Probabilistic position and orientation estimation of rigid objects using an RGB-D sensor

The recent emergence of low-cost RGB-D sensors has brought new opportunities for robotics by providing affordable devices that can provide synchronized images with both color and depth information. In this thesis, recent work on pose estimation utilizing RGBD sensors is reviewed. Also, a pose recognition system for rigid objects using RGB-D data is implemented. The implementation uses half-edge primitives extracted from the RGB-D images for pose estimation. The system is based on the probabilistic object representation framework by Detry et al., which utilizes Nonparametric Belief Propagation for pose inference. Experiments are performed on household objects to evaluate the performance and robustness of the system.

Real-time Image-based RGB-D Camera Motion Tracking and Environment Mapping

In this work, image based estimation methods, also known as direct methods, are studied which avoid feature extraction and matching completely. Cost functions use raw pixels as measurements and the goal is to produce precise 3D pose and structure estimates. The cost functions presented minimize the sensor error, because measurements are not transformed or modified. In photometric camera pose estimation, 3D rotation and translation parameters are estimated by minimizing a sequence of image based cost functions, which are non-linear due to perspective projection and lens distortion. In image based structure refinement, on the other hand, 3D structure is refined using a number of additional views and an image based cost metric. Image based estimation methods are particularly useful in conditions where the Lambertian assumption holds, and the 3D points have constant color despite viewing angle. The goal is to improve image based estimation methods, and to produce computationally efficient methods which can be accomodated into real-time applications. The developed image-based 3D pose and structure estimation methods are finally demonstrated in practise in indoor 3D reconstruction use, and in a live augmented reality application.

Depth sensors in augmented reality solutions. Literature review

The emergence of depth sensors has made it possible to track – not only monocular cues – but also the actual depth values of the environment. This is especially useful in augmented reality solutions, where the position and orientation (pose) of the observer need to be accurately determined. This allows virtual objects to be installed to the view of the user through, for example, a screen of a tablet or augmented reality glasses (e.g. Google glass, etc.). Although the early 3D sensors have been physically quite large, the size of these sensors is decreasing, and possibly – eventually – a 3D sensor could be embedded – for example – to augmented reality glasses. The wider subject area considered in this review is 3D SLAM methods, which take advantage of the 3D information available by modern RGB-D sensors, such as Microsoft Kinect. Thus the review for SLAM (Simultaneous Localization and Mapping) and 3D tracking in augmented reality is a timely subject. We also try to find out the limitations and possibilities of different tracking methods, and how they should be improved, in order to allow efficient integration of the methods to the augmented reality solutions of the future.

R&D Expenditures and Firm Performance: Empirical Evidence on Finnish Data

Tutkielman tavoitteena on tutkia yrityksen tutkimus- ja tuotekehitystoiminnan (T&K) vaikutuksia yrityksen suorituskykyyn. Tutkielmassa tarkastellaan myös lyhyesti T&K- toimintaa osana yrityksen toimintoja ja ympäristöä. Tutkielman empiirisessä osassa tutkitaan poikkileikkausmenetelmää käyttäen T&K- menojen vaikutusta yrityksen kasvuun, kannattavuuteen ja osakkeen hintaan (tuottoon). Tutkielman empiirinen osa toteutettiin keräämällä tilinpäätös- ja osaketiedot 65 yritykselle vuosilta 1999-2005. T&K- menojen vaikutusta yrityksen kasvuun, kannattavuuteen ja osakkeen tuottoon tutkittiin eri aikavälejä käyttäen, jotta mahdolliset syy-seuraussuhteet voitaisiin luotettavasti osoittaa. Tutkimustulokset osoittavat, että yrityksen T&K- menoilla on positiivinen vaikutus yrityksen kasvuun ja kannattavuuteen ja,siten tulokset tukevat kahta tutkimuksen päähypoteesia. Yrityksen T&K- menoilla ja osakkeen tuoton välillä ei kuitenkaan käytetyllä aineistolla empiiristä yhteyttä löytynyt, joten kolmas päähypoteesi hylättiin.

