Collaborative virtual environment for human-robot interaction and navigation

Abstract. In this work, we present a data-gathering tool for virtual reality human-robot interaction focusing on the trajectories of the participants. Unity, Robot Operating System, Photon PUN, and Oculus were utilized to create a lightweight multiplayer environment for various studies. The system supports various amounts of humans and autonomous as well as teleoperated robots. The data from these interactions can be collected and further analysed to find possible differences in human behavior. Positional and orientional data proved to be accurate. Measured latency of 200ms was found to be sufficient for the trajectory collection. Human-robot interaction studies are often restricted because of the challenges regarding large datasets, time, and financial matters. With the implementation of virtual reality, many of these challenges can be addressed. Virtual reality offers safe and easier ways to research situations that could be dangerous or impossible to produce in real life.Interaktiivinen virtuaaliympäristö ihmisten ja robottien välisen vuorovaikutuksen tutkimiseen. Tiivistelmä. Tässä työssä esittelemme tiedonkeruutyökalun ihmisten ja robottien välisen vuorovaikutuksen tutkimiseen virtuaalisessa todellisuudessa. Työkalu on kevyt moninpeli alusta, joka hyödyntää Unity-, Robot Operating System-, Photon PUN-, sekä Oculus-teknologioita. Järjestelmä tukee yhtä aikaisesti useita osallistujia, ihmisiä sekä teleoperoituja tai autonomisia robotteja. Ihmisten ja robottien välisistä kanssakäymisistä saatua dataa voidaan analysoida ja pyrkiä selvittämään mahdollisia muutoksia ihmisen käyttäytymisessä erilaisissa tilanteissa. Sijainti- ja orientaatiodata osoittautui tarkaksi. Mitattu 200ms viive on riittävä liikeratojen seuraamiseen. Ihmisten ja robottien vuorovaikutusta tutkivia tutkimuksia kuitenkin usein rajoittaa useat tekijät, kuten suuret tietoaineistot, pitkät tutkimusten kestot ja suuret kulut. Virtuaalisen todellisuuden hyödyntäminen tutkimuksissa voi auttaa näiden ongelmien ratkaisemisessa. Se tarjoaa myös turvallisempia ja helpompia vaihtoehtoja mahdollisesti vaarallisten tai muuten mahdottomien oikean elämän tilanteiden toistamiseen

Modelling the impacts of European emission and climate change scenarios on acid-sensitive catchments in Finland

The dynamic hydro-chemical Model of Acidification of Groundwater in Catchments (MAGIC) was used to predict the response of 163 Finnish lake catchments to future acidic deposition and climatic change scenarios. Future deposition was assumed to follow current European emission reduction policies and a scenario based on maximum (technologically) feasible reductions (MFR). Future climate (temperature and precipitation) was derived from the HadAM3 and ECHAM4/OPYC3 general circulation models under two global scenarios of the Intergovernmental Panel on Climate Change (IPCC: A2 and B2). The combinations resulting in the widest range of future changes were used for simulations, i.e., the A2 scenario results from ECHAM4/OPYC3 (highest predicted change) and B2 results from HadAM3 (lowest predicted change). Future scenarios for catchment runoff were obtained from the Finnish watershed simulation and forecasting system. The potential influence of future changes in surface water organic carbon concentrations was also explored using simple empirical relationships based on temperature and sulphate deposition. Surprisingly, current emission reduction policies hardly show any future recovery; however, significant chemical recovery of soil and surface water from acidification was predicted under the MFR emission scenario. The direct influence of climate change (temperate and precipitation) on recovery was negligible, as runoff hardly changed; greater precipitation is offset by increased evapotranspiration due to higher temperatures. However, two exploratory empirical DOC models indicated that changes in sulphur deposition or temperature could have a confounding influence on the recovery of surface waters from acidification, and that the corresponding increases in DOC concentrations may offset the recovery in pH due to reductions in acidifying depositions

Controls on inorganic nitrogen leaching from Finnish catchments assessed using a sensitivity and uncertainty analysis of the INCA -N model

