The development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate diThe development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate di

In order for manufacturing companies to remain competitive while also offering a high degree of customization for the customers, flexible robots that can be rapidly reprogrammed to new tasks need to be applied in the factories. In this paper we propose a method for the intuitive programming of an industrial mobile robot by combining robot skills, a graphical user interface and human gesture recogn

Automated task planning for robots is usually implemented on a motion primitive domain, where the focus is on constructing meaningful, general motion primitives. In this work we propose planning on the higher abstraction level of robot skills. In this context, skills are general, functional blocks that contain both sensing and action, have a welldefined expected outcome and set of preconditions, a

Purpose– The purpose of this study has been to evaluate the technology of autonomous mobile manipulation in a real world industrial manufacturing environment. The objective has been to obtain experience in the integration with existing equipment and determine key challenges in maturing the technology to a level of readiness suitable for industry. Despite much research within the topic of industriaPurpose– The purpose of this study has been to evaluate the technology of autonomous mobile manipulation in a real world industrial manufacturing environment. The objective has been to obtain experience in the integration with existing equipment and determine key challenges in maturing the technology to a level of readiness suitable for industry. Despite much research within the topic of industria

Delegating tasks from a human to a robot needs an efficient and easy-to-use communication pipeline between them - especially when inexperienced users are involved. This work presents a robotic system that is able to bridge this communication gap by exploiting 3D sensing for gesture recognition and real-time object segmentation. We visually extract an unknown object indicated by a human through a pDelegating tasks from a human to a robot needs an efficient and easy-to-use communication pipeline between them - especially when inexperienced users are involved. This work presents a robotic system that is able to bridge this communication gap by exploiting 3D sensing for gesture recognition and real-time object segmentation. We visually extract an unknown object indicated by a human through a p

3D pose estimation is a crucial element for enabling robots to work in industrial environment to perform tasks like bin-picking or depalletizing. Even though there exist various pose estimation algorithms, they usually deal with common daily objects applied in lab environments. However, coping with real-world industrial objects is a much harder challenge for most pose estimation techniques due to 3D pose estimation is a crucial element for enabling robots to work in industrial environment to perform tasks like bin-picking or depalletizing. Even though there exist various pose estimation algorithms, they usually deal with common daily objects applied in lab environments. However, coping with real-world industrial objects is a much harder challenge for most pose estimation techniques due to

The registration of an observed point set to a known model to estimate its 3D pose is a common task for the autonomous manipulation of objects. Especially in industrial environments, robotic systems need to accurately estimate the pose of objects in order to successfully perform picking, placing or assembly tasks. However, the characteristics of industrial objects often cause difficulties for clas

This paper presents an integrated cognitive robotics system for industrial kitting operations in a modern factory setting. The robot system combines low-level robot control and execution monitoring with automated mission and task planning, and a logistics planner which communicates with the factory's manufacturing execution system. The system has been implemented and tested on a series of automotiThis paper presents an integrated cognitive robotics systemfor industrial kitting operations in a modern factory setting.The robot system combines low-level robot control and execution monitoring with automated mission and task planning,and a logistics planner which communicates with the factory’smanufacturing execution system. The system has been implemented and tested on a series of automotive k

Candida antarctica lipase B (CalB) was efficiently expressed (6.2 g L-1) in Escherichia coli by utilizing an N-terminal tag cassette and the XylS/Pm expression system in a fed-batch bioreactor; subsequent direct binding to EziG from crude extracts resulted in an immobilized catalyst with superior activity to Novozym 435.

I lite drygt ett århundrade gestaltade den svenska värnplikten värderingar som jämlikhet, solidaritet och idén om att man skulle ”göra sin plikt och kräva sin rätt”. Värnplikten började som en rekryteringsmodell 1901, men förvandlades under 1900-talet till en institution i sin egen rätt: uppskattad av pliktskyldiga, Försvarsmakten, samhället, Högern och Vänstern. När det kalla kriget tog slut påböFor little more than a century military service enacted Swedish values of equality, solidarity and doing one's part for the public good. What started out at as mere military recruitment policy in 1901 developed into an institutional feature of Swedish society: appreciated by society, the conscripts, the Armed Forces and by political parties to the left and the right. In a pursuit to preserve milit

Lipoprotein (a) [Lp(a)] is a low density lipoprotein (LDL) with one apolipoprotein (a) molecule bound to the apolipoprotein B-100 of LDL. Lp(a) is an independent risk factor for cardiovascular disease (CVD). However, the relationship of Lp(a) to diabetes and metabolic syndrome, both known for increased CVD risk, is controversial. In a population based study on type two diabetes mellitus (T2DM) dev

A new jet clustering algorithm-Arclus-is presented. The main difference between this and conventional algorithms is that while the latter in each step join two clusters into one,Arclus joins three clusters into two. The performance ofArclus in terms of the size of hadronization corrections is studied for some jet-reconstruction tasks ine+e− andep collisions, and is found to be as good as or, for s

The fourth version of the Ariadne program for generating QCD cascades in the colour dipole approximation is presented. The underlying physics issues are discussed and a manual for using the program is given together with a few sample programs.The major changes from previous versions are the introduction of photon radiation from quarks and inclusion of interfaces to the LEPTO and PYTHIA programs.

After a brief discussion of the statistics available to the four LEP experiments at the time of writing and an overview of B-event characteristics, the authors consider in particular the theory, practice and potential pitfalls of neural networks, a new approach to B tagging which attracted a great deal of interest. They then consider some of the QCD aspects of heavy flavour physics. Finally there