer and Ben Couturier},
title = {Using S3 cloud storage with ROOT and CvmFS},
journal = {Journal of Physics: Conference Series},
year = {2015},
volume = {664},
number = {2},
pages = {022001},
url = {http://iopscience.iop.org/article/10.1088/1742-6596/664/2/022001/pdf}
}
|
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| Meusel, R., Blomer, J., Ganis, G., Buncic, P. & Heikkilä, S.S. | Recent Developments in the CVMFS Server Backend | 2014 | 16th International Workshop on Advanced Computing and Analysis Techniques in Physics Research (ACAT) | inproceedings | URL |
| Abstract: The CernVM-File System (CVMFS) is a snapshotting read-only file system designed to deliver software to grid worker nodes over HTTP in a fast, scalable and reliable way. In recent years it became the de-facto standard method to distribute HEP experiment software in the WLCG and starts to be adopted by other grid computing communities outside HEP. This paper focusses on the recent developments ofthe CVMFS Server, the central publishing point of new file system snapshots. Using a union file system, the CVMFS Server allows for direct manipulation of a (normally read-only) CVMFS volume with copy-on-write semantics. Eventually the collected changeset is transformed into a new CVMFS snapshot, constituating a transactional feedback loop. The generated repository data is pushed into a content addressable storage requiring only a RESTful interface and gets distributed through a hierarchy of caches to individual grid worker nodes. Besides practically all POSIX-compliant file s\ ystems, lately CVMFS allows to use highly-scalable key-value storage systems through the Amazon S3 API. Additonally we describe recent features, such as file chunking, repository garbage collection, fast replication and file system history that enable CVMFS for a wider range of use cases. | |||||
BibTeX:
@inproceedings{Meusel_Recent_2014,
author = {Rene Meusel and Jakob Blomer and Gerardo Ganis and Predrag Buncic and Seppo S. Heikkil\"{a}},
title = {Recent Developments in the CVMFS Server Backend},
booktitle = {16th International Workshop on Advanced Computing and Analysis Techniques in Physics Research (ACAT)},
year = {2014}
}
|
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| Zotes Resines, M., Heikkilä, S.S., Duellmann, D., Adde, G., Toebbicke, R., Hughes, J. & Wang, L. | Evaluation of the Huawei UDS cloud storage system for CERN specific data | 2014 | Journal of Physics: Conference Series Vol. 513(4), pp. 042024 |
article | URL |
| Abstract: Cloud storage is an emerging architecture aiming to provide increased scalability and access performance, compared to more traditional solutions. CERN is evaluating this promise using Huawei UDS and OpenStack SWIFT storage deployments, focusing on the needs of high-energy physics. Both deployed setups implement S3, one of the protocols that are emerging as a standard in the cloud storage market. A set of client machines is used to generate I/O load patterns to evaluate the storage system performance. The presented read and write test results indicate scalability both in metadata and data perspectives. Futher the Huawei UDS cloud storage is shown to be able to recover from a major failure of losing 16 disks. Both cloud storages are finally demonstrated to function as back-end storage systems to a filesystem, which is used to deliver high energy physics software. | |||||
BibTeX:
@article{Zotes_Resines_Evaluation_2014,
author = {Maitane {Zotes Resines} and Seppo S. Heikkil\"{a} and Dirk Duellmann
and Geoffray Adde and Rainer Toebbicke and James Hughes and Lu Wang},
title = {Evaluation of the Huawei UDS cloud storage system for CERN specific
data},
journal = {Journal of Physics: Conference Series},
year = {2014},
volume = {513},
pages = {042024},
number = {4},
url = {http://stacks.iop.org/1742-6596/513/i=4/a=042024}
}
|
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| Heikkilä, S.S., Halme, A. and Schiele, A. | Affordance-based indirect task communication for astronaut-robot cooperation | 2012 | Journal of Field Robotics Vol. 29(4), pp. 576–600 |
article | URL |
| Abstract: The problem with human–robot task communication is that robots cannot understand complex human speech, whereas humans cannot efficiently use the fixed task request utterances required by robots. However, future planetary exploration missions will require astronauts on extravehicular activities to communicate task requests to robot assistants by using speech- and gesture-type user interfaces that can be easily embedded in their space suits. The solution proposed in this paper is indirect task communication based on the humanlike ability to utilize object–action relationships in task communication. A conventional task communication method, in which the astronaut needs to communicate all the task parameters explicitly, is compared with communication methods where affordances, i.e., action possibilities, are used to complete the task communication. This comparison is done with three user experiments: one performed with a fully autonomous centauroid robot in a geological exploration work context and two with a simulated robot in a lander assembly work context. The experiments indicate that affordance-based indirect task communication methods can be used to decrease both the human workload and the task communication times in a planetary exploration type of work context, and that combined direct and indirect task communication methods seem to be preferable from a human point of view. | |||||
