Siirry pääsisältöön

Jari Saarinen

TkT, opettava tutkija

Automaatiotekniikka
Älykkäiden koneiden huippuyksikkö

Yhteystiedot

  • Sijainti: TUAS-talo, huone 2570
  • Puhelin: +358 40 536 7753
  • Sähköposti: jari.saarinen_ät_aalto.fi

Research career in short

I entered Automation Technology laboratory 1999 as research assistant and finished my Master thesis on 2002. Pre-master thesis I was working on a ESA project called Micro robots for scientific applications 2, which was a prototype of a Mars lander, ROTIS , which was EC project that developed Remotely Operated Tanker Inspection System). Master thesis pdf I did on a mechatronic rowing assistant, which was a product developement project to develop a rowing assistant based on a DC-motors and force sensing. The rowing assistant was also patented.

As PhD student, I have mainly worked on two subjects: 1) localization and mapping especially on Personal Navigation, which was also topic of my Doctoral dissertation and 2) on robotic systems development, which includes work on architecture and software side (c.f. WorkPartner, GIMnet and MaCI).

I am currently posting at Örebro University in Centre for Applied Autonomous Sensor Systems (AASS), Mobile Robotics & Olfaction group. My primary research focus at the moment is long-term navigation in real-world environments. At the moment I am working on online updating of 3D Normal Distribution Transform. This work has included the extenstion of NDT update step with recursive updating and modelling of occupancy using 3D NDT. As a result, we are now able to build large-scale 3D models in real-time. Moreover I have been working with mapping of dynamic environment. Both of these streams contribute to the goal of being able to autonomously operate in real-world environments over the extended periods of time. Some results you can find from my AASS profile page.

More cool videos can be found from YouTube Channel.

Degrees

  • Doctor of Science in Technology (Doctoral dissertation )
  • Diploma Engineer degree (M.Sc) in Automation Technology from Helsinki University of Technology in 2002. (Thesis pdf)

Projektit

Opetus

Courses

  • AS-84.3144 Field and Service Robotics (Lecturer)
  • AS-116.2120 Automaation tietotekniset järjestelmät (Distributed control in multi-robot systems lecture - 2010, 2011, 2012)
  • IHA-3256 Autonomous Mobile Machines (Tampere University of Technology - Localization and Mapping lectures)

Supervised Thesis

  • Antti Hölttä, "A generic user interface framework for a service based distributed system and its application on controlling a multi-robot system", M.Sc. thesis, Helsinki University of Technology, Espoo, Finland, 2010.
  • Matthieu Myrsky, "Hardware abstraction interfaces for mobile robotic applications", M.Sc. thesis, Helsinki University of Technology, Espoo, Finland, 2010.
  • Asad Ibne Moin, "Position and orientation estimation of a front loader bucket using stereo vision", M.Sc. thesis, Helsinki University of Technology, Espoo, Finland, 2010.
  • Felix Cabrera, Immersive methods for long distance teleoperation with time delay, Master's thesis accepted at Helsinki University of Technology (Espoo, Finland) in 2007.
  • Seppo Heikkilä, Development of Laser Based Localisation Methods for Personal Navigation System – PeNa, Helsinki University of Technology, Master’s Thesis, 8.3.2005
  • Konsta Hölttä, "Liikkuvien Robottien paikallinen esteenväistö ja liikkeensuunnittelu", B.Sc. Thesis, Aalto University, Espoo, Finland, 2010
  • Juha-Pekka Tajakka, "Liikkeensuunnittelu monirobottijärjestelmässä", B.Sc. Thesis, Aalto University, Espoo, Finland, 2010
  • Antti Maula, "Avoimen lähdekoodin kirjastot robotiikassa, sekä niiden soveltaminen työkoneympäristöön", B.Sc. Thesis, 2010
  • Tapio Lantela, "Autonomiset Työkoneet", B.Sc Thesis, 2010
  • Doan Nhat Quang, "Warehouse Management System", B.Sc. Thesis, Helsinki University of Technology, Espoo, Finland, 2009
  • Paula Priha, "Oppiva Kone - Liikkuvien Kenttä- ja Palvelurobottien Opettaminen", B.Sc. Thesis, Helsinki University of Technology, Espoo, Finland, 2009
  • Miika Jokelainen, "Hajautettujen Järjestelmien Käyttöliittymät", B.Sc. Thesis, Helsinki University of Technology, Espoo, Finland, 2009
  • Juho Frits, "Henkilökohtainen navigointi - laitteistot ja menetelmät", B.Sc. thesis, Helsinki University of Technology, Espoo, Finland, 2007.
  • Ilkka Penttilä, "Ihmisen havaitseminen autonomisessa työkoneympäristössä - turvallisuus ja menetelmät", B.Sc. thesis, Helsinki University of Technology, Espoo, Finland, 2007.

Software

Julkaisut

Julkaisut vuonna 2012

Julkaisut vuonna 2011

Julkaisut vuonna 2010