Coarse Global Visual Localization of a Mobile Robot

Localization, which is the ability of a mobile robot to estimate its position within its environment, is a key capability for autonomous operation of any mobile robot. This thesis presents a system for indoor coarse and global localization of a mobile robot based on visual information. The system is based on image matching and uses SIFT features as natural landmarks. Features extracted from training images arestored in a database for use in localization later. During localization an image of the scene is captured using the on-board camera of the robot, features are extracted from the image and the best match is searched from the database. Feature matching is done using the k-d tree algorithm. Experimental results showed that localization accuracy increases with the number of training features used in the training database, while, on the other hand, increasing number of features tended to have a negative impact on the computational time. For some parts of the environment the error rate was relatively high due to a strong correlation of features taken from those places across the environment.

A mathematical study of fuzzy logic; an algebraic approach

Fuzzy set theory and Fuzzy logic is studied from a mathematical point of view. The main goal is to investigatecommon mathematical structures in various fuzzy logical inference systems and to establish a general mathematical basis for fuzzy logic when considered as multi-valued logic. The study is composed of six distinct publications. The first paper deals with Mattila'sLPC+Ch Calculus. THis fuzzy inference system is an attempt to introduce linguistic objects to mathematical logic without defining these objects mathematically.LPC+Ch Calculus is analyzed from algebraic point of view and it is demonstratedthat suitable factorization of the set of well formed formulae (in fact, Lindenbaum algebra) leads to a structure called ET-algebra and introduced in the beginning of the paper. On its basis, all the theorems presented by Mattila and many others can be proved in a simple way which is demonstrated in the Lemmas 1 and 2and Propositions 1-3. The conclusion critically discusses some other issues of LPC+Ch Calculus, specially that no formal semantics for it is given.In the second paper the characterization of solvability of the relational equation RoX=T, where R, X, T are fuzzy relations, X the unknown one, and o the minimum-induced composition by Sanchez, is extended to compositions induced by more general products in the general value lattice. Moreover, the procedure also applies to systemsof equations. In the third publication common features in various fuzzy logicalsystems are investigated. It turns out that adjoint couples and residuated lattices are very often present, though not always explicitly expressed. Some minor new results are also proved.The fourth study concerns Novak's paper, in which Novak introduced first-order fuzzy logic and proved, among other things, the semantico-syntactical completeness of this logic. He also demonstrated that the algebra of his logic is a generalized residuated lattice. In proving that the examination of Novak's logic can be reduced to the examination of locally finite MV-algebras.In the fifth paper a multi-valued sentential logic with values of truth in an injective MV-algebra is introduced and the axiomatizability of this logic is proved. The paper developes some ideas of Goguen and generalizes the results of Pavelka on the unit interval. Our proof for the completeness is purely algebraic. A corollary of the Completeness Theorem is that fuzzy logic on the unit interval is semantically complete if, and only if the algebra of the valuesof truth is a complete MV-algebra. The Compactness Theorem holds in our well-defined fuzzy sentential logic, while the Deduction Theorem and the Finiteness Theorem do not. Because of its generality and good-behaviour, MV-valued logic can be regarded as a mathematical basis of fuzzy reasoning. The last paper is a continuation of the fifth study. The semantics and syntax of fuzzy predicate logic with values of truth in ana injective MV-algerba are introduced, and a list of universally valid sentences is established. The system is proved to be semanticallycomplete. This proof is based on an idea utilizing some elementary properties of injective MV-algebras and MV-homomorphisms, and is purely algebraic.