BibTeX:
@article{Heikkila_Affordance-based_2012,
author = {Seppo S. Heikkilä and Aarne Halme and Andre Schiele},
title = {Affordance-based indirect task communication for astronaut-robot cooperation},
journal = {Journal of Field Robotics},
year = {2012},
volume = {29},
number = {4},
pages = {576–600},
url = {http://onlinelibrary.wiley.com/doi/10.1002/rob.21413/full}
}
|
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| Heikkilä, S.S. | Affordance-Based Task Communication Methods for Astronaut-Robot Cooperation | 2011 | School: Aalto University | phdthesis | URL |
| Abstract: The problem with current human-robot task communication is that robots cannot understand complex human speech utterances, while humans cannot efficiently use the fixed task request utterances required by robots. Nonetheless, future planetary exploration missions are expected to require astronauts on extra-vehicular activities to communicate task requests to robot assistants with speech- and gesture-type user interfaces that can be easily embedded in their space suits. The solution proposed in this thesis is indirect task communication based on the human-like ability to utilise object-action relationships in task communication. Conventional task communication methods, in which all task parameters need to be communicated explicitly, are evaluated against task communication methods where affordances, i.e. action possibilities, are used to complete task communication. These so-called affordance-based task communication methods are evaluated by means of four user experiments: two performed with a fully autonomous centauroid robot in a planetary exploration work context and two with a simulated robot in a lander assembly work context. The first two experiments are performed in unambiguous work environments, where each object is associated with only one action and vice versa, while the last two experiments are performed in ambiguous work environments, where each object and action is normally associated with several actions and objects, respectively. The user experiments show that affordance-based task communication methods can be used to decrease both the human workload and task communication times in a planetary exploration work context. Furthermore, affordance-based task communication methods are found to be preferred over conventional task communication methods. The affordance-based task communication methods derived can be applied to facilitate any human-robot task communication that includes a priori known or recurring task sequences. In this thesis, the feasibility of the approach was demonstrated for frame-based dialogue managers, which are widely used in robotics. |
|||||
BibTeX:
@phdthesis{Heikkila_Affordance-based_2011,
author = {Seppo S. Heikkilä},
title = {Affordance-Based Task Communication Methods for Astronaut-Robot Cooperation},
school = {Aalto University},
year = {2011},
url = {http://lib.tkk.fi/Diss/2011/isbn9789526043302/isbn9789526043302.pdf}
}
|
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| Heikkilä, S.S. | Human Inspired Indirect Task Communication for Astronaut-Robot Cooperation [BibTeX] |
2011 | Proc. of the 4th workshop on generic intelligent machines | inproceedings | |
BibTeX:
@inproceedings{Heikkila_Human_2011,
author = {Seppo S. Heikkilä},
title = {Human Inspired Indirect Task Communication for Astronaut-Robot Cooperation},
booktitle = {Proc. of the 4th workshop on generic intelligent machines},
publisher = {Tampere University of Technology},
year = {2011}
}
|
|||||
| Heikkilä, S.S. and Halme, A. | Indirect Human-Robot Task Communication Using Affordances | 2011 | Proc. of the 20th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) | inproceedings | URL |
