Configuration Support and Kinematics for a Reconfigurable Gantry-Tau Manipulator (2008)
Isolde Dressler, Mathias Haage, Klas Nilsson, Rolf Johansson, Anders Robertsson
Abstract — Affordable and competitive industrial automation is of key importance for small and medium enterprises, in Europe and elsewhere. A key factor is the introduction of new robot automation...
Johansson, Rolf, Torstensson, Stefan
I uppsatsen analyseras bilder föreställandes nordamerikansk ursprungsbefolkning i ett antal läroböcker för historia på högstadiet och gymnasiernas A och B-kurser. Syftet är att se om bilderna...
Covariance Analysis, Positivity and the Yakubovich-Kalman-Popov Lemma (2007)
Rolf Johansson, Anders Robertsson
This paper presents theory and algorithms for covariance analysis and stochastic realization without any minimality condition imposed. Also without any minimality conditions, we show that several...
Classification of Electrocardiographic P-wave Morphology (2007)
Jonas Carlson, Rolf Johansson, S. Bertilolsson
The atrial activity of the human heart is normally visible in the ECG as a P-wave. In patients with intermittent atrial fibrillation, a different P-wave morphology can sometimes be seen, indicating...
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
En aquellas operaciones robóticas en las que un robot manipulador interactúa con su entorno resulta de extremada importancia poder controlar la fuerza que aquél ejerce sobre este. Con este...
Johansson, Rolf, Torstensson, Stefan
I uppsatsen analyseras bilder föreställandes nordamerikansk ursprungsbefolkning i ett antal läroböcker för historia på högstadiet och gymnasiernas A och B-kurser. Syftet är att se om bilderna...
Johansson, Rolf, Torstensson, Stefan
I uppsatsen analyseras bilder föreställandes nordamerikansk ursprungsbefolkning i ett antal läroböcker för historia på högstadiet och gymnasiernas A och B-kurser. Syftet är att se om bilderna...
Platonov, Pyotr, Xia, Yunlong, Yuan, Shiwen, Johansson, Rolf
Abstract is not available
Carlson, Jonas, Havmöller, Rasmus, Herreros, Alberto, Platonov, Pyotr, Johansson, Rolf, Olsson, Bertil
Abstract is not available
Carlson, Jonas, Havmöller, Rasmus, Herreros, Alberto, Platonov, Pyotr G., Johansson, Rolf, Olsson, S. B.
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...
Blomdell, Anders, Bolmsjö, Gunnar, Brogårdh, Torgny, Cederberg, Per, Isaksson, Mats, Johansson, Rolf, ...
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...
Observer-Based Solution to the Strictly Positive Real Problem (2005)
Collado, J., Lozano, R., Johansson, Rolf
We study the extension of the class of linear time invariant plants that may be transformed into SPR systems introducing an observer. It is shown that for open loop stable systems a cascaded observer...
Productive Robots and the SMErobot Project (2005)
Nilsson, Klas, Johansson, Rolf, Robertsson, Anders, Bischoff, Rainer, Brogårdh, Torgny, Hägele, Martin
The need for keeping manufacturing and workplacesin Europe calls for new ideas and concepts for productiverobots with focus on their usefulness for Small andMedium sized Enterprises (SMEs). The...
Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments (2005)
Olsson, Tomas, Johansson, Rolf, Robertsson, Anders
When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-based control of a...
Force and Acceleration Sensor Fusion for Compliant Robot Motion Control (2005)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
In this work, we present implementation and experiment of the theory of dynamic force sensing for robotic manipulators, which uses a sensor fusion technique in order to extract the contact force...
Automatic Calibration Procedure for a Robotic Manipulator Force Observer (2005)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
In this paper, we propose a method for selfcalibration of a robotic manipulator force observer, which fuses information from force sensors and accelerometers in order to estimate the contact force...
Self Calibrating Procedure for a 3D Force Observer (2005)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamicsof the end effector and manipulator....
