Multi-sensor Simultaneous Localization and Mapping

Simultaneous localization and mapping(SLAM) is a very important problem in mobile robotics. Many solutions have been proposed by different scientists during the last two decades, nevertheless few studies have considered the use of multiple sensors simultane¬ously. The solution is on combining several data sources with the aid of an Extended Kalman Filter (EKF). Two approaches are proposed. The first one is to use the ordinary EKF SLAM algorithm for each data source separately in parallel and then at the end of each step, fuse the results into one solution. Another proposed approach is the use of multiple data sources simultaneously in a single filter. The comparison of the computational com¬plexity of the two methods is also presented. The first method is almost four times faster than the second one.

Current State of Ontology Matching. A Survey of Ontology and Schema Matching

Ontology matching is an important task when data from multiple data sources is integrated. Problems of ontology matching have been studied widely in the researchliterature and many different solutions and approaches have been proposed alsoin commercial software tools. In this survey, well-known approaches of ontologymatching, and its subtype schema matching, are reviewed and compared. The aimof this report is to summarize the knowledge about the state-of-the-art solutionsfrom the research literature, discuss how the methods work on different application domains, and analyze pros and cons of different open source and academic tools inthe commercial world.

Modelling ecological values in heterogeneous and dynamic landscapes with geospatial data

Our surrounding landscape is in a constantly dynamic state, but recently the rate of changes and their effects on the environment have considerably increased. In terms of the impact on nature, this development has not been entirely positive, but has rather caused a decline in valuable species, habitats, and general biodiversity. Regardless of recognizing the problem and its high importance, plans and actions of how to stop the detrimental development are largely lacking. This partly originates from a lack of genuine will, but is also due to difficulties in detecting many valuable landscape components and their consequent neglect. To support knowledge extraction, various digital environmental data sources may be of substantial help, but only if all the relevant background factors are known and the data is processed in a suitable way. This dissertation concentrates on detecting ecologically valuable landscape components by using geospatial data sources, and applies this knowledge to support spatial planning and management activities. In other words, the focus is on observing regionally valuable species, habitats, and biotopes with GIS and remote sensing data, using suitable methods for their analysis. Primary emphasis is given to the hemiboreal vegetation zone and the drastic decline in its semi-natural grasslands, which were created by a long trajectory of traditional grazing and management activities. However, the applied perspective is largely methodological, and allows for the application of the obtained results in various contexts. Models based on statistical dependencies and correlations of multiple variables, which are able to extract desired properties from a large mass of initial data, are emphasized in the dissertation. In addition, the papers included combine several data sets from different sources and dates together, with the aim of detecting a wider range of environmental characteristics, as well as pointing out their temporal dynamics. The results of the dissertation emphasise the multidimensionality and dynamics of landscapes, which need to be understood in order to be able to recognise their ecologically valuable components. This not only requires knowledge about the emergence of these components and an understanding of the used data, but also the need to focus the observations on minute details that are able to indicate the existence of fragmented and partly overlapping landscape targets. In addition, this pinpoints the fact that most of the existing classifications are too generalised as such to provide all the required details, but they can be utilized at various steps along a longer processing chain. The dissertation also emphases the importance of landscape history as an important factor, which both creates and preserves ecological values, and which sets an essential standpoint for understanding the present landscape characteristics. The obtained results are significant both in terms of preserving semi-natural grasslands, as well as general methodological development, giving support to science-based framework in order to evaluate ecological values and guide spatial planning.

