Mats Erling Høvin

• Tariverdi, Abbas; Mathiassen, Kim; Søyseth, Vegard; Kalvøy, Håvard; Elle, Ole Jakob & Tørresen, Jim [Show all 8 contributors for this article] (2022). Physics-Based Simulation and Control Framework for Steering a Magnetically-Actuated Guidewire. In Dilger, Lale Canan (Eds.), 2022 8th International Conference on Control, Decision and Information Technologies (CoDIT). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781665496070. doi: 10.1109/CoDIT55151.2022.9803963. Full text in Research Archive
• Forberg, Henrik Storm; Nygaard, Tønnes & Høvin, Mats Erling (2020). Generative Truss Optimization for Support-Free Fused Filament Fabrication. In Arabnia, Hamid R.; Deligiannidis, Leonidas; Tinetti, Fernando G. & Tran, Quoc-Nam (Ed.), Proceedings of 2020 International Conference on Computational Science and Computational Intelligence (CSCI). IEEE Computer Society Digital Library. ISSN 9781728176246. p. 149–1497. Full text in Research Archive
• Kjelgård, Kristian Gjertsen; Høvin, Mats Erling & Lande, Tor Sverre (2015). Body-coupled, wideband antennas. In Ghovanloo, Maysam (Eds.), 2015 IEEE Biomedical Circuits and Systems Conference (BioCAS) Proceedings. IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781479972333. doi: 10.1109/BioCAS.2015.7348386. Full text in Research Archive
• Klaus, Gordon Michael; Glette, Kyrre Harald & Høvin, Mats Erling (2013). Evolving locomotion for a 12-DOF quadruped robot in simulated environments. Biosystems (Amsterdam. Print). ISSN 0303-2647. 112(2), p. 102–106. doi: 10.1016/j.biosystems.2013.03.008. Full text in Research Archive Show summary

  We demonstrate the power of evolutionary robotics (ER) by comparing to a more traditional approach its performance and cost on the task of simulated robot locomotion. A novel quadruped robot is introduced, the legs of which – each having three non-coplanar degrees of freedom – are very maneuverable. Using a simplistic control architecture and a physics simulation of the robot, gaits are designed both by hand and using a highly parallel evolutionary algorithm (EA). It is found that the EA produces, in a small fraction of the time that takes to design by hand, gaits that travel at two to four times the speed of the hand-designed one. The flexibility of this approach is demonstrated by applying it across a range of differently configured simulators.

• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Khan, Kashif Nizam; Høvin, Mats Erling & Tørresen, Jim (2013). Adaptive variable neighborhood search for solving multi-objective facility layout problems with unequal area facilities. Swarm and Evolutionary Computation. ISSN 2210-6502. 8, p. 1–12. doi: 10.1016/j.swevo.2012.07.003. Full text in Research Archive
• Skogstad, Ståle Andreas van Dorp; Nymoen, Kristian; Høvin, Mats Erling; Holm, Sverre & Jensenius, Alexander Refsum (2013). Filtering Motion Capture Data for Real-Time Applications. In Yeo, Woon Seung; Lee, Kyogu; Sigman, Alexander; Ji, Haru & Graham, Wakefield (Ed.), Proceedings of the International Conference on New Interfaces For Musical Expression. Korea Advance Institute of Science and Technology. p. 142–147. Full text in Research Archive Show summary

  In this paper we present some custom designed filters for real-time motion capture applications. Our target application is motion controllers, i.e. systems that interpret hand motion for musical interaction. In earlier research we found effective methods to design nearly optimal filters for realtime applications. However, to be able to design suitable filters for our target application, it is necessary to establish the typical frequency content of the motion capture data we want to filter. This will again allow us to determine a reasonable cutoff frequency for the filters. We have therefore conducted an experiment in which we recorded the hand motion of 20 subjects. The frequency spectra of these data together with a method similar to the residual analysis method were then used to determine reasonable cutoff frequencies. Based on this experiment, we propose three cutoff frequencies for different scenarios and filtering needs: 5, 10 and 15 Hz, which correspond to heavy, medium and light filtering, respectively. Finally, we propose a range of real-time filters applicable to motion controllers. In particular, low-pass filters and low-pass differentiators of degrees one and two, which in our experience are the most useful filters for our target application.

• Skogstad, Ståle Andreas van Dorp; Holm, Sverre & Høvin, Mats Erling (2012). Digital IIR filters with minimal group delay for real-time applications. In Hegazy, Yasser G.; Küehn, Paul J. & Khamis, Alaa (Ed.), Engineering and Technology (ICET), 2012 International Conference on. IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781467348089. p. 1–6. doi: 10.1109/icengtechnol.2012.6396136. Full text in Research Archive Show summary

  In this paper we examine the potential for designing digital (IIR) filters with minimal group delay, which are relevant for real-time applications. By formulating filter design as a multi-objective optimization problem and approaching it with an unbiased metaheuristic search algorithm, we have established relationships between filter delay and other filter objectives. These relationships are presented as non-inferior surfaces for different filter orders and design approaches. We present possible designs that are realizable with (1) classical IIR design constructions, and (2) unconstrained global search for filter orders between 2 and 5. Elliptical (Cauer) filters are found as to have the highest potential for low group delay among the classical constructions. However, as one might expect, unconstrained IIR search discovers more optimal filters, but is limited to filter orders of ∼5. Currently, there exists no established method that can construct similar IIR filters with a group delay below n/2, where n is the given filter order. Finally, we present some unconstrained filter examples that we claim are nearly optimal.