Calibración Automática de un Observador de la Fuerza de Contacto para un Robot Manipulador (2005)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
En aquellas operaciones robóticas en las que un robotmanipulador interactúa con su entorno resulta de extremadaimportancia poder controlar la fuerza que ésterealiza. Normalmente, para poder llevar...
Output Feedback Stabilization of the Moore-Greitzer Compressor Model (2005)
Shiriaev, Anton, Johansson, Rolf, Robertsson, Anders, Freidovich, Leonid
This paper presents a number of facts related to theoutput feedback stabilization of the Moore-Greitzer compressor model. We show that quadratic feedback stabilization of the surge subsystem of the...
Strandh, Petter, Bengtsson, Johan, Johansson, Rolf, Tunestål, Per, Johansson, Bengt
Autoignition of a homogeneous mixture is very sensitiveto operating conditions. Therefore fast combustion phasingcontrol is necessary for reliable operation. There areseveral means to control the...
Strandh, Petter, Bengtsson, Johan, Johansson, Rolf, Tunestål, Per, Johansson, Bengt
Autoignition of a homogeneous mixture is very sensitiveto operating conditions. Therefore fast combustion phasingcontrol is necessary for reliable operation. There areseveral means to control the...
Rolf Johansson 05-10-05 1(26) Scientific writing Lecture Notes (2005)
Literature and journalism The oldest tradition in writing is, of course, literature. Literature has ancient roots. But literature is distinct from the use of language within the field of science. In...
Carlson, Jonas, Havmöller, Rasmus, Herreros, Alberto, Platonov, Pyotr, Johansson, Rolf, Olsson, Bertil
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...
Adaptation of Multi-joint Movements during Postural Disturbances (2004)
Johansson, Rolf, Fransson, P. A., Hjerpe, Magnus
The objective was to investigate the adaptation ofthe multi-segmented body movements induced over time byvibratory proprioceptive stimulation of the calf muscles and by galvanic vestibular...
Cycle-to-cycle Control of a Dual-Fuel HCCI Engine (2004)
Strandh, Petter, Bengtsson, Johan, Johansson, Rolf, Tunestål, Per, Johansson, Bengt
A known problem of the HCCI engine is its lack of direct control andits requirements of feedback control. Today there exists severaldifferent means to control an HCCI engine, such as dual...
Bengtsson, Johan, Strandh, Petter, Johansson, Rolf, Tunestål, Per, Johansson, Bengt
Homogeneous charge compression ignition (HCCI) is a hybrid of the sparkignition and compression ignition engine concepts. As in a sparkignition engine, a homogeneous fuel-air mixture is created in...
On Behavioral Model Identification (2004)
Johansson, Rolf, Robertsson, Anders
This paper presents theory andalgorithms for system identification suitable for the framework of behavioral system theory. An algorithm basedon algebraic system theory and realization theory...
Sensor Integration in Task-level Programming and Industrial Robotic Task Execution Control (2004)
Johansson, Rolf, Robertsson, Anders, Nilsson, Klas, Brogårdh, Torgny, Cederberg, Per, Olsson, Magnus, ...
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...
Editorial - Subspace-based identification in adaptive control and signal processing (2004)
Johansson, Rolf, Verhaegen, Michel
Abstract not available
Book Review - Modeling and Simulation for Automatic Control (2004)
BOOK REVIEW - Modeling and simulation for automatic control,Olav Egeland, Jan Tommy GravdahlMarine Cybernetics, Trondheim, Norway, 2002,1st Edition, 656pp. ISBN 82-92356-01-0
Closed-loop System Identification of an HCCI Engine (2004)
Olsson, Jan-Ola, Pfeiffer, Roland, Tunestål, Per, Johansson, Bengt, Johansson, Rolf
Homogeneous Charge Compression Ignition (HCCI) is a promising but challenging combustion engine concept. The potential for good fuel economy and low emissions is high but the transient performance...