Tilastotietojen graafinen esittäminen WWW-sivulla

World Wide Webin suosiolla on ollut merkittävä vaikutus yhteiskuntaan. WWW-sivut ovat helposti saatavilla ja sisällön tekeminen WWW:hen on helppoa. WWW-ympäristölle myös kehitetään paljon sovelluksia. WWW-sovellusten kehittämiselle ominaista on valinnanvapaus ja nopeuden tavoittelu. WWW-sovellusten ohjelmoinnin mahdollistavat useat toisilleen vaihtoehtoiset tekniikat. Ne eroavat toisistaan suoritusnopeudessa, ominaisuuksien määrässä ja joustavuudessa. Ohjelmoinnissa käytetään apuna useita erilaisia menetelmiä. Apumenetelmiä ovat muun muassa työkalut ja valmiiden komponenttien hyödyntäminen. Valmiit komponentit voivat olla joko ilmaisia, avointa lähdekoodia tai maksullisia. Tämän kandidaatintyön aikana valmistui sovellus, joka piirtää tilastotiedoista kaaviokuvia ja näyttää niitä dynaamisella WWW-sivulla. Sovellus pyrittiin toteuttamaan älykkäästi apumenetelmiä sopivasti hyödyntäen. Sovelluksen kehittämisessä käytettiin apuna sekä ohjelmointityökaluja että valmiita komponentteja. Kaaviokuvien tyypin ja ulkoasun haluttiin olevan käyttäjien muokattavissa. Toisaalta sovelluksen haluttiin olevan helposti laajennettavissa. Vaatimuksiin vastattiin tekemällä kaaviokuvien piirrosta osittain tietokannalla ohjelmoitava.

Asiantuntijapalvelun suunnittelu ohjelmistotuotteelle

Diplomityössä selvitettiin asiantuntijapalvelujen suunnittelu- ja tuotteistusprosessia ohjelmistotuotteille. Tavoitteena oli muodostaa malli, jonka pohjalta palvelusuunnittelua pystytään vakioimaan ja tehostamaan. Työn teoriaosuudessa käsitellään palveluja ja niiden ominaispiirteitä. Lisäksi tutkitaan näiden ominaispiirteiden aiheuttamia haasteita palvelujen suunnittelulle, tuotannolle ja markkinoinnille. Suunnitteluun ja tuotteistukseen liittyvät tekijät käydään myöskin läpi.Käytännön osuudessa käydään läpi suunnittelun ja tuotteistuksen vaiheet yleisesti ottamatta kantaa mihinkään erityiseen palveluun. Näitä hyväksikäyttäen suunnitellaan tuki- ja ongelmanratkaisupalvelu keskisuuren yrityksen edustamalle palvelinohjelmistotuotteelle. Työn tuloksena on yksityiskohtainen kuvaus asiantuntijapalveluiden suunnitteluun ja tuotteistukseen liittyvistä vaiheista. Yhtenä työn keskeisimmistä johtopäätöksistä voidaan todeta, että tehokkaalla palvelusuunnittelulla ja tuotteistuksella voidaan parantaa palveluiden laatua, edesauttaa resurssien tehokkaampaa käyttöä ja helpottaa palveluiden myyntiä ja markkinointia. Ei myöskään riitä, että itse palvelut on hyvin suunniteltu, vaan palveluiden suunnittelu- ja tuotteistusprosessien on oltava hyvin suunniteltu ja dokumentoitu. Näin mahdollistetaan asiantuntijayrityksen tehokas toiminta.

Avainhenkilöihin keskittyneen tietopääoman katoamisen riski ja sen hallinta pk-yrityksissä

Tutkielmassa selvitetään pienten ja keskisuurten yritysten avainhenkilöihin keskittyneen tietopääoman katoamisen riskiä ja pyritään löytämään keinoja riskin hallintaan. Pk-yrityksissä yrityksen kannalta kriittinen tieto on usein harvoihin henkilöihin keskittynyttä. Tällaisten avainhenkilöiden työpanoksen ja osaamisen menettäminen kokonaan saattaa olla yrityksen toiminnalle kohtalokasta. Väliaikainen osaamisen menettäminen voi myös vaikeuttaa toimintoja. Tietopääoman katoamisen riskin pienentäminen onnistuu joko avainhenkilön tiedon siirtämisellä toisiin henkilöihin tai huolehtimalla avainhenkilön työsuhteen mahdollisimman pitkästä jatkumisesta. Tiedon siirtämisen menetelmät riippuvat tiedon laadusta: onko se hiljaista vai eksplisiittistä. Avainhenkilön pysyvyyteen vaikuttaa yrityksen henkilöstöpolitiikka, jonka mukaisesti työntekijät saavat korvauksen työstään ja sitoutuvat yritykseen. Myös työntekijän työkyvystä huolehtiminen vaikuttaa tiedon pysymiseen yrityksen käytössä. Esimerkkiyrityksen haastatteluissa voidaan todeta yhtymäkohtia tutkimuksen muissa osissa käsiteltyihin tietojohtamisen ongelmiin.