On the innovation capacity of technologyrelated knowledge-intensive business services. A case study of the technology and engineering consulting (TEC) sector in Singapore

Even though the research on innovation in services has expanded remarkably especially during the past two decades, there is still a need to increase understanding on the special characteristics of service innovation. In addition to studying innovation in service companies and industries, research has also recently focused more on services in innovation, as especially the significance of so-called knowledge intensive business services (KIBS) for the competitive edge of their clients, othercompanies, regions and even nations has been proved in several previous studies. This study focuses on studying technology-based KIBS firms, and technology andengineering consulting (TEC) sector in particular. These firms have multiple roles in innovation systems, and thus, there is also a need for in-depth studies that increase knowledge about the types and dimensions of service innovations as well as underlying mechanisms and procedures which make the innovations successful. The main aim of this study is to generate new knowledge in the fragmented research field of service innovation management by recognizing the different typesof innovations in TEC services and some of the enablers of and barriers to innovation capacity in the field, especially from the knowledge management perspective. The study also aims to shed light on some of the existing routines and new constructions needed for enhancing service innovation and knowledge processing activities in KIBS companies of the TEC sector. The main samples of data in this research include literature reviews and public data sources, and a qualitative research approach with exploratory case studies conducted with the help of the interviews at technology consulting companies in Singapore in 2006. These complement the qualitative interview data gathered previously in Finland during a larger research project in the years 2004-2005. The data is also supplemented by a survey conducted in Singapore. The respondents for the survey by Tan (2007) were technology consulting companies who operate in the Singapore region. The purpose ofthe quantitative part of the study was to validate and further examine specificaspects such as the influence of knowledge management activities on innovativeness and different types of service innovations, in which the technology consultancies are involved. Singapore is known as a South-east Asian knowledge hub and is thus a significant research area where several multinational knowledge-intensive service firms operate. Typically, the service innovations identified in the studied TEC firms were formed by several dimensions of innovations. In addition to technological aspects, innovations were, for instance, related to new client interfaces and service delivery processes. The main enablers of and barriers to innovation seem to be partly similar in Singaporean firms as compared to the earlier study of Finnish TEC firms. Empirical studies also brought forth the significance of various sources of knowledge and knowledge processing activities as themain driving forces of service innovation in technology-related KIBS firms. A framework was also developed to study the effect of knowledge processing capabilities as well as some moderators on the innovativeness of TEC firms. Especially efficient knowledge acquisition and environmental dynamism seem to influence the innovativeness of TEC firms positively. The results of the study also contributeto the present service innovation literature by focusing more on 'innovation within KIBs' rather than 'innovation through KIBS', which has been the typical viewpoint stressed in the previous literature. Additionally, the study provides several possibilities for further research.

I volontari italiani nelle Waffen-SS. Il pensiero politico, la formazione culturale e le motivazioni al volontariato. Una storia orale

My doctoral dissertation examines the experiences of the Italian volunteers in the Waffen-SS troops using in-depth interviews with former volunteers as the main primary source. This phenomenon, even if significant in size (depending on the source, some 15 000-20 000 Italian men volunteered in the Waffen-SS), has been hitherto largely unknown to historical research. The available literature on the Italian volunteers, mainly written by military history enthusiast journalists and methodologically weak, concentrates mainly on the combat operations and military organization, and offers a rather stereotypical profile of the volunteers. My dissertation does not aim to reconstruct the military history of the different divisions of the Waffen-SS in which Italian volunteers operated but instead to examine the subjective, private and intimate experience of the volunteers in order to understand the motivations, attitudes, beliefs and cultural and family background, as well as their political ideas. The main objective of my doctoral dissertation is to discover the ideological precepts of the volunteers’ political credo. As the last phase of fascism and its ideology, often defined as the “Germanisation” or “Nazification” of fascism, is still the object of wide academic debate, a better understanding of the volunteers’ ideology also contributes to deepening overall knowledge of the nature of this last phase. The theoretical frame of my dissertation lies in oral history, in particular in the postmodernist approach to oral history, through which I reconstruct the volunteers’ ideology. In-depth interviews with former volunteers are the main primary source, but multiple data collection methods have been adopted. Phone interviews and correspondence with the volunteers have also been considered as primary sources. In addition to interviews and correspondence, family archives consisting of diaries, correspondence with the volunteers’ relatives and photographic material have also been collected and examined. An ethnographic observation of the volunteers’ domestic spaces has been conducted during the in-depth interviews, and photo self-elicitation techniques have been used in cases where the volunteers were willing to share their photographs. An exhaustive portrait of the ideological structure of the volunteers has been obtained, as well as of the cultural and social origins of the values that contributed to the rise and adoption of this ideology. Further, the volunteers’ motivations to enlist have been clearly reconstructed, together with their cultural, political, social and military backgrounds. The results of the research are particularly relevant both for comprehension of the Italian phenomenon of volunteering in the Waffen-SS and for the reconstruction of the ideological dynamics of the last phase of fascism. The volunteers’ political and ideological system, which can be defined as the Italian SS-fascist ideology, disagrees strongly with the vaguely described ideological profile offered by previous studies that describe volunteers as generically “super-fascist”. The research also offers the opportunity for a deeper understanding of the final fascist ideological trajectory, currently defined, not without a certain level of approximation, as the “Germanisation” or “Nazification” of fascist ideology.