| Abstract: One problem in current human-robot task communication is the laborious need to define action and target object parameters for each task request. This paper's solution to the problem is to enable indirect task communication by mimicking the human cognitive ability to understand affordances, i.e. action possibilities in the environment with respect to different actors. This enables humans to communicate tasks using only the task-related action or target object names, and thus avoid the need to remember explicit task request utterances. The proposed task communication is integrated as a subsystem into an existing service robot, and its functionality is evaluated through a set of user experiments in an astronaut-robot task communication context. Affordance-based indirect task communication is shown to successfully reduce the workload experienced by the human and to decrease task communication times, while also being the preferred way to communicate tasks. | |||||
BibTeX:
@inproceedings{Heikkila_Indirect_2011,
author = {Seppo S. Heikkilä and Aarne Halme},
title = {Indirect Human-Robot Task Communication Using Affordances},
booktitle = {Proc. of the 20th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)},
year = {2011},
url = {http://vapahtaja.com/papers/Heikkila_Indirect_2011.pdf}
}
|
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| Heikkilä, S.S., Halme, A. and Schiele, A. | Human-Human Inspired Task and Object Definition for Astronaut-Robot Cooperation | 2010 | Proc. of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) | inproceedings | URL |
| Abstract: This paper presents a comparison of three different speech based task communication methods using a simulated astronaut-robot geological exploration mission as a test case. The conventional task communication method, in which the astronaut needs to communicate both the action and target, is compared against communication methods where object affordances, i.e. object action possibilities, are used to complete the task definition. The idea of this object affordances based approach is to transfer the cognitive object-action association process from the astronaut to the robot. The user test campaign described in this paper, performed with a fully autonomous centauroid robot, shows that the use of only the action name or action target name in the task communication can be successfully used to lower the workload of the test persons. The robot’s capability to understand object-action associations introduces also a viable mechanism to add error tolerance to the communication as the astronaut has always alternative ways to make the required tasks communicated. | |||||
BibTeX:
@inproceedings{Heikkila_Human-Human_2010,
author = {Seppo S. Heikkilä and Aarne Halme and Andre Schiele},
title = {Human-Human Inspired Task and Object Definition for Astronaut-Robot Cooperation},
booktitle = {Proc. of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)},
year = {2010},
url = {http://mielipiteet.fi/publications/Heikkila_Human-Human_2010.pdf}
}
|
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| Heikkilä, S.S. | Implementing Human-Robot Interaction Applications with GIMnet/MaCI | 2010 | Proc. of the GIMnet | inproceedings | URL |
| Abstract: This paper presents how GIMnet/MaCI framework can be applied for human-robot interaction research. The example describes how WorkPartner service robot task communication application was implemented with GIMnet/MaCI by connecting together speech recognition, speech synthesis, manipulator control, and platform mobility MaCI modules. The implemented system was used as such both with simulated and real WorkPartner robot, demonstrating the GIMnet/MaCI flexibility to control different robots with one implemented software. The paper shows in a concrete implementation level detail how it is to implement HRI application with GIMnet/MaCI framework and further use it in a HRI research. | |||||
BibTeX:
@inproceedings{Heikkila_Implementing_2010,
author = {Seppo S. Heikkilä},
title = {Implementing Human-Robot Interaction Applications with GIMnet/MaCI},
booktitle = {Proc. of the GIMnet},
year = {2010},
url = {http://mielipiteet.fi/publications/Heikkila_Implementing_2010.pdf}
}
|
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| Heikkilä, S.S. | The Role of Natural Interaction in Astronaut-Robot Cooperation | 2010 | Proc. of the 61st International Astronautical Congress (IAC) | inproceedings | URL |
| Abstract: This paper reviews five different methods to enable natural astronaut-robot interaction in future planetary exploration missions. Natural astronaut-robot interaction is used here to refer to interaction that is inspired by human-human interaction. All the reviewed methods are presented in the form that they could be directly implemented as external user interface modules to provide additional flexibility to the astronaut-robot communication. These natural communication methods mainly provide only additional value to the astronaut-robot cooperation because they do not replace any existing communication methods but instead introduce new ones that astronauts are already accustomed to use in their daily lives on Earth. | |||||
BibTeX:
@inproceedings{Heikkila_Role_2010,
author = {Seppo S. Heikkilä},