• Godøy, Rolf Inge; Jensenius, Alexander Refsum; Voldsund, Arve; Glette, Kyrre Harald; Høvin, Mats Erling & Nymoen, Kristian [Show all 8 contributors for this article] (2012). Classifying Music-Related Actions. In Cambouropoulos, Emilios; Tsougras, Costas; Mavromatis, Panayotis & Pastiadis, Konstantinos (Ed.), Proceedings of the ICMPC-­ESCOM 2012 Joint Conference: 12th Biennial International Conference for Music Perception and Cognition, 8th Triennial Conference of the European Society for the Cognitive Sciences of Music. School of Music Studies, Aristotle University of Thessaloniki Thessaloniki, Hellas. ISSN 9789609984515. p. 352–357. Full text in Research Archive Show summary

  Our research on music-related actions is based on the conviction that sensations of both sound and body motion are inseparable in the production and perception of music. The expression "musicrelated actions" is here used to refer to chunks of combined sound and body motion, typically in the duration range of approximately 0.5 to 5 seconds. We believe that chunk-level music-related actions are highly significant for the experience of music, and we are presently working on establishing a database of music-related actions in order to facilitate access to, and research on, our fast growing collection of motion capture data and related material. In this work, we are confronted with a number of perceptual, conceptual and technological issues regarding classification of music-related actions, issues that will be presented and discussed in this paper.

• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2012). Job Shop Scheduling with Transportation Delays and Layout Planning in Manufacturing Systems: A Multi-objective Evolutionary Approach. In Kamel, Mohamed; Karray, Fakhri & Hagras, Hani (Ed.), Autonomous and Intelligent SystemsThird International Conference, AIS 2012, Aveiro, Portugal, June 25-27, 2012. Proceedings. Springer. ISSN 9783642313677. p. 209–219. doi: 10.1007/978-3-642-31368-4_25. Full text in Research Archive
• Klaus, Gordon Michael; Glette, Kyrre Harald & Høvin, Mats Erling (2012). Evolving Locomotion for a Simulated 12-DOF Quadruped Robot. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 7223, p. 90–98. doi: 10.1007/978-3-642-28792-3_13. Full text in Research Archive
• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2012). A Multi-Objective Evolutionary Algorithm for Solving Integrated Scheduling and Layout Planning Problems in Manufacturing Systems. In Angelov, Plamen; Filev, Dimitar; Kasabov, Nikola & Iglesias, José Antonio (Ed.), Proc. IEEE Evolving and Adaptive Intelligent Systems 2012 (IEEE EAIS 12). IEEE Press. ISSN 9781467317276. p. 157–163. doi: 10.1109/eais.2012.6232822. Full text in Research Archive
• Moghaddam, Akbar F.; lange, magnus; Mirmotahari, Omid & Høvin, Mats Erling (2012). Novel Mobile Climbing Robot Agent for Offshore Platforms. International Journal of Social, Behavioral, Educational, Economic, Business and Industrial Engineering. ISSN 2010-376X. 68, p. 17–23. Full text in Research Archive
• Mirmotahari, Omid; Berg, Yngvar & Høvin, Mats Erling (2012). Automation of Packing Cell in Fresh Fish Facilities. International Journal of Social, Behavioral, Educational, Economic, Business and Industrial Engineering. ISSN 2010-376X. 68, p. 1956–1961. Full text in Research Archive
• Skogstad, Ståle Andreas van Dorp; Holm, Sverre & Høvin, Mats Erling (2012). Designing Digital IIR Low-Pass Differentiators With Multi-Objective Optimization. In Baozong, Yuan; Qiuqi, Ruan & Xiaofang, Tang (Ed.), Proceedings of 2012 IEEE 11th International Conference on Signal Processing. IEEE Press. ISSN 9781467321945. doi: 10.1109/icosp.2012.6491617. Full text in Research Archive
• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Koch, Dirk; Høvin, Mats Erling & Tørresen, Jim (2011). Genetic algorithm using a modified backward pass heuristic for the dynamic facility layout problem. Paladyn - Journal of Behavioral Robotics. ISSN 2080-9778. 2(3), p. 164–174. doi: 10.2478/s13230-012-0008-1. Full text in Research Archive
• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2011). Dynamic Facility Layout Problem with Hybrid Genetic Algorithm. In Mitchell, Richard (Eds.), 9th IEEE International Conference on Cybernetic Intelligent Systems (CIS 2010). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781424490226. p. 33–38. doi: 10.1109/ukricis.2010.5898091. Full text in Research Archive
• Skogstad, Ståle Andreas van Dorp; Nymoen, Kristian & Høvin, Mats Erling (2011). Comparing Inertial and Optical MoCap Technologies for Synthesis Control. In Zanolla, Serena; Avanzini, Frederico; Canazza, Sergio & Götzen, Amalia de (Ed.), Proceedings of SMC 2011 8th Sound and Music Computing Conference “Creativity rethinks science”. Padova University Press. ISSN 9788897385035. p. 421–426. Full text in Research Archive Show summary

  This paper compares the use of two different technologies for controlling sound synthesis in real time: the infrared marker-based motion capture system OptiTrack and Xsens MVN, an inertial sensor-based motion capture suit. We present various quantitative comparisons between the data from the two systems and results from an experiment where a musician performed simple musical tasks with the two systems. Both systems are found to have their strengths and weaknesses, which we will present and discuss.

• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2011). Dynamic facility layout problem under uncertainty: A Pareto-optimality based multi-objective evolutionary approach. Central European Journal of Computer Science. ISSN 1896-1533. 1(4), p. 375–386. doi: 10.2478/s13537-011-0027-8. Full text in Research Archive
• Ripon, Kazi Shah Nawaz; N., Khan K.; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2011). Using Pareto-optimality for solving multi-objective unequal area facility layout problem. In Krasnogor, Natalio & Lanzi, Pier Luca (Ed.), 13th Annual Genetic and Evolutionary Computation Conference, GECCO 2011. Association for Computing Machinery (ACM). ISSN 9781450305570. p. 681–688. doi: 10.1145/2001576.2001670. Full text in Research Archive
• Furuholmen, Marcus; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2010). Evolutionary Approaches to the Three-dimensional Multi-pipe Routing Problem: A Comparative Study Using Direct Encodings. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 6022, p. 71–82. Full text in Research Archive
• Furuholmen, Marcus; Glette, Kyrre Harald & Høvin, Mats Erling (2010). An Indirect Approach to the Three-Dimensional Multi-pipe Routing Problem. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. p. 86–97. Full text in Research Archive
• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2010). A Genetic Algorithm to Find Pareto-optimal Solutions for the Dynamic Facility Layout Problem with Multiple Objectives. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 6443, p. 642–651. Full text in Research Archive
• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2010). Evolutionary Multi-Objective Clustering with Adaptive Local Search. In Karim, M. A. (Eds.), 13th International Conference on Computer and Information Technology (ICCIT 2010). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781424462834. Full text in Research Archive
• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2010). An Adaptive Local Search Based Genetic Algorithm for Solving Multi-objective Facility Layout Problem. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 6443, p. 540–550. Full text in Research Archive
• Furuholmen, Marcus; Høvin, Mats Erling; Glette, Kyrre Harald & Tørresen, Jim (2010). A Coevolutionary, Hyper Heuristic Approach to the Optimization of Three-dimensional Process Plant Layouts - a Comparative Study. In Smith, Alice (Eds.), Evolutionary Computation (CEC), 2010 IEEE Congress on. IEEE Sarnoff Symposium. ISSN 9781424469093. p. 1–8. Full text in Research Archive
• Kayacan, Erdal; Kaynak, O.; Abiyev, R.; Tørresen, Jim; Høvin, Mats Erling & Glette, Kyrre Harald (2010). Design of an adaptive interval type-2 fuzzy logic controller for the position control of a servo system with an intelligent sensor. In Bouchon-Meunier, Bernadette (Eds.), Proceeding of 2010 IEEE International Conference on Fuzzy Systems (FUZZ). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781424469192. p. 1–8. Full text in Research Archive
• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2010). Multi-Objective Evolutionary Approach for Solving Facility Layout Problem Using Local Search. In Sung, Y. Shin (Eds.), 25th ACM Symposium On Applied Computing. Association for Computing Machinery (ACM). ISSN 9781605586397. p. 1155–1156. Full text in Research Archive
• Glette, Kyrre Harald & Høvin, Mats Erling (2010). The X2 Modular Evolutionary Robotics Platform. Lecture Notes in Computer Science (LNCS). ISSN 0302-9743. 6274, p. 274–285. Full text in Research Archive
• Glette, Kyrre Harald & Høvin, Mats Erling (2010). Evolution of artificial muscle-based robotic locomotion in PhysX. In Luo, Ren C. & Asama, Hajime (Ed.), Proceedings / IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781424466757. p. 1114–1119. Full text in Research Archive
• Jensenius, Alexander Refsum; Glette, Kyrre Harald; Godøy, Rolf Inge; Høvin, Mats Erling; Nymoen, Kristian & Skogstad, Ståle Andreas van Dorp [Show all 7 contributors for this article] (2010). fourMs, University of Oslo – Lab Report. In Rowe, Robert & Samaras, Dimitris (Ed.), Proceedings of the International Computer Music Conference, June 1-5 2010, New York. International Computer Music Association. ISSN 9780971319288. p. 290–293. Full text in Research Archive Show summary

  The paper reports on the development and activities in the recently established fourMs lab (Music, Mind, Motion, Machines) at the University of Oslo, Norway. As a meeting place for researchers in music and informatics, the fourMs lab is centred around studies of basic issues in music cognition, machine learning and robotics.

• Glette, Kyrre Harald; Tørresen, Jim & Høvin, Mats Erling (2009). Intermediate Level FPGA Reconfiguration for an Online EHW Pattern Recognition System. In Suess, Martin (Eds.), 2009 NASA/ESA Conference on Adaptive Hardware and Systems. IEEE (Institute of Electrical and Electronics Engineers). ISSN 9780769537146. p. 19–26. Full text in Research Archive
• Furuholmen, Marcus; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2009). Scalability, Generalization and Coevolution - Experimental Comparisons Applied to Automated Facility Layout Planning. In Franz, Rothlauf (Eds.), Proceedings of the 11th Annual conference on Genetic and evolutionary computation. Association for Computing Machinery (ACM). ISSN 9781605583259. p. 691–698. Full text in Research Archive
• Ripon, Kazi Shah Nawaz; Glette, Kyrre Harald; Mirmotahari, Omid; Høvin, Mats Erling & Tørresen, Jim (2009). Pareto Optimal Based Evolutionary Approach for Solving Multi-Objective Facility Layout Problem. In Leung, C S; Lee, M & Chan, J H (Ed.), Neural Information Processing. Springer. ISSN 9783642106828. p. 159–168. Full text in Research Archive
• Furuholmen, Marcus; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2009). Coevolving Heuristics for The Distributor's Pallet Packing Problem. In Tyrrell, Andy (Eds.), Proceedings of the Eleventh conference on Congress on Evolutionary Computation (CEC'09). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781424429592. p. 2810–2817. Full text in Research Archive
• Glette, Kyrre Harald & Høvin, Mats Erling (2009). Kunstig evolusjon for biologisk inspirert robotdesign. In Kofod-Petersen, Anders; Langseth, Helge & Gundersen, Odd Erik (Ed.), Proceedings of the first Norwegian Artificial Intelligence Symposium. Tapir Akademisk Forlag. ISSN 9788251925198. p. 7–10. Full text in Research Archive
• Mirmotahari, Omid; Berg, Yngvar & Høvin, Mats Erling (2009). An Adaptive Fish Packing Algorithm for fish industry. International Journal of Social, Behavioral, Educational, Economic, Business and Industrial Engineering. ISSN 2010-376X. Full text in Research Archive
• Furuholmen, Marcus; Glette, Kyrre Harald; Tørresen, Jim & Høvin, Mats Erling (2008). Indirect Online Evolution - A Conceptual Framework for Adaptation in Industrial Robotic Systems. In Hornby, Gregory (Eds.), Lecture Notes in Computer Science. Springer Publishing Company. ISSN 9783540858560. p. 165–165-176. Full text in Research Archive
• Furuholmen, Marcus; Høvin, Mats Erling; Tørresen, Jim & Glette, Kyrre Harald (2008). Continuous Adaptation in Robotic Systems by Indirect Online Evolution. In Stoica, Adrian (Eds.), Learning and Adaptive Behaviors for Robotic Systems, 2008. LAB-RS '08. ECSIS Symposium on. IEEE (Institute of Electrical and Electronics Engineers). ISSN 9780769532721. p. 71–76. Full text in Research Archive Show summary