System Identification of Homogenous Charge Compression Ignition (HCCI) Engine Dynamics (2004)
Bengtsson, Johan, Strandh, Petter, Johansson, Rolf, Tunestål, Per, Johansson, Bengt
Homogeneous Charge Compression Ignition (HCCI) combustion lacksdirect ignition timing control, instead the auto ignition depends on the operatingcondition. Since auto ignition of a homogeneous...
Sensor Fusion of Force and Acceleration for Robot Force Control (2004)
Gámez García, Javier, Robertsson, Anders, Gómez Ortega, Juan, Johansson, Rolf
In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it...
Some Comments on Output Feedback Stabilization of the Moore-Greitzer Compressor Model (2004)
Shiriaev, Anton, Johansson, Rolf, Robertsson, Anders
This paper suggests a number of facts related to the modeling and output feedback stabilization of the Moore-Greitzer compressor model. It shows how to integrate the stall dynamics, and how to use...
System Identification and LQG Control of Variable-Compression HCCI Engine Dynamics (2004)
Pfeiffer, Roland, Haraldsson, Göran, Olsson, Jan-Ola, Tunestål, Per, Johansson, Rolf, Johansson, Bengt
The Homogenous Charge Compression Ignition (HCCI) combustion engine has potential to replace the spark ignition and compression ignition engines of today. One of the main problems in making the...
Flexible Force-Vision Control for Surface Following using Multiple Cameras (2004)
Olsson, Tomas, Johansson, Rolf, Robertsson, Anders
A flexible method for six-degree-of-freedom combined vision/force control for interaction with a stiff uncalibrated environment is presented. An edge-based rigidbody tracker is used in an...
Force Estimation and Control in Robot Manipulators (2004)
Alcocer, Alex, Robertsson, Anders, Valera, Angel, Johansson, Rolf
In this paper we present some results on model based force estimationand how these estimates can be integrated in a common robot force controlscheme. A generalization of the force estimation method...
Control of Homogeneous Charge Compression Ignition (HCCI) Engine Dynamics (2004)
Bengtsson, Johan, Strandh, Petter, Johansson, Rolf, Tunestål, Per, Johansson, Bengt
The Homogeneous Charge Compression Ignition (HCCI) combustionconcept lacks direct ignition timing control, instead the autoignition depends on the operating condition. Since auto ignition of...
Friction Compensation for Nonlinear Systems Based on the LuGre Model (2004)
Robertsson, Anders, Shiriaev, Anton, Johansson, Rolf
Friction may be a major obstacle for stability and control performance. Based on a nominal control law, which stabilizes a nonlinear dynamical system to an equilibrium or to a desired limit cycle...
Observer-based Strict Positive Real (SPR) Switching Output Feedback Control (2004)
Johansson, Rolf, Robertsson, Anders, Shiriaev, Anton
This paper considers switching output feedback control of linear systems and variablestructure systems. Theory for stability analysis and design for a class of observer-based feedback control systems...
Work Package Wpc, Rolf Johansson, Andrea Balluchi, Pu Public X
Organisation name(s) of lead contractor for this LTH deliverable
Tomas Olsson, Rolf Johansson, Anders Robertsson
This thesis deals with feedback control using two different sensor types, force sensors and cameras. In many tasks in robotics compliance is required in order to avoid damage to the workpiece. Force...
Adaptation to vibratory perturbations in postural control. (2003)
Fransson, Per-Anders, Johansson, Rolf, Tjernström, Fredrik, Magnusson, Måns
Abstract not available
Fransson, Per-Anders, Hafström, Anna, Karlberg, Mikael, Magnusson, Måns, Tjäder, Annika, Johansson, Rolf
he objective for this study was to investigate whether the adaptation of postural control was similar during galvanic vestibular stimulation and during vibratory proprioceptivestimulation of the calf...