title = {The Role of Natural Interaction in Astronaut-Robot Cooperation},
booktitle = {Proc. of the 61st International Astronautical Congress (IAC)},
year = {2010},
url = {http://mielipiteet.fi/publications/Heikkila_Role_2010.pdf}
}
|
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| Zebenay, M. and Heikkilä, S.S. | Manipulator Control for Physical Astronaut-Robot Interaction | 2010 | Proc. of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) | inproceedings | URL |
| Abstract: The future of astronaut-robot cooperation applications is highly dependent on the capability to perform safe and efficient physical interaction using the robot’s manipulators. WorkPartner, Aalto University’s mobile service robot, did not have any control algorithm that would enable safe human-robot physical interaction applications. This paper addresses this problems by developing compliance control capabilities for the WorkPartner manipulators. The developed compliance control is based on an admittance control algorithm that is modified to incorporate different operation modes. The control algorithm is implemented on the WorkPartner simulator as well as on the real WorkPartner robot manipulators. The selected modes of operation are ”follow movement”, ”hold position”, and ”adapt movement”. The test results show that the implemented control algorithmis capable of providing all the three examined manipulator behavior modes. | |||||
BibTeX:
@inproceedings{Zebenay_Manipulator_2010,
author = {Melak Zebenay and Seppo S. Heikkilä},
title = {Manipulator Control for Physical Astronaut-Robot Interaction},
booktitle = {Proc. of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS)},
year = {2010},
url = {http://mielipiteet.fi/publications/Zebenay_Manipulator_2010.pdf}
}
|
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| Heikkilä, S.S. | SpacePartner - Robotic Astronaut Assistant [BibTeX] |
2009 | Proc. of the 2nd workshop on generic intelligent machines | inproceedings | |
BibTeX:
@inproceedings{Heikkila_SpacePartner_2009,
author = {Seppo S. Heikkilä},
title = {SpacePartner - Robotic Astronaut Assistant},
booktitle = {Proc. of the 2nd workshop on generic intelligent machines},
publisher = {Tampere University of Technology},
year = {2009}
}
|
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| Heikkilä, S.S., Didot, F. and Halme, A. | Centaur-type service robot technology assessment for astronaut assistant development | 2008 | Proc. of the 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA) | inproceedings | URL |
| Abstract: This paper describes the assessment of the most relevant astronaut assistant activities on the surfaces of the Moon and Mars and, furthermore, the robotic technology development requirements to implement these activities with a centaur-like outdoor service robot, called the WorkPartner. The activity assessment is done by extracting five common mission scenarios from the most recent ESA and NASA documents that address the manned exploration of the surfaces of the Moon and Mars, and then further breaking down these missions hierarchically into tasks and actions. The broken-down missions are used to define the robotic astronaut assistant capability requirements to perform the required activities. The identified capability development requirements can be broadly divided into three areas of development: shared situation awareness, task coordination, and robot action control architectures. Finally, the capability requirements and current capabilities of the WorkPartner robot are compared in order to determine the development efforts required to make the WorkPartner robot a useful astronaut assistant. | |||||
BibTeX:
@inproceedings{Heikkila_CentaurType_2008,
author = {Seppo S. Heikkilä and Frederic Didot and Aarne Halme},
title = {Centaur-type service robot technology assessment for astronaut assistant development},
booktitle = {Proc. of the 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA)},
year = {2008},
url = {http://robotics.estec.esa.int/ASTRA/Astra2008/S02/02_03_Heikkila.pdf}
}
|
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| Heiskanen, P., Heikkilä, S.S. and Halme, A. | Development of a dynamic mobile robot simulator for astronaut assistance | 2008 | Proc. of the 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA) | inproceedings | URL |
| Abstract: The need for robotic assistance has been identified to be essential in space exploration missions. This work is targeted for a centauroid robot, called WorkPartner, which is currently being developed to work interactively with astronauts. This paper describes SimPartner, a dynamic robot simulator of the WorkPartner robot by using ODE (Open Dynamics Engine) software. The software incorporates an accurate model of the robot, including part lengths, masses, joints, actuators and sensors. The model can be used in real time to estimate forces and torques that would be difficult to measure from the actual robot, develop robot control code and to predict robot behavior e.g. in tele-operated tasks. The contribution of this paper is to show that it is possible to create a verifiable real-time dynamic mobile robot simulator for a centaur-like mobile service robot. This is achieved by comparing the simulation data with measurements from the actual WorkPartner robot | |||||
