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| 2. |
- Andersson, Alina, et al.
(författare)
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Robustness of the Moore-Greitzer Compressor Model's Surge Subsystem with New Dynamic Output Feedback Controllers
- 2014. - 3
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Ingår i: 19th IFAC World Congress. - : Elsevier. - 2405-8963. - 9783902823625 ; 47, s. 3690-3695
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Konferensbidrag (refereegranskat)abstract
- This work presents an extension of a design procedure for dynamic output feedback design for systems with nonlinearities satisfying quadratic constraints. In this work we used an axial gas compressor model described by the 3-state Moore-Greitzer compressor model (MG) that has some challenges for output feedback control design (Planovsky and Nikolaev 1990), (Rubanova 2013). The more general constraints for the investigation of the robustness with respect to parametric uncertainties and measurement noise are shown.
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| 3. |
- Barcellini, Alberto, et al.
(författare)
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Integrating an Anti-Collision System Based on Laser Time-Of-Flight Sensor in an Industrial Robot Controller
- 2012
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Ingår i: 10th IFAC Symposium on Robot Control. - 1474-6670. - 9783902823113 ; , s. 664-669
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Konferensbidrag (refereegranskat)abstract
- Safe coexistence of industrial robots and human operators in the same workspace is one of the long standing goals of robotics research. One way to enforce safety is to endow the robotic system with additional sensors that can to some extent monitor the environment surrounding the robot and allow fast reaction to unexpected obstacles. This paper discusses the design of one such anti-collision system based on a laser Time-Of-Flight distance sensor. Integration of the external controller in the hardware and software architecture of a commercial industrial robot controller is discussed. Experimental results show fast response of the system to various obstacles
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| 4. |
- Lundgren, Solveig M, 1943, et al.
(författare)
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Writing a bachelor thesis generates transferable knowledge and skills useable in nursing practice.
- 2013
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Ingår i: Nurse Education Today. - : Elsevier BV. - 0260-6917 .- 1532-2793. ; 33:11, s. 1406-10
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Tidskriftsartikel (refereegranskat)abstract
- Generic skills or transferable skills have been discussed in terms of whether or not skills learned in one context can be transferred into another context. The current study was aimed to explore nurses' self-perceptions of the knowledge and skills they had obtained while writing a Bachelor's thesis in nursing education, their experience of the extent of transfer and utilization in their currentwork. Responding nurses (N=42) had all worked from 1 to 1.5 years after their final examination and had completed a questionnaire that was structured with open-ended questions. Only five nurses reported that they were unable to use any of the knowledge and skills they had obtained from writing a thesis. A majority of the nurses (37/42) could give many examples of the practical application of the skills and knowledge they had obtained. Our findings indicate that writing a thesis as part of an undergraduate degree program plays a major role in the acquisition and development of knowledge and skills which can subsequently be transferred into and utilized in nursing practice
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| 5. |
- Skogar, O, et al.
(författare)
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"Effects of Tactile Touch on pain, sleep and health related quality of life in Parkinsons disease with chronic pain": A randomized, controlled and prospective study
- 2013
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Ingår i: European Journal of Integrative Medicine. - : Elsevier. - 1876-3820 .- 1876-3839. ; 5:2, s. 141-152
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Tidskriftsartikel (refereegranskat)abstract
- Introduction: Parkinsons disease (PD) is often associated with chronic PD related pain. Complementary medicine are widely used but randomized, controlled and prospective studies of the effects are sparse. less thanbrgreater than less thanbrgreater thanAims of the study: To compare the effects of Tactile Touch (TT) with Rest to Music (RTM) in PD patients with chronic pain and to describe effects within groups. less thanbrgreater than less thanbrgreater thanPatients and methods: A 34 week controlled randomized and prospective trial compared the effects of TT with RTM in 45 (29 TT and 16 RTM) patients with PD and chronic pain. The whole body tactile stimulation method was performed for each individual patient by the same therapist for 10 times during the first 8 weeks. The RTM group received the same therapy except for the tactile stimulation. Pharmacotherapy was kept unchanged. Participants were assessed at pre- and post-intervention for pain, sleep patterns and health related quality of life (HRQoL). less thanbrgreater than less thanbrgreater thanResults: Differences between TT and RTM groups were few. Total PDSS significantly improved within the TT but not in the RTM-group. No significant differences between groups were seen in pain parameters, although significant improvements were seen within the TT-group after the intervention period. There were significant improvements within both groups in HRQoL and between groups in the items physical role and social functioning 4 weeks after screening. less thanbrgreater than less thanbrgreater thanConclusions: No significant differences between the TT and RTM groups were seen. Only in single aspects did patients with PD and chronic pain have more benefit more from CAM therapy with TT in combination with RTM.
