| 1. |
- Blomdell, Anders, et al.
(författare)
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Extending an Industrial Robot Controller-Implementation and Applications of a Fast Open Sensor Interface
- 2005
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Ingår i: IEEE Robotics & Automation Magazine. - 1070-9932. ; 12:3, s. 85-94
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Tidskriftsartikel (refereegranskat)abstract
- Many promising robotics research results were obtained during the late 1970s and early 1980s. Some examples include Cartesian force control and advanced motion planning. Now, 20 years and many research projects later, many technologies still have not reached industrial usage. An important question to consider is how this situation can be improved for future deployment of necessary technologies. Today, modern robot control systems used in industry provide highly optimized motion control that works well in a variety of standard applications. To this end, computationally intensive, model-based robot motion control techniques have become standard during the last decade. While the principles employed have been known for many years, deployment in products required affordable computing power, efficientengineering tools, customer needs for productivity/performance, and improved end-user competence in the utilization of performance features. However, applications that are considered nonstandard today motivate a variety of research efforts and system development to package results in a usable form. Actually, robots are not useful for many manufacturing tasks today, in particular those found in small and medium enterprises (SMEs). Reasonsinclude complex configuration, nonintuitive (for the shop floor) programming, and difficulties instructing robots to deal with variations in their environment. The latter challenge includes both task definitions and definition of motion control utilizing external sensors. The key word here is flexibility, and flexible motion control is particularly difficult since the user or system integrator needs to influence the core real-time software functions that are critical for the performance and safe operation of the system. We must find techniques that permit real-time motion controllers to be extended for new, demanding application areas.
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| 2. |
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| 3. |
- Holm, Magnus, et al.
(författare)
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Non-Invasive Assessment of the Atrial Cycle Length during Atrial Fibrillation in Man: Introducing, Validating and Illustrating a New ECG Method
- 1998
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Ingår i: Cardiovascular Research. - 1755-3245. ; 38:1, s. 69-81
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Tidskriftsartikel (refereegranskat)abstract
- OBJECTIVES: Atrial fibrillation (AF) in man has previously been shown to include a wide variety of atrial activity. Assessment of the characteristics of this arrhythmia with a commonly applicable tool may therefore be important in the choice and evaluation of different therapeutic strategies. As the AF cycle length has been shown to correlate locally with atrial refractoriness and globally with the degree of atrial organization, with, in general, shorter cycle length during apparently random AF compared to more organized AF, we have developed a new method for non-invasive assessment of the AF cycle length using the surface and the esophagus (ESO) ECG. METHODS AND RESULTS: From the frequency spectrum of the residual ECG, created by suppression of the QRST complexes, the dominant atrial cycle length (DACL) was derived. By comparison with multiple intracardiac simultaneously acquired right and left AF cycle lengths in patients with paroxysmal AF, we found that the DACL in lead V1, ranging from 130 to 185 ms, well represented a spatial average of the right AF cycle lengths, whereas the DACL in the ESO ECG, ranging from 140 to 185 ms, reflected both the right and the left AF cycle length, where the influence from each structure depended on the atrial anatomy of the individual, as determined by MRI. In patients with chronic AF, the method was capable of following changes in the AF cycle length due to administration of D,L-sotalol and 5 min of ECG recording was sufficient for the DACL to be reproducible. CONCLUSIONS: We conclude that this new non-invasive method, named 'Frequency Analysis of Fibrillatory ECG' (FAF-ECG), is capable of assessing both the magnitude and the dynamics of the atrial fibrillation cycle length in man.
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| 4. |
- Johansson, Rolf, et al.
(författare)
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Sensor Integration in Task-level Programming and Industrial Robotic Task Execution Control
- 2004
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Ingår i: Industrial Robot. - : Emerald. - 0143-991X. ; 31:3, s. 284-296
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Tidskriftsartikel (refereegranskat)abstract
- Presents an approach to improved performance and flexibility in industrial robotics by means of sensor integration and feedback control in task-level programming and task execution. Also presents feasibility studies in support of the ideas. Discusses some solutions to the problem using six degrees of freedom force control together with the ABB S4CPlus system as an illustrative example. Consider various problems in the design of an open sensor interface for industrial robotics and discusses possible solutions. Finally, presents experimental results from industrial force controlled grinding.