Carlson, Jonas, Santos, Susana, Platonov, Pyotr G, Rasmussen, Ole Kongstad, Johansson, Rolf, Olsson, S Bertil
ntroduction: Correlation function analysis was applied to endocardial electrograms to investigate conduction patterns along the coronary sinus (CS) during sinus rhythm (SR) and atrial tachycardias....
Ion Current Sensing for HCCI Combustion Feedback (2003)
Strandh, Petter, Christensen, Magnus, Bengtsson, Johan, Johansson, Rolf, Vressner, Andreas, Tunestål, Per, ...
Measurement of ion current signal from HCCI combustionwas performed. The aim of the work was to investigateif a measurable ion current signal exists and if it is possible to obtain useful information...
Visual Position Tracking using Dual Quaternions with Hand-Eye Motion Constraints (2003)
Olsson, Tomas, Bengtsson, Johan, Robertsson, Anders, Johansson, Rolf
In this paper a method for contour-based rigid body tracking with simultaneouscamera calibration is developed. The method works for a singleeye-in-hand camera with unknown hand-eye...
Robotic Force Control using Observer-based Strict Positive Real Impedance Control (2003)
Johansson, Rolf, Robertsson, Anders
This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often...
Linear Optimal Prediction and Innovations Representations of Hidden Markov Models (2003)
Andersson, Sofia, Rydén, Tobias, Johansson, Rolf
The topic of this paper is linear optimal prediction of hidden Markov models (HMMs) and innovations representations of HMMs. Our interest in these topics primarily arise from subspace estimation...
Friction Compensation for Passive Systems Based on the LuGre Model (2003)
Shiriaev, Anton, Robertsson, Anders, Johansson, Rolf
The paper suggests a method for compensating the impact of friction for the control nonlinear systems, where the original controller (derived without taking friction into account) results from the...
Calugi, Francesco, Robertsson, Anders, Johansson, Rolf
In this paper, we propose an adaptive observer for dynamically positioned ships, that can be used together with the controller shown by Fossen and Grovlen, to design an observer-based adaptive...
Strictly Positive Real Problem with Observers (2003)
Collado, J., Lozano, R., Johansson, Rolf
We study the extension of what class of linear time invariantplants may be transformed into SPR systems introducingan observer. It is shown that for the open loopstable systems a cascaded observer...
Sufficient Conditions for Dynamical Output Feedback Stabilization Via the Circle Criterion (2003)
Shiriaev, Anton, Johansson, Rolf, Robertsson, Anders
This paper suggests sufficient conditions for asymptotically stable dynamical output feedback controller design based on the circle criterion. It is shown that a dynamic output feedback stabilization...
Observer-based Strict Positive Real (SPR) Feedback Control System Design (2002)
Johansson, Rolf, Robertsson, Anders
This paper presents theory for stability analysis and design for a class of observer-based feedback control systems. Relaxation of the controllability and observability conditions imposed in the...
Ng, Kuan Luen, Johansson, Rolf
This paper discusses two feasibility studies of Genetic Programming (GP) to the field of control theory, GP being a method inspired from nature where the goal is to create a computer program...
Force Control and Visual Servoing Using Planar Surface Identification (2002)
Olsson, Tomas, Bengtsson, Johan, Johansson, Rolf, Malm, Henrik
When designing flexible multi-sensor based robot systems, one important problem is how to combine the measurements fromdisparate sensors such as cameras and force sensors. In this paper,we present a...
Variable Time Delays in Visual Servoing and Task Execution Control (2002)
Bengtsson, Johan, Haage, Mathias, Johansson, Rolf
We study an image-based visual servoing system implemented on a non-dedicatednetwork with non-deterministic computationalnodes. A problem is thattime delays aretypically non-deterministic and...
Output Feedback Adaptive Control of Robot Manipulators Using Observer Backstepping (2002)
Calugi, Francesco, Robertsson, Anders, Johansson, Rolf
In this paper we present an observer-based adaptive control scheme for robot manipulators, for which we have both unmeasured velocity and uncertain parameters. Using the observer back-stepping...