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| 6. |
- Valera, Angel, et al.
(författare)
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A car-seat example of automated anthropomorphic testing of fabrics using force-controlled robot motions
- 2011
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Ingår i: IEEE Transactions on Automation Science and Engineering. - 1545-5955. ; 8:2, s. 280-291
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Tidskriftsartikel (refereegranskat)abstract
- For the last years, automation is widely used to relieve humans from repetitive tasks, primarily and firstly within manufacturing. However, for products with less ideal (or hard to model) properties, and when forces depends on human interaction, automated testing has not been explored until now. This work presents the analysis of the (human-dependent) motions/forces based on a fully implemented test case for car-seat testing. For emulation of the corresponding mechanical wear, an experimental test bench was developed. A sensor mat with a pressure gauge net was used in the test bench to determine the relevant loads, and the corresponding movements performed by the humans when sitting in a car seat were acquired by means of a photogrammetry system. Finally, to automate the reproduction of such movements by means of a dummy held by a robot, several controllers have been developed to regulate the force applied by the dummy on the seat. Simplicity and force-control performance for the human replication was also investigated in this work, showing the benefit of freely programmable (open) force control. The developed system has many practical applications, as allowing the analysis of the wearing caused by these movements on the seat upholstery. Thus, force controlled testing of fabrics using robots is a viable option. Note to Practitioners-In this paper, an experimental test bench is presented for the analysis of the mechanical response in car seats. It consists in a force control application in which the robot, by means of a dummy, must apply a controlled force on a car seat, simulating the movements of a human sitting on and standing up from the seat. This simulation is limited by the fact that normalized dummies used in tests are usually conceived to reproduce a sitting position and do not have the mobility of the human body. Furthermore, the simulation with a six axes robot limits to six the degrees of freedom the movements that can be performed with the dummy. Hence, an important part of this study consists in simplifying the human movements in order that they can be performed with the described components and still adequately reproduces the interaction between the body and the seat. In order to develop and validate this experimental test bench, the movements performed by passengers sitting on or standing up from the seat in an actual car have been firstly acquired. Therefore, a four-camera photogrammetry system and a pressure mat have been used. This paper also describes the procedures used to capture and reproduce the human body movements and their forces. In this work, an ABB IRB140 industrial robot has been used, as well as a six degree of freedom JR3 industrial force sensor. For the development of this test bench, two control architectures have been used. The first one is based on a commercial ABB software so, it can be used for application development with any ABB industrial robot. The second control architecture proposed is an open architecture allowing access to the robot state variables, much more complex motion and/or force controllers can be implemented.
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| 7. |
- Zanchettin, Andrea M., et al.
(författare)
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Exploiting Task Redundancy in Industrial Manipulators during Drilling Operations
- 2011
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Ingår i: Proc. 2011 IEEE International Conference on Robotics and Automation (ICRA2011).
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Konferensbidrag (refereegranskat)abstract
- A drilling task requires a mechanism with five degrees of freedom, in order to achieve the correct position and orientation of the drilling tool. When performed with a standard 6-axes industrial robot, this task leaves an extra degree of freedom that can be exploited in order to achieve any additional criterion. Unfortunately, typical industrial robotic control architectures do not allow the user to modify the inverse kinematics algorithm, and thus to solve task redundancy following any specified criterion. In this paper, a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a drilling task. The extra degree of freedom is used to perform a torque-effective drilling. Experimental results achieved on the ABB IRB 140 industrial robot are presented.
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