The semi-distributed, dynamic INCA-N model was used to simulate the behaviour of dissolved inorganic nitrogen (DIN) in two Finnish research catchments. Parameter sensitivity and model structural uncertainty were analysed using generalized sensitivity analysis. The Mustajoki catchment is a forested upstream catchment, while the Savijoki catchment represents intensively cultivated lowlands. In general, there were more influential parameters in Savijoki than Mustajoki. Model results were sensitive to N-transformation rates, vegetation dynamics, and soil and river hydrology. Values of the sensitive parameters were based on long-term measurements covering both warm and cold years. The highest measured DIN concentrations fell between minimum and maximum values estimated during the uncertainty analysis. The lowest measured concentrations fell outside these bounds, suggesting that some retention processes may be missing from the current model structure. The lowest concentrations occurred mainly during low flow periods; so effects on total loads were small

Identification of coherent flood regions across Europe by using the longest streamflow records

This study compiles a new dataset, consisting of the longest available flow series from across Europe, and uses it to study the spatial and temporal clustering of flood events across the continent. Hydrological series at 102 gauging stations were collected from 25 European countries. Five geographically distinct large-scale homogeneous regions are identified: (i) an Atlantic region, (ii) a Continental region, (iii) a Scandinavian region, (iv) an Alpine region, and (v) a Mediterranean region. The months with a higher likelihood of flooding were identified in each region. The analysis of the clustering of annual counts of floods revealed an over-dispersion in the Atlantic and Continental regions, forming flood-rich and flood-poor periods, as well as an under-dispersion in the Scandinavian region that points to a regular pattern of flood occurrences at the inter-annual scale. The detection of trends in flood series is attempted by basing it on the identified regions, interpreting the results at a regional scale and for various time periods: 1900-1999; 1920-1999; 1939-1998 and 1956-1995. The results indicate that a decreasing trend in the magnitude of floods was observed mainly in the Continental region in the period 1920-1999 with 22% of the catchments revealing such a trend, as well as a decreasing trend in the timing of floods in the Alpine region in the period 1900-1999 with 75% of the catchments revealing this trend. A mixed pattern of changes in the frequency of floods over a threshold and few significant changes in the timing of floods were detected

Sää- ja ilmastoriskit Suomessa - Kansallinen arvio

Tähän raporttiin on koottu ajantasainen arvio sään ja ilmaston aiheuttamista riskeistä eri toimialoille Suomessa. Arviossa otettiin huomioon sekä muuttuvan ilmaston että yhteiskunnallisen kehityksen vaikutus riskin muodostumiseen nykyhetkessä ja tulevaisuudessa. Sää- ja ilmastoriskejä pyrittiin hahmottamaan vaaratekijän (riskiä aiheuttava sääilmiö), altistumisen (riskin kohteen sijainti) ja haavoittuvuuden (riskin kohteen ominaisuudet) yhdistelmänä. Sääilmiöt aiheuttavat Suomessa riskejä jo nykyilmastossa. Muun muassa rajuilmat, helleaallot ja rankkasateet aiheuttavat taloudellisia ja terveydellisiä vaikutuksia sekä yleistä haittaa. Tulevaisuudessa riskit muuttuvat ilmastonmuutoksen muuttaessa haitallisia sääilmiöitä. Ilmastonmuutos tuo vähitellen kasvavia riskejä erityisesti ekosysteemeille ja infrastruktuurille. Muualla maailmalla tapahtuvat ilmastonmuutoksen vaikutukset voivat heijastua epäsuorasti Suomeen globaalien tavara-, energia-, raha- ja ihmisvirtojen kautta. Näiden riskien systemaattinen arviointi on vasta aloitettu. Raportin tavoitteena on tukea yhteiskunnan riskeihin varautumista ja ilmastonmuutokseen sopeutumista eri hallinnon tasoilla ja toimialoilla. Arvio perustuu pääosin kirjallisuudesta löytyviin tutkimuksiin ja selvityksiin sekä asiantuntija-arvioihin. Työ tehtiin “Sää- ja ilmastoriskien arviointi ja toimintamallit” (SIETO)- hankkeessa vuosina 2017–2018