Strategia ja tietojohtaminen asiantuntijaorganisaatiossa. Case: Laurea-ammattikorkeakoulun Espoo-Vantaan alueyksikkö

Tutkielma rakentui organisaation strategisen johtamisen ja tietojohtamisen teorialle. Tutkielmassa etsittiin niitä malleja, menetelmiä ja toimintatapoja, jotka tukevat tietojohtamisen juurruttamista organisaation toimintaan tavalla, mikä tukee asiantuntijaorganisaation strategisten tavoitteiden toteuttamista, organisaation uudistumista ja asiantuntijaorganisaation kyvykkyyden kehittämistä. Tutkielman empiirisessä osassa kohdeorganisaationa oli Laurea-ammattikorkeakoulu. Organisaation kyvykkyyttä toteuttaa valittua strategiaa selvitettiin suorittamalla mittaus KM-factor™ mittarilla. Mittauksessa otoksena oli ammattikorkeakoulun Porvoo-Vantaa -alueyksikön koko henkilöstö. Mittausta täydennettiin organisaatiossa tehdyillä haastatteluilla. Organisaatiossa tehty empiirinen tutkimus ja suoritettu mittaus selvittivät organisaation kyvykkyyttä suoriutua strategian toteuttamisessa suhteessa muissa asiantuntijaorganisaatioissa saatuihin mittaustuloksiin. Tutkielman tietojohtamisen ja strategisen johtamisen teoria ja saatu mittaustulos tukivat käsitystä siitä, että asiantuntijaorganisaatioiden kyvykkyydessä uusiutumiseen löytyy yhteisiä piirteitä. Organisaatiolle valitut toimintatavat, mallit ja menetelmät voivat merkittävästi tukea organisaation innovaatiopotentiaalia. Asiantuntijaorganisaatioissa korostuu tutkielman mukaan kyvykkyys yhteisen näkemyksen ja tavoitetilan juurruttamisessa ja sitä tukevien käytäntöjen omaksumisessa yli organisaatiorajojen.

A System-Level Simulation Model for a Protocol Processor

As the development of integrated circuit technology continues to follow Moore’s law the complexity of circuits increases exponentially. Traditional hardware description languages such as VHDL and Verilog are no longer powerful enough to cope with this level of complexity and do not provide facilities for hardware/software codesign. Languages such as SystemC are intended to solve these problems by combining the powerful expression of high level programming languages and hardware oriented facilities of hardware description languages. To fully replace older languages in the desing flow of digital systems SystemC should also be synthesizable. The devices required by modern high speed networks often share the same tight constraints for e.g. size, power consumption and price with embedded systems but have also very demanding real time and quality of service requirements that are difficult to satisfy with general purpose processors. Dedicated hardware blocks of an application specific instruction set processor are one way to combine fast processing speed, energy efficiency, flexibility and relatively low time-to-market. Common features can be identified in the network processing domain making it possible to develop specialized but configurable processor architectures. One such architecture is the TACO which is based on transport triggered architecture. The architecture offers a high degree of parallelism and modularity and greatly simplified instruction decoding. For this M.Sc.(Tech) thesis, a simulation environment for the TACO architecture was developed with SystemC 2.2 using an old version written with SystemC 1.0 as a starting point. The environment enables rapid design space exploration by providing facilities for hw/sw codesign and simulation and an extendable library of automatically configured reusable hardware blocks. Other topics that are covered are the differences between SystemC 1.0 and 2.2 from the viewpoint of hardware modeling, and compilation of a SystemC model into synthesizable VHDL with Celoxica Agility SystemC Compiler. A simulation model for a processor for TCP/IP packet validation was designed and tested as a test case for the environment.