R&D Performance Analysis: Case Studies on the Challenges and Promotion of the Evaluation and Measurement of R&D

Due to the intense international competition, demanding, and sophisticated customers, and diverse transforming technological change, organizations need to renew their products and services by allocating resources on research and development (R&D). Managing R&D is complex, but vital for many organizations to survive in the dynamic, turbulent environment. Thus, the increased interest among decision-makers towards finding the right performance measures for R&D is understandable. The measures or evaluation methods of R&D performance can be utilized for multiple purposes; for strategic control, for justifying the existence of R&D, for providing information and improving activities, as well as for the purposes of motivating and benchmarking. The earlier research in the field of R&D performance analysis has generally focused on either the activities and considerable factors and dimensions - e.g. strategic perspectives, purposes of measurement, levels of analysis, types of R&D or phases of R&D process - prior to the selection of R&Dperformance measures, or on proposed principles or actual implementation of theselection or design processes of R&D performance measures or measurement systems. This study aims at integrating the consideration of essential factors anddimensions of R&D performance analysis to developed selection processes of R&D measures, which have been applied in real-world organizations. The earlier models for corporate performance measurement that can be found in the literature, are to some extent adaptable also to the development of measurement systemsand selecting the measures in R&D activities. However, it is necessary to emphasize the special aspects related to the measurement of R&D performance in a way that make the development of new approaches for especially R&D performance measure selection necessary: First, the special characteristics of R&D - such as the long time lag between the inputs and outcomes, as well as the overall complexity and difficult coordination of activities - influence the R&D performance analysis problems, such as the need for more systematic, objective, balanced and multi-dimensional approaches for R&D measure selection, as well as the incompatibility of R&D measurement systems to other corporate measurement systems and vice versa. Secondly, the above-mentioned characteristics and challenges bring forth the significance of the influencing factors and dimensions that need to be recognized in order to derive the selection criteria for measures and choose the right R&D metrics, which is the most crucial step in the measurement system development process. The main purpose of this study is to support the management and control of the research and development activities of organizations by increasing the understanding of R&D performance analysis, clarifying the main factors related to the selection of R&D measures and by providing novel types of approaches and methods for systematizing the whole strategy- and business-based selection and development process of R&D indicators.The final aim of the research is to support the management in their decision making of R&D with suitable, systematically chosen measures or evaluation methods of R&D performance. Thus, the emphasis in most sub-areas of the present research has been on the promotion of the selection and development process of R&D indicators with the help of the different tools and decision support systems, i.e. the research has normative features through providing guidelines by novel types of approaches. The gathering of data and conducting case studies in metal and electronic industry companies, in the information and communications technology (ICT) sector, and in non-profit organizations helped us to formulate a comprehensive picture of the main challenges of R&D performance analysis in different organizations, which is essential, as recognition of the most importantproblem areas is a very crucial element in the constructive research approach utilized in this study. Multiple practical benefits regarding the defined problemareas could be found in the various constructed approaches presented in this dissertation: 1) the selection of R&D measures became more systematic when compared to the empirical analysis, as it was common that there were no systematic approaches utilized in the studied organizations earlier; 2) the evaluation methods or measures of R&D chosen with the help of the developed approaches can be more directly utilized in the decision-making, because of the thorough consideration of the purpose of measurement, as well as other dimensions of measurement; 3) more balance to the set of R&D measures was desired and gained throughthe holistic approaches to the selection processes; and 4) more objectivity wasgained through organizing the selection processes, as the earlier systems were considered subjective in many organizations. Scientifically, this dissertation aims to make a contribution to the present body of knowledge of R&D performance analysis by facilitating dealing with the versatility and challenges of R&D performance analysis, as well as the factors and dimensions influencing the selection of R&D performance measures, and by integrating these aspects to the developed novel types of approaches, methods and tools in the selection processes of R&D measures, applied in real-world organizations. In the whole research, facilitation of dealing with the versatility and challenges in R&D performance analysis, as well as the factors and dimensions influencing the R&D performance measure selection are strongly integrated with the constructed approaches. Thus, the research meets the above-mentioned purposes and objectives of the dissertation from the scientific as well as from the practical point of view.

Information sharing in R&D collaboration - Context-dependency and means of governance