BibTeX:
@inproceedings{Heiskanen_Development_2008,
author = {Paavo Heiskanen and Seppo S. Heikkilä and Aarne Halme},
title = {Development of a dynamic mobile robot simulator for astronaut assistance},
booktitle = {Proc. of the 10th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA)},
year = {2008},
url = {http://robotics.estec.esa.int/ASTRA/Astra2008/S09/09_02_Heiskanen.pdf}
}
|
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| Iqbal, J., Heikkilä, S.S. and Halme, A. | Tether Tracking and Control of ROSA Robotic Rover | 2008 | Proc. of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV) | inproceedings | URL |
| Abstract: Mars is currently the centre of interest for space exploration. Tremendous efforts are still in progress to find clues of existence of life on Mars. Rovers are major sources of information of Mars. This paper focuses on a robotic roving vehicle RObot for Scientific Applications (ROSA) having its initiative of European Space Agency (ESA). ROSA being a tethered rover makes possible to reduce the weight/size of rover because power is delivered through tether. Additionally, tether provides communication lines between the lander and the rover. Tethered robots require complex control system. This paper presents a specialized tracking system for rover's 40 m tether. The proposed system is capable of tether tracking within resolution of ±6 cm. The same strategy can also be used in other tethered robots for rescue, security, underwater, mines hunting and cleaning petroleum tanks after minor modifications. | |||||
BibTeX:
@inproceedings{Iqbal_Tether_2008,
author = {Jamshed Iqbal and Seppo S. Heikkilä and Aarne Halme},
title = {Tether Tracking and Control of ROSA Robotic Rover},
booktitle = {Proc. of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV)},
year = {2008},
url = {http://vapahtaja.com/papers/Iqbal_Tether_2008.pdf}
}
|
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| Heikkilä, S.S. | Upgrade of satellite receiver localisation system : Master 06 Individual Project | 2006 | techreport | URL | |
| Abstract: This report presents an upgrade to a satellite receiver localization box, named ZipMode box. It is designed to localize satellite receivers with few kilometer accuracy using Digital Video Broadcasting over Satellite (DVB-S) satellite signals. The Zipmode box is developed to be affordable for mass markets so it has to cope with scarce hardware resources and small return channel bandwidth. Order to develop a stand-alone ZipMode box, an embedded Linux operating system is set up on a PC/104 386SX computer equipped with 2MB of RAM. The usage of open source Linux provides a large set of software development tools, device drivers and miscellaneous applications. Order to make the development fast and convenient, the operating system and ZipMode application code are cross-compiled using a standard Linux desktop computer. In this study the embedded Linux distribution demonstrated to be suitable for the ZipMode box is Small Linux, which is based on the old Linux 2.0 kernel. To enhance the ZipMode functionality, a literature review of currently existing satellite localization methods is conducted. The focus is on the orbit determination methods and on the satellite orbit modelling. The literature review shows that the current orbit determination techniques can achieve subcentimeter level orbital precisions when combined with satellite orbit models. The Precise Orbit Determination (POD) is a direct prerequisite for accurate satellite receiver losalization. |
|||||
BibTeX:
@techreport{Heikkila_Upgrade_2006,
author = {Seppo S. Heikkilä},
title = {Upgrade of satellite receiver localisation system : Master 06 Individual Project},
year = {2006},
url = {http://ssheikki.kapsi.fi/pages/Heikkila_Upgrade_2006.pdf}
}
|
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| Heikkilä, S.S. | WorkPartner/SpacePartner - Next generation learning service robot [BibTeX] |
2006 | Proc. of the 4th International Kemurdjian Workshop on planetary rovers, space robotics and Earth-based robots | inproceedings | |
BibTeX:
@inproceedings{Heikkila_WorkPartner_2006,
author = {Seppo S. Heikkilä},
title = {WorkPartner/SpacePartner - Next generation learning service robot},
booktitle = {Proc. of the 4th International Kemurdjian Workshop on planetary rovers, space robotics and Earth-based robots},