  A conceptual framework for online evolution in robotic systems called indirect online evolution (IDOE) is presented. A model specie automatically infers models of a hidden physical system by the use of gene expression programming (GEP). A parameter specie simultaneously optimizes the parameters of the inferred models according to a specified target vector. Training vectors required for modelling are automatically provided online by the interplay between the two coevolving species and the physical system. At every generation, only the estimated fittest individual of the parameter specie is executed on the physical system. This approach thus limits both the evaluation time, the wear out and the potential hazards normally associated with direct online evolution (DOE) where every individual has to be evaluated on the physical system. Additionally, the approach enables continuous system identification and adaptation during normal operation. Features of IDOE are illustrated by inferring models of a simplified, robotic arm, and further optimizing the parameters of the system according to a target position of the end effector. Simulated experiments indicate that the fitness of the IDOE approach is generally higher than the average fitness of DOE.

• Paus, Aleksander; Tørresen, Jim & Høvin, Mats Erling (2007). Adaptive Facial Behaviour using Selected Machine Learning Methods. In Arslan, Tughrul (Eds.), 2007 NASA/ESA Conference on Adaptive Hardware and Systems (AHS 2007). IEEE (Institute of Electrical and Electronics Engineers). ISSN 9780769528663. p. 225–232. Full text in Research Archive
• Garder, Lena Mariann & Høvin, Mats Erling (2007). Evolutionary Strategies Combined With Novel Binary Hill Climbing Used for Online Walking Pattern Generation in Two Legged Robot. In Habib, Maki K. (Eds.), Bioinspiration and Robotics - Walking and Climbing Robots. I-Tech Education and Publishing KG. ISSN 9783902613158. p. 329–340. Full text in Research Archive
• Skogstad, Ståle Andreas van Dorp & Høvin, Mats Erling (2007). Using Heuristic Search To Find Stable High-Order Single-Bit Delta Sigma Modulators. In Roberts, Rodney G.; Crane, Carl & Tosunoglu, Sabri (Ed.), Proceedings of the 7th IEEE International Symposium on Computational Intelligence in Robotics and Automation, Jacksonville, IEEE Robotics and Automation Society. IEEE Press. ISSN 9781424407903. p. 350–355. Full text in Research Archive
• Skogstad, Ståle Andreas van Dorp & Høvin, Mats Erling (2006). A Proposed Stability Characterization and Verification Method for High-Order Single-Bit Delta-Sigma Modulators. In Johansson, Thomas (Eds.), Proceedings 24th Norchip Conference. IEEE (Institute of Electrical and Electronics Engineers). ISSN 9781424407729. p. 100–103. Full text in Research Archive
• Garder, Lena & Høvin, Mats Erling (2006). Robot gaits evolved by combining genetic algorithms and binary hill climbing. In Keijzer, Maarten & Cattolico, Mike (Ed.), Proceedings of the Genetic and Evolutionary Computation Conference, GECCO 2006. ACM Publications. ISSN 9781595931863. p. 1165–1170. Full text in Research Archive
• Høvin, Mats Erling (2005). Hva skjer når robotene tar kontrollen? In Hole, Elisabeth Skjervum (Eds.), P2 akademiet XXXV. Transit forlag. ISSN 9788275961592. p. 101–117. Full text in Research Archive

View all works in NVA

• Glette, Kyrre Harald; Høvin, Mats Erling; Samuelsen, Eivind; Nygaard, Tønnes Frostad & Temperton, James (2014). 3D printed evolving robots destined for disaster zones. [Journal]. wired.co.uk. Full text in Research Archive
• Vogt, Yngve; Samuelsen, Eivind; Glette, Kyrre Harald; Nygaard, Tønnes Frostad & Høvin, Mats Erling (2014). Skriver ut selvlærende roboter. [Journal]. Apollon : Forskningsmagasin for Universitetet i Oslo. Full text in Research Archive
• Utheim, Eric B.; Hafting, Yngve; Høvin, Mats Erling; Gellein, Lars Tore; Boivie, Klas Magnus & Kwekkeboom, Persijn David (2013). Større enn internett? [Internet]. E24.no. Full text in Research Archive Show summary

  En ny industriell revolusjon, noe alle vil ha i hjemmet om få år, en oppfinnelse på størrelse med internett – eller en ubetydelig hype? Er 3D-printing det neste som vil forandre hverdagen din?

• Skogstad, Ståle Andreas van Dorp; Nymoen, Kristian; Høvin, Mats Erling; Holm, Sverre & Jensenius, Alexander Refsum (2013). Filtering Motion Capture Data for Real-Time Applications. Full text in Research Archive Show summary

  In this paper we present some custom designed filters for real-time motion capture applications. Our target application is motion controllers, i.e. systems that interpret hand motion for musical interaction. In earlier research we found effective methods to design nearly optimal filters for realtime applications. However, to be able to design suitable filters for our target application, it is necessary to establish the typical frequency content of the motion capture data we want to filter. This will again allow us to determine a reasonable cutoff frequency for the filters. We have therefore conducted an experiment in which we recorded the hand motion of 20 subjects. The frequency spectra of these data together with a method similar to the residual analysis method were then used to determine reasonable cutoff frequencies. Based on this experiment, we propose three cutoff frequencies for different scenarios and filtering needs: 5, 10 and 15 Hz, which correspond to heavy, medium and light filtering, respectively. Finally, we propose a range of real-time filters applicable to motion controllers. In particular, low-pass filters and low-pass differentiators of degrees one and two, which in our experience are the most useful filters for our target application.