Continuous-Time Identification using LQG-Balanced Model Reduction (2002)
System identification of continuous-time model based on discrete-time data can be performed using a algorithm combining linear regression and LQG-balanced model reduction. The approach is applicable...
System Identification using LQG-Balanced Model Reduction, (2002)
System identification of linear multivariable dy-namic models based on discrete-time data can be performed using a algorithm combining linear regression and LQG-balanced model reduction. The approach...
Modeling of Driver's Longitudinal Behavior (2002)
Bengtsson, Johan, Johansson, Rolf, Sjögren, Agneta
In the last years, many vehicle manufacturers have introduced advancedriver support in some of their automobiles. One of those new featuresis Adaptive Cruise Control (ACC), which extends the...
Continuous-Time Identification (2002)
This chapter considers the problem of estimation of the transfer function of a continuous-time dynamic system in the presence of colored noise. Whereas parameter estimation can be made by means of a...
Using Cascaded Iterative Learning Control for Improved Task Execution (2002)
Robertsson, Anders, Scalamogna, Domenico, Grundelius, Mattias, Johansson, Rolf
Iterative learning control (ILC) is used as a means for task execution of a time sub-optimal trajectory. The use of cascaded ILC procedures in a robot application is experimentally shown to...
Cascaded Iterative Learning Control for Improved Task Execution of Optimal Control (2002)
Robertsson, Anders, Scalamogna, Domenico, Grundelius, Mattias, Johansson, Rolf
Iterative learning control (ILC) is used as a means for task execution of a time sub-optimal trajectory. The use of cascaded ILC procedures in a robot application is experimentally shown to...
Observer-Based SPR Feedback Control System Design (2002)
Johansson, Rolf, Robertsson, Anders
This paper presents theory for stability analysis and design for a class of observer-based feedback control systems. Relaxation of the controllability and observability conditions imposed in the...
Observer-Based Impedance Control in Robotics (2002)
Henriksson, Dan, Johansson, Rolf, Robertsson, Anders
This paper presents theoretical and experimental results onobserver-based impedance control. Impedance control is a technique for robot force control, which is often used to deal with geometric...
Modeling of Drivers Longitudinal Behavior (2001)
Bengtsson, Johan, Johansson, Rolf, Sjögren, Agneta
In the last years, many vehicle manufacturers have introduced advancedriver support in some of their automobiles. One of those new featuresis Adaptive Cruise Control (ACC), which extends the...
Identification of Adaptation in Human Postural Control using GARCH Models (2001)
Johansson, Rolf, Fransson, P. A., Magnusson, Måns
Human postural dynamics was investigated in twelve normal subjects by means of a force platform recording body sway induced by bipolar transmastoid galvanic stimulation of the vestibular nerve and...
Model-Based Estimation of Cylinder Pressure Sensor Offset using Least-Squares Methods (2001)
Tunestål, Per, Hedrick, J. K., Johansson, Rolf
Two methods for estimating the sensor offset of a cylinder pressure transducer are developed. Both methods fit the pressure data during pre-combustion compression to a polytropic curve. The first...
Santos, Susana, Carlson, Jonas, Olsson, S. B., Johansson, Rolf
The purpose of the paper is to apply system identification methods to study spatial and temporal propagation of atrial activation along coronary sinus (situated in the posterior left part of the...
On the Kalman-Yakubovich-Popov Lemma for Stabilizable Systems (2001)
Collado, J., Lozano, R., Johansson, Rolf
The Kalman-Yakubovich-Popov (KYP) lemma has been a cornerstone in system theory and network analysis and synthesis. It relates an analytic property of a square transfer matrix in the frequency domain...