Asuinkerrostalon lämmöntuottojärjestelmän optimointi elinkaarikustannusten perusteella hyödynnettäessä lämpöpumpulla useita lämmönlähteitä

The basis of this thesis was to optimize heat pump that uses multiple heat sources to get competitive heating system for residential building when life cycle costs are considered. The objectives were to compile necessary information to calculate life cycle costs for heating system of residential building and start to compose of designing program for heat pump based heating systems. Examinations were made for the purchase energy need of residential building. Features of heat pump, considered refrigerant and potential heat sources were examined to find out heat production potential of heat pumps. Necessary information for life cycle cost calculation was also examined. Collected data was used in two case analyses to design selected heat production systems and calculate their life cycle costs. On the basis of case analyses heat pump based hybrid heat production systems are very competitive on life cycle cost comparison against district heating when residential building uses a lot of energy. New buildings use considerably less energy and achieved energy cost savings with heat pump systems may not be enough to cover the relatively high investment cost in reasonable time period compared to district heating system. The calculation method was found to require further development to at least include the cooling energy need of the building. Cooling demand will continue to grow in the future, which improves the heat pump based heat production systems competitiveness compared to other systems.

The effect of celebrity CEO’s crisis communication to crisis outcome

The purpose of this this study is to examine the effects that a celebrity CEO’s crisis communication has on the crisis outcome and further on the quick decision response, resource mobilization and information flow during a crisis. The research was conducted using a multiple embedded case method, with four cases that represent different kinds of crisis that have all involved a celebrity CEO. The cases have been collected from various secondary data sources. The results of the study indicate that in crisis situations the celebrity CEO is expected to take responsibility of the crisis communication. The CEO needs to understand how and what to communicate in these situations and they need to make quick decisions even with limited information available. Crisis outcome is highly dependent on the golden hour crisis communication and there the performance of the celebrity CEO is crucial.

Integration of marketing research data in new product development. Case study: Food industry company

The aim of this master’s thesis is to provide a real life example of how marketing research data is used by different functions in the NPD process. In order to achieve this goal, a case study in a company was implemented where gathering, analysis, distribution and synthesis of marketing research data in NPD were studied. The main research question was formulated as follows: How is marketing research data integrated and used by different company functions in the NPD process? The theory part of the master’s thesis was focused on the discussion of the marketing function role in NPD, use of marketing research particularly in the food industry, as well as issues related to the marketing/R&D interface during the NPD process. The empirical part of the master’s thesis was based on qualitative explanatory case study research. Individual in-depth interviews with company representatives, company documents and online research were used for data collection and analyzed through triangulation method. The empirical findings advocate that the most important marketing data sources at the concept generation stage of NPD are: global trends monitoring, retailing audit and consumers insights. These data sets are crucial for establishing the potential of the product on the market and defining the desired features for the new product to be developed. The findings also suggest the example of successful crossfunctional communication during the NPD process with formal and informal communication patterns. General managerial recommendations are given on the integration in NPD of a strategy, process, continuous improvement, and motivated cross-functional product development teams.