• Godøy, Rolf Inge; Jensenius, Alexander Refsum; Voldsund, Arve; Glette, Kyrre Harald; Høvin, Mats Erling & Nymoen, Kristian [Show all 8 contributors for this article] (2012). Classifying Music-Related Actions. Full text in Research Archive Show summary

  Our research on music-related actions is based on the conviction that sensations of both sound and body motion are inseparable in the production and perception of music. The expression "music-related actions" is here used to refer to chunks of combined sound and body motion, typically in the duration range of approximately 0.5 to 5 se¬conds. We believe that chunk-level music-related ac¬tions are highly signifi¬cant for the experience of music, and we are pres¬ently working on establishing a database of music-related actions in order to facilitate access to, and research on, our fast growing collection of motion capture data and related material. In this work, we are con¬fronted with a number of perceptual, concep¬tual and technological is¬sues regarding classification of music-related ac¬tions, issues that will be presented and discussed in this paper.

• Goldberg, Steve; Glette, Kyrre Harald; Høvin, Mats Erling & Tørresen, Jim (2012). Mars Science Laboratory Landing Event. Full text in Research Archive
• Høvin, Mats Erling (2012). Roboter som holder deg med selskap på dødsleiet. [Radio]. NRK P! - Norgesglasset. Full text in Research Archive
• Mathiassen, Kim; Glette, Kyrre Harald; Høvin, Mats Erling; Hol, Per Kristian & Elle, Ole Jakob (2012). Semi-autonomous robotic systems for use in medical diagnostics and treatment. Full text in Research Archive
• Klem, Agnes; Hoff, Jon Roar; Tørresen, Jim; Hafting, Yngve; Elle, Ole Jakob & Mathiassen, Kim [Show all 9 contributors for this article] (2012). Robotikk og moral. [Internet]. Universitas.no. Full text in Research Archive Show summary

  Reportasjen er også trykket i papirutgaven av Universitas 28.11.2012. Elektronisk versjon av papirutaven er tilgjengelig på http://static.universitas.no/docs/pdf/universitas_2012-34.pdf

• Skogstad, Ståle Andreas van Dorp; Holm, Sverre & Høvin, Mats Erling (2012). Designing Digital IIR Low-Pass Differentiators With Multi-Objective Optimization. Full text in Research Archive
• Skogstad, Ståle Andreas van Dorp; Holm, Sverre & Høvin, Mats Erling (2012). Digital IIR Filters With Minimal Group Delay for Real-Time Applications. Full text in Research Archive Show summary

  In this paper we examine the potential for designing digital (IIR) filters with minimal group delay, which are relevant for real-time applications. By formulating filter design as a multi-objective optimization problem and approaching it with an unbiased metaheuristic search algorithm, we have established relationships between filter delay and other filter objectives. These relationships are presented as non-inferior surfaces for different filter orders and design approaches. We present possible designs that are realizable with (1) classical IIR design constructions, and (2) unconstrained global search for filter orders between 2 and 5. Elliptical (Cauer) filters are found as to have the highest potential for low group delay among the classical constructions. However, as one might expect, unconstrained IIR search discovers more optimal filters, but is limited to filter orders of ∼5. Currently, there exists no established method that can construct similar IIR filters with a group delay below n/2, where n is the given filter order. Finally, we present some unconstrained filter examples that we claim are nearly optimal.

• Glette, Kyrre Harald & Høvin, Mats Erling (2010). Evolution of Artificial Muscle-Based Robotic Locomotion in PhysX. Full text in Research Archive
• Glette, Kyrre Harald & Høvin, Mats Erling (2010). The X2 Modular Evolutionary Robotics Platform. Full text in Research Archive
• Jensenius, Alexander Refsum; Glette, Kyrre Harald; Godøy, Rolf Inge; Høvin, Mats Erling; Nymoen, Kristian & Skogstad, Ståle Andreas van Dorp [Show all 7 contributors for this article] (2010). fourMs, University of Oslo – Lab Report. Full text in Research Archive
• Nymoen, Kristian; Jensenius, Alexander Refsum & Høvin, Mats Erling (2010). Robot- og musikkteknologidemo. Full text in Research Archive
• Jensenius, Alexander Refsum; Skogstad, Ståle Andreas van Dorp; Nymoen, Kristian; Godøy, Rolf Inge; Tørresen, Jim & Høvin, Mats Erling (2009). Reduced displays of multidimensional motion capture data sets of musical performance. Full text in Research Archive Show summary

  Background: Carrying out research in the field of music and movement involves working with different types of data (e.g. motion capture and sensor data) and media (i.e. audio, video), each having its own size, dimensions, speed etc. While each of the data types and media have their own analytical tools and representation techniques, we see the need for developing more tools that allow for studying all the data and media together in a synchronised manner. We have previously developed solutions for studying musical sound and movement in parallel by using synchronised spectrograms of audio and motiongrams of video. Now as we have started using an infrared motion capture system in our research, we see the need for better visualisation techniques of the highly multidimensional data sets being recorded (e.g. 50 markers x 3 dimensions x 100 Hz). While there are several techniques for doing this independently of audio and video, we are working on tools that integrate well with our displays of spectrograms and motiongrams. Aims: Creating reduced representations of multidimensional motion capture data of complex music-related body movement that can be used together with spectrograms and motiongrams. Results/Main Contribution: We present some of the visualisation techniques we have been developing to display multidimensional data sets: 1) reduction based on collapsing dimensions, 2) reduction based on frame differencing, 3) colour coding of movement features. We show how these techniques allow for displaying reduced displays of multidimensional motion capture data sets synchronised with spectrograms and motiongrams. Conclusions/Implications: The techniques presented allows for studying relationships between movement and sound in music performance, and make it possible to create visual displays of movement and sound that can be used on screen and in printed documents.