year = {2006}
}
|
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| Heikkilä, S.S. | Development of Laser Based Localisation Methods for Personal Navigation System - PeNa | 2005 | School: Helsinki University of Technology | mastersthesis | URL |
| Abstract: This master's thesis presents a stand-alone system for human indoor localisation, named Personal Navigation system (PeNa). The PeNa system operates using dead reckoning and map based localisation algorithms. The dead reckoning is calculated using stride length measurements and Kalman ltered heading information, which are further enhanced using laser scan matching. A map based localisation algorithm is introduced to provide localisation against absolute reference frame. Three laser scan based angle correction algorithms are presented: a histogram correlation with sequential lines, a histogram correlation with segmented lines, and a line intersection based algorithm. Also an evidence grid correlation based location correction algorithm and a virtual scan based map localisation algorithm are presented. Furthermore, a simple Simultaneous Localisation and Mapping (SLAM) algorithm, based on incremental map building, is presented. The PeNa was developed as part of the Building Presence through Localisation for Hybrid Telematic Systems (PeLoTe) project funded by the IST programme of the European Community. The PeLoTe project is shortly introduced in the beginning of this master's thesis. |
|||||
BibTeX:
@mastersthesis{Heikkila_Development_2005,
author = {Seppo S. Heikkilä},
title = {Development of Laser Based Localisation Methods for Personal Navigation System - PeNa},
school = {Helsinki University of Technology},
year = {2005},
url = {http://ssheikki.kapsi.fi/pages/Heikkila_Development_2005.pdf}
}
|
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| Saarinen, J. and Heikkilä, S.S. | Laser Based Personal Navigation System | 2005 | Proc. of the 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA) | inproceedings | URL |
| Abstract: This paper presents a human localization system for beaconless indoor positioning. The system is based on traditional dead-reckoning sensors including a compass, a gyro, and accelerometers. Due to the difficult kinematics of a human, there are no ready solutions for the dead reckoning. This problem is solved by using a self-made stride length measurement unit and laser scan matching. The dead reckoning always has unbounded error and thus a map based localization algorithm is needed. The map is based on CAD-model and the localization is done using Monte Carlo localization. As a result the human being is localized indoorswith bounded error. The system is used for incorporating the human into telematic system of cooperating robotic and human entities. The functionality of the integrated system is verified with tests in the European Union IST-project called PeLoTe. | |||||
BibTeX:
@inproceedings{Saarinen_Laser_2005,
author = {Jari Saarinen and Seppo S. Heikkilä},
title = {Laser Based Personal Navigation System},
booktitle = {Proc. of the 6th IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA)},
year = {2005},
url = {http://ieeexplore.ieee.org/iel5/10413/33075/01554296.pdf}
}
|
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| Saarinen, J., Heikkilä, S.S., Elomaa, M., Suomela, J. and Halme, A. | Rescue Personnel Localization System | 2005 | Proc. of the IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR) | inproceedings | URL |
| Abstract: Despite of rapid development in search and rescue robotics, the role of the human being is still very important both in the mission control and in the rescue field. However, robots can support humans in various ways. Combining humans and robots into a telematic system opens new possibilities in the rescue area. This paper explains a possible solution to add humans into a telematic system including robots and telematic mission management. The main requirement for the human cooperation with a rescue telematicsystem is the accurate localization of the human being. The localization system is based on traditional robotic deadreckoning sensors like compass, gyro, and accelerometers. Due to the difficult kinematics of a human, there are neither ready nor fully functional solutions for the odometry. This problem is solved by using a self-made stride length measurement unit and laser odometry. The functionality of the integrated system is verified with tests in the European union IST-project called PeLoTe. | |||||
BibTeX:
@inproceedings{Saarinen_Rescue_2005,
author = {Jari Saarinen and Seppo S. Heikkilä and Mikko Elomaa and Jussi Suomela and Aarne Halme},
title = {Rescue Personnel Localization System},
booktitle = {Proc. of the IEEE International Workshop on Safety, Security, and Rescue Robotics (SSRR)},
year = {2005},