Multi-Stimulus Multi-Response Posturography (2001)
Johansson, Rolf, Magnusson, Måns, Fransson, P. A., Karlberg, Mikael
In this study a method for the analysis of simultaneous multiple measurements of kinematics and stabilizing forces related to human postural dynamics is proposed. Each subject in a group of normal...
Classification of Electrocardiographic P-wave Morphology (2001)
Carlson, Jonas, Johansson, Rolf, Olsson, S. B.
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...
Residual Models and Stochastic Realization in State-Space Identification (2001)
Johansson, Rolf, Verhaegen, Michel, Chou, C.T., Robertsson, Anders
This paper presents theory and algorithms for validation in system identification of state-space models from finite input-output sequences in a subspace model identification framework. Our...
A Robot Playing Scrabble Using Visual Feedback (2001)
Bengtsson, Johan, Ahlstrand, Anders, Nilsson, Klas, Robertsson, Anders, Olsson, Magnus, Heyden, A., ...
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,...
Johansson, Rolf, Krishchenko, A. P., Sidorov, D. A., Tkachev, S. B.
Abstract not available.
Classification of Electrocardiographic P-wave Morphology (2000)
Carlson, Jonas, Johansson, Rolf, Olsson, S. B.
The atrial activity of the human heart is normally visible in the ECG as a P-wave. In patients with intermittent atrial fibrilation, a different P-wave morphology can sometimes be seen, indicating...
Covariance Analysis, Positivity and the Yakubovich-Kalman-Popov Lemma (2000)
Johansson, Rolf, Robertsson, Anders
This paper presents theory and algorithms for covariance analysis and stochastic realization without any minimality condition imposed. Also without any minimality conditions, we show that several...
Methods for Evaluation of Postural Control Adaptation (2000)
Fransson, P-A., Johansson, Rolf, Hafström, A., Magnusson, Måns
New methods were developed to determine the dynamic changes of postural control during the initial exposure to large perturbances of stance. The adjustments of postural control over time in measured...
On-Line Reconfiguration of Real-Time Robot Motion and Force Control (2000)
Robertsson, Anders, Valera, Angel, Nilsson, Klas, Johansson, Rolf
Combining position and force control is highly desirable in many robot applications. Many years of extensive research has resulted in a number of promising control approaches, but often too much...
State-Space System Identification of Robot Manipulator Dynamics (2000)
Johansson, Rolf, Robertsson, Anders, Nilsson, Klas, Verhaegen, Michel
We have applied and evaluated system identification methods using both commercial software and dedicated subspace model identification software (MOESP). Results using the different software tools...
Holm, Magnus, Pehrson, Steen, Ingemansson, Max, Sörnmo, Leif, Johansson, Rolf, Sandhall, Lennart, ...
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...
Improving the quality of primary care services in Angola (1992)
BJÖRCK, MARTIN, JOHANSSON, ROLF, KANJI, NAJMI
As part of the evaluation of the Angolan Essential Drugs Programme in 1990, a patient management study was carried out in three provinces, to assess health workers' performance at primary level for...
Multivariable adaptive control /--av Rolf Johansson. (1983)
Thesis (doctoral)--Universitetet i Lund.
Williams, Taffy J., Homer, Louis D., Shafer, Jules A., Goldstein, Irwin J., Garegg, Per J., Hultberg, Hans, ...
p-Nitrophenyl 2-O-[alpha]--galactopyranosyl-[alpha]--mannopyranoside and p-nitrophenyl 2-O-[alpha]--glucopyranosyl-[alpha]--mannopyranoside were synthesized and the interactions of these...
Beeinflussende Faktoren bei Errechnung des Geburtstermins nach der Periode. (1947)
Marburg, Med. F., Diss. v. 8. März 1948 (Nicht f. d. Austausch).
Anders Robertsson, Rolf Johansson
The decomposition of nonlinear output feedback control into an observer and a state feedback control is an open problem. A solution for dynamic positioning of ships has been proposed in [1] and [2],...