• Høvin, Mats Erling (2009). Salngeroboten ANNA, og framtidens service-roboter. [Radio]. NRK P2 - Verdt å vite. Full text in Research Archive
• Høvin, Mats Erling (2009). Robotsyn, robotmassage, forskningtoget 2009. [Radio]. NRK P1 - Nitimen. Full text in Research Archive
• Høvin, Mats Erling (2009). Slangeroboten ANNA, forskningstorget 2009. [TV]. NRK Østlandssendingen. Full text in Research Archive
• Høvin, Mats Erling (2009). Robotsyn, robotmassage, forskningstorget 2009. [TV]. NRK Morgennytt. Full text in Research Archive
• Glette, Kyrre Harald; Tørresen, Jim & Høvin, Mats Erling (2009). Intermediate Level FPGA Reconfiguration for an Online EHW Pattern Recognition System. Full text in Research Archive
• Høvin, Mats Erling (2009). Roboter inn i samfunnet - i sammenheng med Kevin Warwick´s besøk i Oslo. [Radio]. NRK P3. Full text in Research Archive
• Høvin, Mats Erling (2009). Roboter er livsfarlige Del1 / Del2. [Radio]. NRK P1 - Norgesglasset. Full text in Research Archive
• Behrentz, Johan; Høvin, Mats Erling & Mirmotahari, Omid (2008). "Helt sykt" med robot. [Journal]. Sunnmørsposten. Full text in Research Archive
• Olsen, Claude r.; Mirmotahari, Omid & Høvin, Mats Erling (2008). Ingen slår Anna i håndbak. [Internet]. www.forskning.no. Full text in Research Archive
• Mirmotahari, Omid; Høvin, Mats Erling & NITO, , (2008). Ingeniørene kommer i Vestfold. [Internet]. http://www.nito.no/Lokale-avdelinger/NITO-Vestfold/. Full text in Research Archive
• Mirmotahari, Omid; Høvin, Mats Erling & Engh, Christine (2008). Skal hjelpe bestemor. [Internet]. http://www.aftenposten.no/nyheter/iriks/. Full text in Research Archive
• Mirmotahari, Omid; Høvin, Mats Erling & Olsen, Claude r. (2008). Bryt håndbak med Anna. [Journal]. forskningsdagene annonsebilag. Full text in Research Archive
• Furuholmen, Marcus; Glette, Kyrre Harald; Tørresen, Jim & Høvin, Mats Erling (2008). Indirect Online Evolution - A Conceptual Framework for Adaptation in Industrial Robotic Systems. Full text in Research Archive
• Høvin, Mats Erling; Jensenius, Alexander Refsum; Nymoen, Kristian & Skogstad, Ståle Andreas van Dorp (2008). Konsert med Oslo Laptop-orkester, dirigent: roboten "Anna". Full text in Research Archive
• Mirmotahari, Omid & Høvin, Mats Erling (2008). Fremtidens teknologi - Robotikk og Nanoteknologi. Full text in Research Archive
• Mirmotahari, Omid; Høvin, Mats Erling & Forskningsdagene, , (2008). Interaktiv robotikk - morgendagens teknologi. [Internet]. www.forskningstorget.com. Full text in Research Archive
• Glette, Kyrre Harald; Andersen, Pål Flodin; Tørresen, Jim & Høvin, Mats Erling (2008). Darwinistiske databrikker. [Internet]. forskning.no. Full text in Research Archive Show summary

  Databrikker inspirert av naturen kan designe seg selv for å gjøre jobben sin best mulig. For eksempel for å lære seg å kjenne igjen ansikter, bevege seg i et ukjent terreng eller styre en mekanisk hånd.