Governance of Healthcare Data: International Standards and Recommendations

In the global phenomenon, the aging population becomes a critical issue. Data and information concerning elderly citizens are increasing and are not well organized. In addition, these unstructured data and information cause the problems for decision makers. Since we live in a digital world, Information Technology is considered to be a tool in order to solve problems. Data, information, and knowledge are crucial components to facilitate success in IT service system. Therefore, it is necessary to study how to organize or to govern data from various sources related elderly citizens. The research is conducted due to the fact that there is no internationally accepted holistic framework for governance of data. The research limits the scope to study on the healthcare domain; however, the results can be applied to the other areas. The research starts with an ongoing research of Dahlberg and Nokkala (2015) as a theory. It explains the classification of existing data sources and their characteristics with the focus on managerial perspectives. Then the studies of existing frameworks at international and national level organizations have been performed to show the current frameworks, which have been used and are useful in compiling data on elderly citizens. The international organizations in this research are selected based on their reputations and the reliability to obtain information. The selected countries at national level provide different point of views between two countries. Australia is a forerunner in IT governance while Thailand is the country which the author has familiar knowledge of the current situation. Considered the discussions of frameworks at international and national organizations level illustrate the main characteristics of each framework. At international organization level gives precedence to the interoperability of exchanging data and information between different parties. Whereas at national level shows the importance of the acknowledgement of using frameworks throughout the country in order to make the frameworks to be effective. After the studies of both international and national organization levels, the thesis shows the summarized tables to answer the fitness to the proposed framework by Dahlberg and Nokkala whether the framework help to consolidate data from various sources with different formats, hierarchies, structures, velocities, and other attributes of data storages. In addition, suggestions and recommendations will be proposed for the future research.

A service perspective to digital innovation: exploring the emergence of autonomous shipping

Current research describes digital innovation largely similar to product innovation. Digital innovation is seen as an object of coherent activities, however in reality digital innovation results from convergence of variant technologies and those related actors with versatile business goals. To account for the dynamic nature of digital innovation, this study applies a service perspective to digital innovation. The purpose of the study is to understand how digital innovation emerges within a service ecosystem for autonomous shipping. The sub-objectives of this study are to 1) identify what factors motivate and demotivate actors to integrate resources for autonomous shipping, 2) explore the key technology areas to be integrated to realise the autonomous shipping concept, and 3) suggest how the technology areas are combined for mutual value creation within a service eco-system for autonomous shipping. Insights from autonomous driving were also included. This study draws on literatures on service innovation and service-dominant logic. The research was conducted as a qualitative exploratory case study. The data comprise interviews of 18 marine and automotive industry experts, 4 workshops, 4 seminars, and observations as well as various secondary data sources. The findings revealed that the key actors have versatile motivations regarding autonomous shipping. These varied from opportunities for single applications to occupying a central role in an autonomous technology platform. Thus, autonomous shipping can be seen as an umbrella concept comprising multiple levels. In technical terms, the development of the concept of autonomous shipping is largely based on combining existing technology solutions, which are gradually integrated towards more systemic entities comprising areas of the autonomous shipping concept. This study argues that a service perspective embraces the inherently complex and dynamic nature of digital innovation. This is captured in the developed research framework that describes digital innovation emerging on different levels of interaction: 1. strategic relationships for new solutions, 2. new local networks for technology platforms, and 3. global networks for new markets. The framework shows how the business models and motivations of digital innovation actors feed the emergence of digital innovation in overlapping service ecosystems that together comprise an innovation ecosystem for autonomous technologies. Digital innovation managers will benefit from seeing their businesses as part of a larger ecosystem of value co-creating actors. In orchestrating digital innovation within a service ecosystem, it is suggested that managers consider the resources, roles and institutions within the ecosystem. Finally, as autonomous shipping is at its infancy, the topic provides a number of interesting avenues for future research.