Tiedon jakaminen ja kommunikointi ovat tärkeitä toimintoja verkostoituneiden yritysten välillä ja ne käsitetäänkin yhteistyösuhteen yhtenä menestystekijänä ja kulmakivenä. Tiedon jakamiseen liittyviä haasteita ovat mm. yrityksen liiketoiminnalle kriittisen tiedon vuotaminen ja liiketoiminnan vaatima tiedon reaaliaikaisuus ja riittävä määrä. Tuotekehitysyhteistyössä haasteellista on tiedon jäsentymättömyys ja sitä kautta lisääntyvä tiedon jakamisen tarve, minkä lisäksi jaettava tieto on usein monimutkaista ja yksityiskohtaista. Lisäksi tuotteiden elinkaaret lyhenevät, ja ulkoistaminen ja yhteistyö ovat yhä kasvavia trendejä liiketoiminnassa. Yhdessä nämä tekijät johtavat siihen, että tiedon jakaminen on haastavaa eritoten verkostoituneiden yritysten välillä. Tässä tutkimuksessa tiedon jakamisen haasteisiin pyrittiin vastaamaan ottamalla lähtökohdaksi tiedon jakamisen tilanneriippuvuuden ymmärtäminen. Työssä vastattiin kahteen pääkysymykseen: Mikä on tiedon jakamisen tilanneriippuvuus ja miten sitä voidaan hallita? Tilanneriippuvuudella tarkoitetaan työssä niitä tekijöitä, jotka vaikuttavat siihen, miten yritys jakaa tietoa tuotekehityskumppaneidensa kanssa. Tiedon jakamisella puolestaan tarkoitetaan yrityksestä toiselle siirrettävää tietoa, jota tarvitaan tuotekehitysprojektin aikana. Työn empiirinen aineisto on kerätty laadullisella tutkimusotteella case- eli tapaustutkimuksena yhdessä telekommunikaatioalan yrityksessä jasen eri liiketoimintayksiköissä. Tutkimusjoukko käsitti 19 tuotekehitys- ja toimittajanhallintatehtävissä toimivaa johtajaa tai päällikköä. Työ nojaa pääasiassa hankintojen johtamisen tutkimuskenttään ja tilanneriippuvuuden selvittämiseksi paneuduttiin erityisesti verkostojen tutkimukseen. Työssä kuvattiin tiedon jakaminen yhtenä verkoston toimintona ja yhteistyöhön liittyvättiedon jakamisen hyödyt, haasteet ja riskit identifioitiin. Tämän lisäksi työssä kehitettiin verkoston tutkimismalleja ja yhdistettiin eri tasoilla tapahtuvaa verkoston tutkimusta. Työssä esitettiin malli verkoston toimintojen tutkimiseksija todettiin, että verkostotutkimusta pitäisi tehdä verkosto, ketju, yrityssuhde- ja yritystasolla. Malliin on myös hyvä yhdistää tuote- ja tehtäväkohtaiset ominaispiirteet. Kirjallisuuskatsauksen perusteella huomattiin, että tiedon jakamista on aiemmin tarkasteltu lähinnä tuote- ja yrityssuhteiden tasolla. Väitöskirjassa esitettiin lisää merkittäviä tekijöitä, jotka vaikuttavat tiedon jakamiseen. Näitä olivat mm. tuotekehitystehtävän luonne, teknologia-alueen kypsyys ja toimittajan kyvykkyys. Tiedon jakamisen luonnetta tarkasteltaessa erotettiin operatiivinen, projektin hallintaan ja tuotekehitykseen liittyvä tieto sekä yleinen, toimittajan hallintaan liittyvä strateginen tieto. Tulosten mukaan erityisesti tuotekehityksen määrittelyvaihe ja tapaamiset kasvotusten korostuivat yhteistyössä. Empirian avulla tutkittiin myös niitä tekijöitä, joilla tiedon jakamista voidaan hallita tilanneriippuvuuteen perustuen, koska aiemmin tiedon jakamisen hallintakeinoja tai menestystekijöitä ei ole liitetty suoranaisesti eri olosuhteisiin. Nämä hallintakeinot jaettiin yhteistyötason- ja tuotekehitysprojektitason tekijöihin. Yksi työn keskeisistä tuloksista on se, että huolimatta tiedon jakamisen haasteista, monet niistä voidaan eliminoida tunnistamalla vallitsevat olosuhteet ja panostamalla tiedon jakamisen hallintakeinoihin. Työn manageriaalinen hyöty koskee erityisesti yrityksiä, jotka suunnittelevat ja tekevät tuotekehitysyhteistyötä yrityskumppaniensa kanssa. Työssä esitellään keinoja tämän haasteellisen tehtäväkentän hallintaan ja todetaan, että yritysten pitäisikin kiinnittää entistä enemmän huomiota tiedon jakamisen ja kommunikaation hallintaan jo tuotekehitysyhteistyötä suunniteltaessa.

De benedictione divina Ischmaëli data

Invocatio: D.D.