url = {http://ieeexplore.ieee.org/iel5/10042/32217/01501247.pdf}
}
|
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| Heikkilä, S.S., Näränen, J., Granvik, M. and Saarinen, V. | Light Backscattering Measurements of Small Particles in Microgravity | 2004 | Proc. of the 55th International Astronautical Congress (IAC) | inproceedings | URL |
| Abstract: Feasibility of photometric measurements in microgravity environment is studied and established. A novel phase angle goniometer is designed and used to get experimental data of the backscattering properties of dusty lunar regolith analog material in microgravity near the zero phase angle, i.e. in opposition. The measurements show a strong increase in both reflectance and opposition effect amplitude under compaction. Also a broadening of the opposition effect width is observed. Important experience about shaking the sample using springs is also obtained. | |||||
BibTeX:
@inproceedings{Heikkila_Light_2004,
author = {Seppo S. Heikkilä and Jyri Näränen and Mikael Granvik and Ville Saarinen},
title = {Light Backscattering Measurements of Small Particles in Microgravity},
booktitle = {Proc. of the 55th International Astronautical Congress (IAC)},
year = {2004},
url = {http://vapahtaja.com/parabolic/stuff/assignment.pdf}
}
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| Näränen, J., Kaasalainen, S., Peltoniemi, J., Heikkilä, S.S., Granvik, M. and Saarinen, V. | Laboratory photometry of planetary regolith analogs. II. Surface roughness and extremes of packing density | 2004 | Astronomy and Astrophysics Journal Vol. 426(3), pp. 1103-1109 |
article | URL |
| Abstract: Laboratory phase curves of planetary regolith analog materials are presented. A study is made of the effect of compaction of the material on its backscattering properties. Further study is also made of the contribution of material surface roughness on its light scattering. First photometric light backscattering measurements in a microgravity environment are introduced as well as some improvements of the laboratory experiment techniques. The measurements show a strong increase in both reflectance and opposition effect amplitude under compaction. Also a broadening of the opposition effect width is observed. These results are in contrast with some of the previous studies on the subject. The surface roughness of a sample is found to be an important factor in measurements of samples with the same packing density. This should be taken into account in further studies. | |||||
BibTeX:
@article{Naranen_Laboratory_2004,
author = {Jyri Näränen and Sanna Kaasalainen and Jouni Peltoniemi and Seppo S. Heikkilä and Mikael Granvik and Ville Saarinen},
title = {Laboratory photometry of planetary regolith analogs. II. Surface roughness and extremes of packing density},
journal = {Astronomy and Astrophysics Journal},
year = {2004},
volume = {426},
number = {3},
pages = {1103-1109},
url = {http://www.aanda.org/articles/aa/pdf/2004/42/aa0556-04.pdf}
}
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| Saarinen, J., Suomela, J., Heikkilä, S.S., Elomaa, M. and Halme, A. | Personal Navigation System | 2004 | Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | inproceedings | URL |
| Abstract: This paper presents a human dead-reckoning system for beaconless indoor positioning. The system is based on traditional dead-reckoning sensors like compass, gyro, and accelerometers. Due to the difficult kinematics of a human, there are no ready solutions for the odometry. This problem is solved by using a self-made stride length measurement unit and laser odometry. All the sensors are integrated to a complete system including sensor fusion. The functionality of the integrated system is verified with tests in an office environment. Finally the test results are analyzed. | |||||
BibTeX:
@inproceedings{Saarinen_Personal_2004,
author = {Jari Saarinen and Jussi Suomela and Seppo S. Heikkilä and Mikko Elomaa and Aarne Halme},
title = {Personal Navigation System},
booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
year = {2004},
url = {http://ieeexplore.ieee.org/iel5/9577/30275/01389354.pdf}
}
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| Luojus, K., Hallikainen, M., Pulliainen, J., Heikkilä, S.S. and Engdahl, M. | Topography Corrected SAR Image Processing for ENVISAT ASAR Data [BibTeX] |
2002 | Proc. of the URSI/IEEE XXVII Convention on Radio Science (URSI), pp. 36-38 | inproceedings | |
BibTeX:
@inproceedings{Luojus_Topography_2002,
author = {Kari Luojus and Martti Hallikainen and Jouni Pulliainen and Seppo S. Heikkilä and Markus Engdahl},
title = {Topography Corrected SAR Image Processing for ENVISAT ASAR Data},
booktitle = {Proc. of the URSI/IEEE XXVII Convention on Radio Science (URSI)},
year = {2002},
pages = {36-38}
}
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