Generic Business Process Model for SMEs in M-Commerce Based on Talabat’s Case Study

SMEs face a variety of challenges in their attempts to keep up with the cyber revolution, even though SMEs are a major part of the world economy. In a previous publication, the authors established that ‘B2C’ model does not accurately represent or support SMEs in M-Commerce. Instead, the authors reviewed SMEs and SME supporting apps from mobile app marketplaces and suggested a model called ‘B2i2C’. In this model, the ‘i’, in the form of intermediary business entity are playing a vital role in SMEs breakthrough into M-Commerce. Following on, this paper reviews business processes to generate a generic model adaptable to a variety of SME related products and services. This paper presents the case study of Talabat, one of the most successful GCC e-business models that supports SMEs to have come out from Kuwait. The information collected from online resources, student placements and feedback from operation managers attempt to emulate the business process model for a variety of ‘B2i2C’ business models. The generic model is then tested against three different scenarios to identify the level of similarity. The results demonstrate a high degree of adaptability of the model and a major opportunity to explore in the area of SME supporting app in M-Commerce

Climate Change Impacts on Groundwater and Dependent Ecosystems - in press

[EN] Aquifers and groundwater-dependent ecosystems (GDEs) are facing increasing pressure from water consumption, irrigation and climate change. These pressures modify groundwater levels and their temporal patterns and threaten vital ecosystem services such as arable land irrigation and ecosystem water requirements, especially during droughts. This review examines climate change effects on groundwater and dependent ecosystems. The mechanisms affecting natural variability in the global climate and the consequences of climate and land use changes due to anthropogenic influences are summarised based on studies from different hydrogeological strata and climate zones. The impacts on ecosystems are discussed based on current findings on factors influencing the biodiversity and functioning of aquatic and terrestrial ecosystems. The influence of changes to groundwater on GDE biodiversity and future threats posed by climate change is reviewed, using information mainly from surface water studies and knowledge of aquifer and groundwater ecosystems. Several gaps in research are identified. Due to lack of understanding of several key processes, the uncertainty associated with management techniques such as numerical modelling is high. The possibilities and roles of new methodologies such as indicators and modelling methods are discussed in the context of integrated groundwater resources management. Examples are provided of management impacts on groundwater, with recommendations on sustainable management of groundwaterThe preparation of this review was partly funded by EC 7th framework Project GENESIS (Contract Number 226536).Klove, B.; Ala-Aho, P.; Bertrand, G.; Gurdak, JJ.; Kupfersberger, H.; Kværner, J.; Muotka, T.... (2014). Climate Change Impacts on Groundwater and Dependent Ecosystems - in press. Journal of Hydrology. 518(Part B):250-266. https://doi.org/10.1016/j.jhydrol.2013.06.037S250266518Part

Ilmastonmuutokseen sopeutumisen ohjauskeinot, kustannukset ja alueelliset ulottuvuudet

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Megafloods in Europe can be anticipated from observations in hydrologically similar catchments

Megafloods that far exceed previously observed records often take citizens and experts by surprise, resulting in extremely severe damage and loss of life. Existing methods based on local and regional information rarely go beyond national borders and cannot predict these floods well because of limited data on megafloods, and because flood generation processes of extremes differ from those of smaller, more frequently observed events. Here we analyse river discharge observations from over 8,000 gauging stations across Europe and show that recent megafloods could have been anticipated from those previously observed in other places in Europe. Almost all observed megafloods (95.5%) fall within the envelope values estimated from previous floods in other similar places on the continent, implying that local surprises are not surprising at the continental scale. This holds also for older events, indicating that megafloods have not changed much in time relative to their spatial variability. The underlying concept of the study is that catchments with similar flood generation processes produce similar outliers. It is thus essential to transcend national boundaries and learn from other places across the continent to avoid surprises and save lives