Use of preclinical and early clinical data for dose selection of a selective estrogen receptor modulator toremifene in treatment of breast cancer

In development of human medicines, it is important to predict early and accurately enough the disease and patient population to be treated as well as the effective and safe dose range of the studied medicine. This is pursued by using preclinical research models, clinical pharmacology and early clinical studies with small sample sizes. When successful, this enables effective development of medicines and reduces unnecessary exposure of healthy subjects and patients to ineffectice or harmfull doses of experimental compounds. Toremifene is a selective estrogen receptor modulator (SERM) used for treatment of breast cancer. Its development was initiated in 1980s when selection of treatment indications and doses were based on research in cell and animal models and on noncomparative clinical studies including small number of patients. Since the early development phase, the treatment indication, the patient population and the dose range were confirmed in large comparative clinical studies in patients. Based on the currently available large and long term clinical study data the aim of this study was to investigate how the early phase studies were able to predict the treatment indication, patient population and the dose range of the SERM. As a conclusion and based on the estrogen receptor mediated mechanism of action early studies were able to predict the treatment indication, target patient population and a dose range to be studied in confirmatory clinical studies. However, comparative clinical studies are needed to optimize dose selection of the SERM in treatment of breast cancer.

Building object-oriented software with the D-Bus messaging system

Object-oriented programming is a widely adopted paradigm for desktop software development. This paradigm partitions software into separate entities, objects, which consist of data and related procedures used to modify and inspect it. The paradigm has evolved during the last few decades to emphasize decoupling between object implementations, via means such as explicit interface inheritance and event-based implicit invocation. Inter-process communication (IPC) technologies allow applications to interact with each other. This enables making software distributed across multiple processes, resulting in a modular architecture with benefits in resource sharing, robustness, code reuse and security. The support for object-oriented programming concepts varies between IPC systems. This thesis is focused on the D-Bus system, which has recently gained a lot of users, but is still scantily researched. D-Bus has support for asynchronous remote procedure calls with return values and a content-based publish/subscribe event delivery mechanism. In this thesis, several patterns for method invocation in D-Bus and similar systems are compared. The patterns that simulate synchronous local calls are shown to be dangerous. Later, we present a state-caching proxy construct, which avoids the complexity of properly asynchronous calls for object inspection. The proxy and certain supplementary constructs are presented conceptually as generic object-oriented design patterns. The e ect of these patterns on non-functional qualities of software, such as complexity, performance and power consumption, is reasoned about based on the properties of the D-Bus system. The use of the patterns reduces complexity, but maintains the other qualities at a good level. Finally, we present currently existing means of specifying D-Bus object interfaces for the purposes of code and documentation generation. The interface description language used by the Telepathy modular IM/VoIP framework is found to be an useful extension of the basic D-Bus introspection format.

Strategic outsourcing of R&D: The location-specific advantages of India to the pharmaceutical industry

Companies are increasingly under pressure to be more efficient both in terms of costs and overall performance and thus, they seek new ways to develop their products and innovate. For pharmaceutical industry it can take several decades to launch a new drug to the markets. Since pharmaceutical industry is one of the most research-intensive industries, is outsourcing one way to enhance the R&D processes of such companies. It is said that outsourcing to offshore locations is vastly more challenging and complicated than any other exporting activity or inter-company relationship that has evoked a lot of discussion. By outsourcing strategically, companies must also thoroughly focus on transaction costs and core competences. Today, the suppliers are looked for beyond national boundaries and furthermore, the location of the outsourcing activity must also be thoroughly considered. Consequently, the purpose of this study is to analyze what is known of strategic outsourcing of pharmaceutical R&D to India. In order to meet the purpose of the study, this study tries to answer three sub-questions set to it: first, what is strategic outsourcing, second, why pharmaceutical companies utilize strategic outsourcing of R&D and last, why pharmaceutical companies select India as the location for outsourcing their R&D. The study is a qualitative study. The purpose of the study was approached by a literature review with systematic elements and sub-questions were analyzed through different relevant theories, such as theory of transaction costs, core competences and location advantages. Applicable academic journal articles were comprehensively included in the study. The data was collected from electronic journal article databases using key words and almost only peer-reviewed, as new as possible articles were included. Also both the reference list of the included articles and article recommendations from professionals generated more articles for inclusion. The data was analyzed through thematization that resulted in themes that illuminate the purpose of the study and sub-questions. As an outcome of the analysis, each of the theory chapters in the study represents one sub-question. The literature used in this study revealed that strategic outsourcing of R&D is increasingly used in pharmaceutical industry and the major motives to practice it has to do with lowering costs, accessing skilled labor, resources and knowledge and enhancing their quality while speeding up the introduction of new drugs. Mainly for the above-mentioned motives India is frequently chosen as the target location for pharma outsourcers. Still, the literature is somewhat incomplete in this complex phenomenon and more research is needed.