• Mirmotahari, Omid & Høvin, Mats Erling (2008). Fremtidens teknologi - Robotikk og Nanoteknologi. Full text in Research Archive
• Mirmotahari, Omid & Høvin, Mats Erling (2008). Fremtidens teknologi - Robotikk og Nanoteknologi. Full text in Research Archive
• Høvin, Mats Erling (2007). Etiske retningslinjer for roboter i samfunnet. [Radio]. NRK P2 - Verdt å vite. Full text in Research Archive
• Tørresen, Jim; Glette, Kyrre Harald; Høvin, Mats Erling; Garder, Lena Mariann; Furuholmen, Marcus & Vogt, Yngve (2007). Datamaskin lærer av egne feil. [Internet]. Apollon.no. Full text in Research Archive
• Tørresen, Jim; Glette, Kyrre Harald; Høvin, Mats Erling; Garder, Lena Mariann; Furuholmen, Marcus & Lyse, Morten (2007). Darwin-inspirert maskinvare. [Journal]. Computerworld. Full text in Research Archive
• Tørresen, Jim; Glette, Kyrre Harald; Høvin, Mats Erling; Garder, Lena Mariann; Furuholmen, Marcus & Lyse, Morten (2007). Darwin-inspirert maskinvare. [Internet]. Computerworld / IDG.no. Full text in Research Archive
• Garder, Lena & Høvin, Mats Erling (2006). Robot gaits evolved by combining genetic algorithms and binary hill climbing. Full text in Research Archive
• Høvin, Mats Erling (2006). Overvåking via mikrofon og kunstig intelligens. [Radio]. NRK P2: "Radioselskapet". Full text in Research Archive
• Høvin, Mats Erling (2006). Intelligent støv og robot-veps. [Radio]. NRK P2: "Verdt å vite". Full text in Research Archive
• Høvin, Mats Erling (2006). Roboter som registrerer menneskets følelser. [Radio]. NRK P2: "Radioselskapet". Full text in Research Archive
• Høvin, Mats Erling (2006). "Vil roboter kunne ta over verden i framtiden?" (serie) - DEL 3. [Radio]. NRK P2: "Radioselskapet". Full text in Research Archive
• Høvin, Mats Erling (2006). "Vil roboter kunne ta over verden i framtiden?" (serie) - DEL 2. [Radio]. NRK P2: "Radioselskapet". Full text in Research Archive
• Høvin, Mats Erling (2006). "Vil roboter kunne ta over verden i framtiden?" (serie) - DEL 4. [Radio]. NRK P2: "Radioselskapet". Full text in Research Archive
• Høvin, Mats Erling (2006). "Vil roboter kunne ta over verden i framtiden?" (serie) - DEL 5. [Radio]. NRK P2: "Radioselskapet". Full text in Research Archive
• Høvin, Mats Erling (2006). "Vil roboter kunne ta over verden i framtiden?" (serie) - DEL 1. [Radio]. NRK P2: "Radioselskapet" . Full text in Research Archive
• Høvin, Mats Erling (2006). RoboCup 2006 (kommentar). [Radio]. NRK P2: "Verdt å vite". Full text in Research Archive
• Høvin, Mats Erling & Garder, Lena (2005). Robotkyllingen Henriette / Humanoide roboter, status for 2005. Full text in Research Archive
• Høvin, Mats Erling; Holgersen, Ragnhild & Wisland, Dag T (2005). Cyberhånda underveis. IMPULS_05, Dataforeningen 2005. p. 56–57. Full text in Research Archive
• Slåttum, Sigmund Kleivene; Høvin, Mats Erling; Wallace, Benedikte & Lindblom, Diana Saplacan (2026). Supervisor for Master thesis: "Moving with the Music: A Novel Robotic Floor for Motion-Enhanced Music Experience" (60 ECTS). University of Oslo (UiO). Full text in Research Archive Show summary

  This thesis investigates how synchronized whole-body movement shapes the experience of listening to music. The two research questions ask whether floor movement changes the listening experience, and whether the specific character of the movement matters for that experience. To address these questions, a one-degree-of-freedom robotic floor was designed and built from scratch. The system, named Harmonic Audio-Reactive Platform (HARP), lifts a person standing on it in a vertical rolling motion derived from features extracted from the music. Two motion patterns were implemented for use in the study: a simple pattern oscillating at the beat frequency, and a complex pattern that combines two sinusoids whose amplitudes vary with the spectral content of the music. The hardware, software, and trajectory generation are described in detail in the thesis, and form a methodological contribution alongside the empirical findings. Six participants took part in a within-group user study. Each experienced three songs from contrasting genres (classical, EDM, and metal) under three motion conditions (no motion, simple, and complex), giving nine conditions per participant. A qualitatively-driven mixed methods design was used. Semi-structured interviews were analyzed with reflexive thematic analysis, alongside Likert ratings, amplitude adjustment logs, synchronization measurements, and video observations. Three themes were constructed from the interviews: Enjoyment, Emotion, and Congruence. Across all data sources, the most consistent finding is that motion pattern preference is personal. No single pattern worked for everyone, and the same pattern could feel mismatched or stressful to one participant and meaningful to another. The movement was mostly received as adding to the listening experience, with Likert ratings, qualitative themes, and participants’ own descriptions of real-world use pointing the same way. Synchronization between music and motion shaped the experience but its specific role could not be settled within this study.

• Høvin, Mats Erling; Ellefsen, Kai Olav & Skjeltorp, Ole Edvin (2022). 3D Neural Cellular Automata - Simulating morphogenesis: Shape, color and behavior of three-dimensional structures. Universitetet i Oslo. Full text in Research Archive Show summary

  Plants, fungi, humans and all other multicellular organisms go through the same process of growing step by step. Starting as a single cell with a genome containing all the genetic information of the organism, they grow into the shape encoded in their genome with stunning accuracy. Not only do they grow into a shape, but a complex composition of cell types. Organisms also know when to stop growing, and some even have abilities to regrow damaged cells. The study of this process, called developmental biology, can provide insight useful for a range of disciplines, such as medicine and artificial intelligence. Computer science has a long history of benefiting from mimicking models of biology, and modern computing power provides tools to simulate biological models in ways that may benefit both fields. Simulations can provide insight and observations that are hard to catch otherwise. This thesis contributes to the tools capable of providing such insights, and aims to simulate morphogenesis by growing a single cell into a three-dimensional colored shape. The framework extends recent work simulating 2D morphogenesis using machine learning combined with an abstract computational system called cellular automatas (CA). In addition to the added dimensionality, we further extend the framework and propose a novel solution allowing guidance of the morphogenesis through certain checkpoints during training. We also experiment with a novel approach of training a simple 3D model to exhibit an oscillating motion, with promising results laying the foundation for future work exceeding past simulation of just morphogenesis. A formula for estimating a hyperparameter, the minimum number of updates a CA needs during training, is derived to provide a basis for future work on 3D neural cellular automatas (3D NCA). The framework is successfully adapted to the higher dimensionality and three-dimensional morphogenesis is simulated with high precision on a range of models covering different geometrical challenges. Both shape and color is correctly grown from a single cell, smaller models are indistinguishable from their targets, while larger models tend to have a few cells misplaced. We observe a significant increase in computational cost with the three-dimensional simulations, indicating that optimisation measures would be critical if using the framework on large scale simulations. In terms of simulating morphogenesis, the framework matches the performance of similar work published while this thesis was written, in this relatively narrow but fast evolving field.