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| 5. |
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| 6. |
- Andersson, Sarah, et al.
(författare)
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Malmbanan Diaries
- 2010
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Rapport (övrigt vetenskapligt/konstnärligt)abstract
- This booklet is a report for a case study visit during four day field trip, a group of nine PhD students and their supervisors – all part of the National Research School for Architecture and Planning in the Urban Landscape, APULA – set out to explore what may be considered the outback of Western Europe’s conurbations, the transnational region of Kiruna -Narvik.Both “remote” and “resourceful”, “threatened” and “thriving” (equally relative notions), this region seemed to offer possibilities to reflect upon many of the current tendencies influencing contemporary planning practice and research.
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| 7. |
- Bengtsson, Johan, et al.
(författare)
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A Robot Playing Scrabble Using Visual Feedback
- 2000
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Ingår i: IFAC Proceedings Volumes. ; 33:27, s. 551-556
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Tidskriftsartikel (refereegranskat)abstract
- Today most industrial robot systems use dedicated and rather limited sensors, and available control systems provide limited support for feedback control. Aiming towards more autonomous robot systems, we want to improve flexibility. The game Scrabble is used as a test problem capturing these aspects. Our approach is to incorporate visual servoing and a conventional powerful off-line prograrnrning (OLP) system into the real-time control system, providing task specification and visual debugging. We use the OLP tool Envision from Deneb and an ABB robot with reconfigured control system, where the control system has an Open Robot Control architecture (ORC). The vision system is connected to a host computer and the camera is attached to the robot gripper. By extending the control system, we have designed and implemented both the vision system and the application for the Scrabble game. Our system implementation shows that ORC constitutes a necessary support for incorporation of real-time visual feedback and that OLP may effectively be used with real-time feedback of sensor data.
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| 9. |
- Carlson, Jonas, et al.
(författare)
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Can Orthogonal Lead Indicators of Propensity to Atrial Fibrillation be Accurately Assessed from the 12-Lead ECG?
- 2005
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Ingår i: Europace. - : Oxford University Press (OUP). - 1532-2092. ; 7:Suppl 2, s. 39-48
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Tidskriftsartikel (refereegranskat)abstract
- Aims: When analyzing P-wave morphology, the vectorcardiogram(VCG) has been shown useful to identify indicators of propensity to atrial fibrillation (AF). Since VCG is rarely used in the clinical routine, we wanted to investigate if these indicators could be accurately determined in VCG derived from standard 12-lead ECG (dVCG).Methods: ECG and VCG recordings from 21 healthy subjects and 20 patients with a history of AF were studied. dVCG was calculated from ECG using the inverse Dower transform. Following signal averaging of P-waves, comparisons were madebetween VCG and dVCG, where three parameters characterizing signal shape and 15 parameters describing the P-wave morphology were used to assess the compatibility of the two recording techniques. The latter parameters were alsoused to compare the healthy and the AF groups.Results: After transformation, P-wave shape was convincingly preserved. P-wave morphology parameters were consistent within the respective groups when comparing VCG and dVCG, with better preservation observed in the healthy group.Conclusion VCG derived from routine 12-lead ECG may be a useful alternate method for studying orthogonal P-wave morphology.
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| 10. |
- Carlson, Jonas, et al.
(författare)
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Classification of Electrocardiographic P-wave Morphology
- 2001
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Ingår i: IEEE Transactions on Biomedical Engineering. - : Institute of Electrical and Electronics Engineers (IEEE). - 1558-2531 .- 0018-9294. ; 48:4, s. 401-405
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Tidskriftsartikel (refereegranskat)abstract
- The atrial activity of the human heart is normally visible in the electrocardiogram as a P-wave. In patients with intermittent atrial fibrillation, a different P-wave morphology can sometimes be seen, indicating atrial conduction defects. The purpose of this study was to develop a method to discriminate between such P-waves and normal ones. 20 recordings of each type were used in a classification which, based on impulse response analysis of the P-wave and linear discrimination between various parameters, produced a correct classification in 37 of the 40 recordings (sensitivity 95%, specificity 90%)
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