Testing the Random Walk Hypothesis on the Baltic Stock Markets

The purpose of the thesis is to analyze whether the returns of general stock market indices of Estonia, Latvia and Lithuania follow the random walk hypothesis (RWH), and in addition, whether they are consistent with the weak-form efficiency criterion. Also the existence of the day-of-the-week anomaly is examined in the same regional markets. The data consists of daily closing quotes of the OMX Tallinn, Riga and Vilnius total return indices for the sample period from January 3, 2000 to August 28, 2009. Moreover, the full sample period is also divided into two sub-periods. The RWH is tested by applying three quantitative methods (i.e. the Augmented Dickey-Fuller unit root test, serial correlation test and non-parametric runs test). Ordinary Least Squares (OLS) regression with dummy variables is employed to detect the day-of-the-week anomalies. The random walk hypothesis (RWH) is rejected in the Estonian and Lithuanian stock markets. The Latvian stock market exhibits more efficient behaviour, although some evidence of inefficiency is also found, mostly during the first sub-period from 2000 to 2004. Day-of-the-week anomalies are detected on every stock market examined, though no longer during the later sub-period.

Luottamuksen ilmeneminen alueellisissa yhteistyöverkostoissa

Appearance of trust in regional, co-operative networks In our times, the value of social networks has been widely acknowledged. One can say that it is important for private persons to get networked, whilst it is even a must for companies and organizations in business life. This doctor's thesis examines three co-operative regional networks. Networks are located in Western Uusimaa (Länsi-Uusimaa) region in southernmost Finland, and they had both public organizations and private companies as participants (later called ‘players’). Initially, all of them were co-financed from public funds, and two of them are still operational while writing this. The main target of these networks has been to act as learning networks. The learning network stands for an ensemble of research and development units and workplaces constituting a common forum for learning. The main focus in this study has been on qualitative and structural characteristics of the networks, and how they are relating with intrinsic trust. In addition to the development of trust, it has been studied, at what level organizational learning within the networks takes place, and lastly, what kind of factors facilitate the development of social capital. The theoretical framework for the study is built on analysing trust and social capital. It is a 'mission impossible' to find single definitions for such major concepts. In this study, from the research questions' point of view it has been more relevant to concentrate on the aspects of networking and the relationships between the participating organizations. The total view in this study is very network-centric, and therefore those theories which have similar point of view have been prioritized. Such is the theory about structural holes by Ronald S. Burt (1992). It has been widely applied; especially his views on constraints affecting players in networks. The purpose of this study has not been to create new theories or to analyse and compare thoroughly the existing theoretical trends. Instead, the existing theories have provided the study with conceptual tools, which have been utilized for supporting the empirical results. The aim has been to create an explanatory case study consisting relevant discussion on the relationship between the network characteristics and the appearance of trust. The conceptual categorization for confidence vs. trust created by Niklas Luhmann (1979) is another important theoretical building block. In most cases, co-operation in networks is initiated by people already trusting in each other and willing to work together. However, personal trust is not sufficient in the long run to sustain the co-operation within the network: more abstract systemic trust described by Luhmann must also emerge. In the networks with different structures and at different development phases, these forms of trust appear at different levels. In this study, Luhmann’s systemic trust as a term has been replaced by the concept of 'trust in network as a system'. Structural characteristics of a network (density, centrality, structural holes etc.) have been selected to explain the creation of social capital and trust. The ability to adapt new information is essential for the development of social capital. Qualitative analysis for development phase has been used, and the Learning Network Maturity Test by Leenamaija Otala (2000) and her work have been applied. Thus, the qualitative characteristics and the structural characteristics of the networks are utilized together, when the creation of social capital and appearance of trust are assessed. Social Network Analysis, questionnaires and interviews have been the research methods. Quantitative and qualitative data have been combined. There is a similarity in viewpoints to research data with Extensive Case Study method, in which different cases are searched by exploring various cases and comparing certain common features between them and generic models. Development of trust, social capital and organizational learning has been explained in the study by comparing the networks in hand. Being a case study, it doesn't have targets to provide with general results and findings like conventional surveys. However, in this work phenomena and mechanisms related to them are interpreted from the empirical data. Key finding of this study is that the networks with high structural equality and clear target setting enable building trust to the network as a system. When systemic trust is present, e.g. changes in personnel involved in the co-operation won't hinder the network from remaining operational. On the other hand, if the players are not well motivated to co-operate, if the network is extremely centralized structurally, or if the network has players holding very much more beneficial position compared to the others, systemic trust won't develop: trust tends to remain at the personal level, and is directed to some players only. Such networks won't generate results and benefits to its players, and most probably they won’t live very long. In other words, learning networks cannot solely be based on willingness to learn, but also on willingness to co-operate.