• Elle, Ole Jakob; Glette, Kyrre; Høvin, Mats Erling; Hol, Per Kristian & Mathiassen, Kim (2017). A semi-autonomous robotic system for needle tracking and visual servoing using 2D medical ultrasound. Universitetet i Oslo. Full text in Research Archive Show summary

  The main aim of the thesis is to contribute to a semi-autonomous active sensing system for needle tracking during percutaneous needle insertion. The objective is twofold: first to develop a system for acquiring ultrasound images, then to analyze these images in order to track the needle. The thesis is thus divided into two main lines of research: (1) investigate whether it is feasible to make a robotic system for acquiring ultrasound images using commercially available components; (2) investigate how to track a needle using 2D ultrasound images and possibly other sensor information in real-time. In this thesis we have developed an ultrasound robotic system using the UR5 robot from Universal Robots, based on a set of requirements derived from the state of the art in the literature. The system has both force and haptic control. We developed and tested several novel methods for tracking a needle in an ultrasound image. In addition, a novel visual servoing method has been developed to ensure that the needle lies in the imaging plane of the ultrasound probe during insertions. The thesis concludes that it is feasible to make an ultrasound robotic system using commercially available components and shows that such a system meets the derived requirements. It also concludes that the novel needle tracking methods presented are both accurate and precise compared to previous methods presented in the literature. It is also shown that using velocity measurements from a needle insertion robot significantly improves the both the accuracy and precision, compared to only using ultrasound images. The visual servoing method shows promise for solving the alignment problem of keeping the needle in the imaging plane of the ultrasound probe.

• Nymoen, Kristian; Tørresen, Jim; Godøy, Rolf Inge; Jensenius, Alexander Refsum & Høvin, Mats Erling (2013). Methods and Technologies for Analysing Links Between Musical Sound and Body Motion. Universitetet i Oslo. Full text in Research Archive Show summary

  There are strong indications that musical sound and body motion are related. For instance, musical sound is often the result of body motion in the form of sound-producing actions, and muscial sound may lead to body motion such as dance. The research presented in this dissertation is focused on technologies and methods of studying lower-level features of motion, and how people relate motion to sound. Two experiments on so-called sound-tracing, meaning representation of perceptual sound features through body motion, have been carried out and analysed quantitatively. The motion of a number of participants has been recorded using stateof- the-art motion capture technologies. In order to determine the quality of the data that has been recorded, these technologies themselves are also a subject of research in this thesis. A toolbox for storing and streaming music-related data is presented. This toolbox allows synchronised recording of motion capture data from several systems, independently of systemspecific characteristics like data types or sampling rates. The thesis presents evaluations of four motion tracking systems used in research on musicrelated body motion. They include the Xsens motion capture suit, optical infrared marker-based systems from NaturalPoint and Qualisys, as well as the inertial sensors of an iPod Touch. These systems cover a range of motion tracking technologies, from state-of-the-art to low-cost and ubiquitous mobile devices. Weaknesses and strengths of the various systems are pointed out, with a focus on applications for music performance and analysis of music-related motion. The process of extracting features from motion data is discussed in the thesis, along with motion features used in analysis of sound-tracing experiments, including time-varying features and global features. Features for realtime use are also discussed related to the development of a new motion-based musical instrument: The SoundSaber. Finally, four papers on sound-tracing experiments present results and methods of analysing people’s bodily responses to short sound objects. These papers cover two experiments, presenting various analytical approaches. In the first experiment participants moved a rod in the air to mimic the sound qualities in the motion of the rod. In the second experiment the participants held two handles and a different selection of sound stimuli was used. In both experiments optical infrared marker-based motion capture technology was used to record the motion. The links between sound and motion were analysed using four approaches. (1) A pattern recognition classifier was trained to classify sound-tracings, and the performance of the classifier was analysed to search for similarity in motion patterns exhibited by participants. (2) Spearman’s p correlation was applied to analyse the correlation between individual sound and motion features. (3) Canonical correlation analysis was applied in order to analyse correlations between combinations of sound features and motion features in the sound-tracing experiments. (4) Traditional statistical tests were applied to compare sound-tracing strategies between a variety of sounds and participants differing in levels of musical training. Since the individual analysis methods provide different perspectives on the links between sound and motion, the use of several methods of analysis is recommended to obtain a broad understanding of how sound may evoke bodily responses.

• Glette, Kyrre Harald; Tørresen, Jim & Høvin, Mats Erling (2008). Design and Implementation of Scalable Online Evolvable Hardware Pattern Recognition Systems. Universitetet i Oslo. Full text in Research Archive Show summary

  Evolvable hardware (EHW) is a method where hardware is designed and/or modified automatically by optimization algorithms called evolutionary algorithms (EAs). The results so far are promising but somewhat limited partly because of a scalability problem of the EHW design method. It is hard to generate circuits which are capable of handling large real-world problems in a competitive manner. Schemes for dealing with the scalability problem have been proposed earlier, however the application of these to run-time adaptive EHW systems has been limited. This thesis addresses the challenge to generate autonomous run-time adaptive digital EHW systems for solving large real-world problems. The challenge consists of dealing with the lack of scalability in EAs, combined with the challenge of designing an adaptive hardware architecture for the evolution. Specifically, hardware classifiers are developed for accurate classification of inputs with a large number of features. For experimentation with online adaptation, an on-chip evolutionary system has been proposed and implemented, making use of an on-chip processor. In order to overcome the scalability problem, the use of data buses and high-level building blocks has been investigated. Further, these elements have been combined with incremental evolution into a specialized high-speed classifier architecture for online evolution. The architecture has been applied to several difficult application benchmarks and compared to traditional approaches as well as previously presented EHW approaches. The work has resulted in a flexible system for on-chip evolution. The proposed online architecture is capable of classifying problems with a larger number of inputs than previous online EHW classifiers, and it gives a higher accuracy for these problems than previously presented EHW systems. These systems have often been based on offline evolution – regarded as less challenging than online evolution. In addition, the amount of evaluations needed for the evolutionary search is low compared to previously presented systems. The system has also shown to be competitive to traditional classification approaches for the applied benchmarks.

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