Kasvihuonekaasupäästölaskenta kunnassa

Kiihtyvän kasvihuoneilmiön aiheuttama ilmaston lämpeneminen on modernin yhteiskunnan suurimpia haasteita. Ympäristöteknologian tavoitteena on hidastaa tämän ilmiön haitallisia vaikutuksia maailmanlaajuisesti, kansallisesti sekäkunnallisella tasolla. Tässä työssä on selvitetty, kuinka kunnallinen kasvihuonekaasupäästölaskenta toteutetaan ja voidaanko siitä saada luotettavia tuloksia. Lisäksi tulosten pohjalta on laadittu kunnallinen kasvihuonekaasupäästöjen kehitysennuste sekä toimenpide-ehdotus päästöjen leikkaamiseksi. Esimerkkikuntana on Lappeenrannan kaupunki ja päästölaskenta on kohdistettu vuoteen 2004. Lappeenrannan kaupungin alueen kasvihuonekaasupäästöt vuonna 2004 olivat 1 156 500 tonnia hiilidioksidiekvivalenttia. Alueen luonnon nieluvaikutus oli 23 500 tonnia hiilidioksidiekvivalenttia. Laskennassa käytetty aineisto, eli yritysten ja kunnallisten toimintojen päästö- ja polttoainetiedot, saatiin kirjallisuudesta, virallislähteistä sekä henkilökohtaisina tiedonantoina. Laskentaohjelmistona käytettiin Suomen Kuntaliiton kehittämää Excel-pohjaista kasvihuonekaasu-ja energiataseohjelmisto KASVENER:ia. Työssä on osoitettu, että kasvihuonekaasupäästölaskennan tarkkuus ja onnistuminen ovat riippuvaisia käytettävissä olevista resursseista, ennen kaikkea laskennan lähtötietojen laajuudesta ja tarkkuudesta. Laskentatuloksista selviää, että esimerkkikunnan kasvihuonekaasupäästöt ovat kasvaneet Suomen keskiarvoa vastaavalla tavalla. Toimenpide-ehdotuksia listatessa kävi lisäksi ilmi, että kasvihuonekaasupäästöjen leikkaaminen on melko helppoa olemassa olevalla teknologialla tiettyyn pisteeseen asti. Isompien tavoitteiden saavuttaminen edellyttää laajamittaisia investointeja ja kunnan infrastruktuurin muuttamista.

Logistic Solutions of Imported Renovation Materials

Tämän diplomityön tavoitteena oli tutkia saneeraus- ja remontoimistuotteiden osalta maahantuontia Suomeen ja transitoliikennettä Suomen kautta Venäjälle. Lähtökohtana oli Suomen logistinen asema ja mahdolliset kilpailukykyyn vaikuttavat tekijät, joista on luotu potentiaalisia tulevaisuuden kuvia. Kaikki tulokset johdettiin LOADER/CLIENT –tutkimusprojektin yhteyksistä. Tutkimuksen tavoitteisiin päästiin empiiristä tutkimusta varten kootun teorian kautta, joka koostuu toimitusketjun hallinnasta ja tämänhetkisestä parhaimmasta käytännöstä eli ns. kolmen A:n menetelmästä. Lisäksi teoriaosuudessa tarkasteltiin toimitusketjun yritysten välisiä suhteita, kansainväliseen toimitusketjuun liittyviä tekijöitä sekä tulevaisuuden haasteita. Työn empiiristä tutkimustietoa kerättiin pääasiassa haastattelujen, mutta myös muiden tutkimuksen tuloksien kautta. Tutkimusmenetelmä oli laadullinen puolistrukturoitu teemahaastattelu, jota varten ryhmä remontoimiseen ja saneeraukseen liittyviä yrityksiä ja heidän käyttämiä logistisia operaattoreita sekä projektin johtoryhmää haastateltiin. Tutkimuksen tulosten mukaan suurin osa haastatelluista yrityksistä näkee Suomen logistisen aseman hyvänä tällä hetkellä ja lähivuosina. Etenkin arvotavaroiden transito- kuljetuksissa Suomen asema nähdään vahvana vuosien kokemuksen ansiosta. Tällä hetkellä arvotavaroiden toimitusaika ja kokonaiskustannukset varastoimisineen ja käsittelyineen ovat vastaavia tai jopa edullisempia verrattuna esimerkiksi reitteihin Baltian maiden kautta. Baltian maiden kehitys voi heikentää Suomen kilpailukykyä hetkellisesti, mutta todennäköisesti ei pidemmällä aikavälillä. Haastateltujen henkilöiden mielestä Suomen logistiseen kilpailukykyyn tulevaisuudessa vaikuttaa eniten kaksi kriittistä tekijää. Suomen tulisi ensinnäkin keskittyä ja kehittää arvotavaran transitokuljetuksia. Toiseksi, säilyttääkseen kilpailukykynsä, Suomen satamien palveluiden kuten tullin ja ahtaajien tulisi olla joustavasti käytettävissä 24 tuntia vuorokaudessa vuoden jokaisena päivänä.