Usability Centered Implementation of a Web Based Value Added Module

Customer specific functionalities are a challenging part of procurement and invoice automation environments. In Basware Enterprise Purchase to Payment product family the customer specific reports are supported only in a basic level without any seamless interface between all EPP products. Also other customer specific functionalities are not supported as there is no customizable interface between the applications and only the most common features are implemented to the products themselves. In this thesis foundations are created for a new web based value added module where it is possible to create seamless customer specific functionalities throughout the whole EPP product family. The work is implemented in a Proof of Concept type of piloting. The system is created in user centered way where the users are able to explain their requests and determine their needs. The result is an excellent foundation for a module that can be developed further.

Novel CO2 Regulated Proteins in Synechocystis PCC 6803

The large biodiversity of cyanobacteria together with the increasing genomics and proteomics metadata provide novel information for finding new commercially valuable metabolites. With the advent of global warming, there is growing interest in the processes that results in efficient CO2 capture through the use of photosynthetic microorganisms such as cyanobacteria. This requires a detailed knowledge of how cyanobacteria respond to the ambient CO2. My study was aimed at understanding the changes in the protein profile of the model organism, Synechocystis PCC 6803 towards the varying CO₂ level. In order to achieve this goal I have employed modern proteomics tools such as iTRAQ and DIGE, recombinant DNA techniques to construct different mutants in cyanobacteria and biophysical methods to study the photosynthetic properties. The proteomics study revealed several novel proteins, apart from the well characterized proteins involved in carbon concentrating mechanisms (CCMs), that were upregulated upon shift of the cells from high CO₂ concentration (3%) to that in air level (0.039%). The unknown proteins, Slr0006 and flavodiiron proteins (FDPs) Sll0217-Flv4 and Sll0219-Flv2, were selected for further characterization. Although slr0006 was substantially upregulated under C_i limiting conditions, inactivation of the gene did not result in any visual phenotype under various environmental conditions indicating that this protein is not essential for cell survival. However, quantitative proteomics showed the induction of novel plasmid and chromosome encoded proteins in deltaslr0006 under air level CO₂ conditions. The expression of the slr0006 gene was found to be strictly dependent on active photosynthetic electron transfer. Slr0006 contains conserved dsRNA binding domain that belongs to the Sua5/YrdC/YciO protein family. Structural modelling of Slr0006 showed an alpha/beta twisted open-sheet structure and a positively charged cavity, indicating a possible binding site for RNA. The 3D model and the co-localization of Slr0006 with ribosomal subunits suggest that it might play a role in translation or ribosome biogenesis. On the other hand, deletions in the sll0217-sll218- sll0219 operon resulted in enhanced photodamage of PSII and distorted energy transfer from phycobilisome (PBS) to PSII, suggesting a dynamic photoprotection role of the operon. Constructed homology models also suggest efficient electron transfer in heterodimeric Flv2/Flv4, apparently involved in PSII photoprotection. Both Slr0006 and FDPs exhibited several common features, including negative regulation by NdhR and ambiguous cellular localization when subjected to different concentrations of divalent ions. This strong association with the membranes remained undisturbed even in the presence of detergent or high salt. My finding brings ample information on three novel proteins and their functions towards carbon limitation. Nevertheless, many pathways and related proteins remain unexplored. The comprehensive understanding of the acclimation processes in cyanobacteria towards varying environmental CO₂ levels will help to uncover adaptive mechanisms in other organisms, including higher plants.