Abstract-This paper presents a method for global pose estimation using inertial sensors, monocular vision, and ultra wide band (UWB) sensors. It is demonstrated that the complementary characteristics of these sensors can be exploited to provide improved global pose estimates, without requiring the introduction of any visible infrastructure, such as fiducial markers. Instead, natural landmarks are jointly estimated with the pose of the platform using a simultaneous localization and mapping framework, supported by a small number of easy-to-hide UWB beacons with known positions. The method is evaluated with data from a controlled indoor experiment with high precision ground truth. The results show the benefit of the suggested sensor combination and suggest directions for further work.

Cellular localization generally relies on timedifference-of-arrival (TDOA) measurements. In this paper, we investigate a novel scenario where the mobile user estimates its own position by jointly exploiting TDOA and angle of departure (AOD) measurements, which are estimated from downlink transmissions in a millimeter-wave (mmWave) multiple-input singleoutput (MISO) setup. We first perform a Fisher information analysis to derive the lower bounds on the estimation accuracy, and then propose a novel localization algorithm, which is able to provide improved performance also with few transmit antennas and limited bandwidth.

Aims and Objectives To explore the lived experience of young adults diagnosed with cancer and to increase our understanding of how to help them with their caring needs. Background Being diagnosed with cancer is normally related with an existential crisis. This indicates that the individual cannot avoid thoughts of death, loneliness, guilt, and meaninglessness. In person‐centered care, the caretaker should have a holistic view of the person. Professionals must meet the patient´s different needs to strengthen health and well‐being for the diagnosed. This approach encourages the traditionally passive patient to become an active consumer who works in partnership with the healthcare provider. Design For this study, a content analysis of narratives was conducted, targeting age groups of 20–29 to take part of young adults' experiences. Methods Qualitative analysis of narratives and followed checklist (e.g., COREQ). Results During the analyzing phase, two main themes emerged: Interactions with Professionals and Cancer Voyager. In the results, both positive and negative feelings regarding encounters and support received from the professionals were described, this affected the young adults' well‐being and their ability to participate during treatments. The young adults felt as being on a journey with no control over which direction the road may take. Conclusion Outcome of the result shows the importance of making the young adult, one in a team. When working in a person‐centered way, patients gain control by owning their own responsibility during treatments. Implications for Nursing Practice There is a need in nursing education to address existential matters, to make nursing students ready to be approach but such questions in their professional work. Also, we believe that the experienced nurse must be given means to feel confident to handle questions about existential matters. By developing skills in the area of e‐Health, collaboration through support groups, and last but not least switching to patient‐centered care, we can offer effective and evidence‐based care tailored for this population.

Systra mi, du är bäst! Ikväll ska vi tokdansa med Ronny och Ragge på bordet tills byxorna spricker så att mamma får dåndimpen och pappa ramlar ur soffan. AbstractPose (position and orientation) tracking in room-scaled environments is an enabling technique for many applications. Today, virtual reality (vr) and augmented reality (ar) are two examples of such applications, receiving high interest both from the public and the research community. Accurate pose tracking of the vr or ar equipment, often a camera or a headset, or of different body parts is crucial to trick the human brain and make the virtual experience realistic. Pose tracking in room-scaled environments is also needed for reference tracking and metrology. This thesis focuses on an application to metrology. In this application, photometric models of a photo studio are needed to perform realistic scene reconstruction and image synthesis. Pose tracking of a dedicated sensor enables creation of these photometric models. The demands on the tracking system used in this application is high. It must be able to provide sub-centimeter and sub-degree accuracy and at same time be easy to move and install in new photo studios.The focus of this thesis is to investigate and develop methods for a pose tracking system that satisfies the requirements of the intended metrology application. The Bayesian filtering framework is suggested because of its firm theoretical foundation in informatics and because it enables straightforward fusion of measurements from several sensors. Sensor fusion is in this thesis seen as a way to exploit complementary characteristics of different sensors to increase tracking accuracy and robustness. Four different types of measurements are considered; inertialmeasurements, images from a camera, range (time-of-flight) measurements from ultra wide band (uwb) radio signals, and range and velocity measurements from echoes of transmitted acoustic signals.A simulation study and a study of the Cramér-Rao lower filtering bound (crlb) show that an inertial-camera system has the potential to reach the required tracking accuracy. It is however assumed that known fiducial markers, that can be detected and recognized in images, are deployed in the environment. The study shows that many markers are required. This makes the solution more of a stationary solution and the mobility requirement is not fulfilled. A simultaneous localization and mapping (slam) solution, where naturally occurring features are used instead of known markers, are suggested solve this problem. Evaluation using real data shows that the provided inertial-camera slam filter suffers from drift but that support from uwb range measurements eliminates this drift. The slam solution is then only dependent on knowing the position of very few stationary uwb transmitters compared to a large number of known fiducial markers. As a last step, to increase the accuracy of the slam filter, it is investigated if and how range measurements can be complemented with velocity measurement obtained as a resu...