Priorization of Customer Needs for Paperboard Trays

The objectives of the study were to introduce current issues of chilled and frozen food packaging, priorize certain customer needs and review brand owners’ opinions and ways of actions. Packaging industry and packaged food markets were reviewed. Interviews of food industry brand owners are used as data sources. Analytic hierarchy process was used to prioritize the customer needs. Food packaging, special features of ready meals, chilled and frozen food packaging, packaging industry and packaged food markets in Europe are approached using literature and market reviews and forecasts. In empirical part the customer needs of paperboard trays are prioritized. The most important features for brand owners are related in product safety and environmental issues. Paperboard trays have benefits compared to its competing packaging solutions. Paperboard is recyclable, from renewable source and it has good printability. Emerging issues of packaging technology are biodegradable package, elderly friendly features such as easiness of opening and re-closing possibility, brand protection and tamper evident solutions.

Tarkkuuselektroniikkatuotteen elinkaariarviointi tuotesuunnittelun tueksi

Tämän diplomityön tarkoituksena oli tutkia tarkkuuselektroniikkatuotteen ympäristönäkökohtia elinkaariarvioinnin avulla. Työn osana tehtiin elinkaariarviointi (LCA) kahdelle tarkkuuselektroniikkatuotteelle. LCA:ssa keskityttiin elinkaaren kehdosta-asiakkaalle-vaiheisiin. Työn tavoitteena oli tuottaa määrällistä ja laadullista tietoa valittujen tuotteiden ympäristövaikutuksista. Selvitys tehtiin yrityksen tuotesuunnittelun tueksi. LCA:n inventaarioanalyysiin kerättiin prosessikohtaista tietoa selvityksen aikana. Myös kaupallista LCA-ohjelmaa ja sen tarjoamia tietopankkeja hyödynnettiin elinkaariarvioinnin toteuttamisessa. Teoriaosassa esitellään LCA-menetelmä. Lisäksi tarkastellaan elinkaariarviointiin liittyviä tuotekohtaisia ympäristökysymyksiä. Työssä eritellään myös yleisesti tarkkuuselektroniikkatuotteen eri osien elinkaareen vaiheita ja niihin liittyviä ympäristönäkökohtia. Kokeellisessa osassa kuvataan kahdelle tuotteelle tehtyä LCA-tapaustutkimusta. Elinkaariarvioinnin inventaariotiedon lähteet kuvataan. Inventaarioanalyysin ja vaikutusarvioinnin avulla tuodaan esille tuotteiden ympäristökuormaan merkittävimmin vaikuttavat prosessit ja elinkaaren vaiheet. Lisäksi tarkastellaan miten tapaustuotteiden ympäristökuormaa voitaisiin pienentää kahden esimerkin avulla. Lopuksi annetaan suosituksia jatkotoimenpiteistä tuotesuunnitteluun ja tiedonkeruuseen.