hh.sePublikasjoner
Endre søk
Link to record
Permanent link

Direct link
Holmberg, Ulf
Publikasjoner (10 av 25) Visa alla publikasjoner
Holmberg, U. & Bonvin, D. (2015). A pole-projection approach to robust control design. In: : . Paper presented at 1999 European Control Conference, ECC 1999, Karlsruhe, Germany, 31 August-3 September, 1999 (pp. 1938-1943). , Article ID 7099600.
Åpne denne publikasjonen i ny fane eller vindu >>A pole-projection approach to robust control design
2015 (engelsk)Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

A pole-projection approach is proposed as a useful tool for multi-objective robust control design. Different load conditions or nonlinearities are considered in the design by simultaneously stabilizing a set of linear models. The idea is to repeatedly project the poles for each model (one at a time) to a generalized stability region until all models are stabilized. Similarly, pole projections are also performed for an auxiliary set of models. Stability of the latter gives guaranteed bounds on different sensitivity functions for the former. The method solves a benchmark problem for which a controller of lower complexity than has been reported before is obtained. © 1999 EUCA.

Emneord
Robust control, Bench-mark problems, Guaranteed bounds, Lower complexity, Robust control designs, Robust performance, Sensitivity functions, Stability regions, Uncertainty, Poles
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-40219 (URN)10.23919/ECC.1999.7099600 (DOI)2-s2.0-84930608366 (Scopus ID)978-3-9524173-5-5 (ISBN)
Konferanse
1999 European Control Conference, ECC 1999, Karlsruhe, Germany, 31 August-3 September, 1999
Tilgjengelig fra: 2019-08-28 Laget: 2019-08-28 Sist oppdatert: 2020-02-28bibliografisk kontrollert
Lidström, K., Sjöberg, K., Holmberg, U., Andersson, J., Bergh, F., Bjäde, M. & Mak, S. (2012). A modular CACC system integration and design. IEEE transactions on intelligent transportation systems (Print), 13(3), 1050-1061
Åpne denne publikasjonen i ny fane eller vindu >>A modular CACC system integration and design
Vise andre…
2012 (engelsk)Inngår i: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 13, nr 3, s. 1050-1061Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This paper describes the Halmstad University entry in the Grand Cooperative Driving Challenge, which is a competition in vehicle platooning. Cooperative platooning has the potential to improve traffic flow by mitigating shock wave effects, which otherwise may occur in dense traffic. A longitudinal controller that uses information exchanged via wireless communication with other cooperative vehicles to achieve string-stable platooning is developed. The controller is integrated into a production vehicle, together with a positioning system, communication system, and human–machine interface (HMI). A highly modular system architecture enabled rapid development and testing of the various subsystems. In the competition, which took place in May 2011 on a closed-off highway in The Netherlands, the Halmstad University team finished second among nine competing teams.

sted, utgiver, år, opplag, sider
Piscataway: IEEE Press, 2012
Emneord
Cooperative adaptive cruise control, grand cooperative driving challenge, platooning
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-19506 (URN)10.1109/TITS.2012.2204877 (DOI)000312805000007 ()2-s2.0-84863773935 (Scopus ID)
Tilgjengelig fra: 2012-09-07 Laget: 2012-09-07 Sist oppdatert: 2018-03-22bibliografisk kontrollert
Svensson, W. & Holmberg, U. (2010). Estimating Ground Inclination Using Strain Sensors with Fourier Series Representation. Journal of Robotics, 2010, 1-8
Åpne denne publikasjonen i ny fane eller vindu >>Estimating Ground Inclination Using Strain Sensors with Fourier Series Representation
2010 (engelsk)Inngår i: Journal of Robotics, ISSN 1687-9600, Vol. 2010, s. 1-8Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

An embedded measurement system for foot orthosis during gait is proposed. Strain gauge sensors were mounted on a foot orthosis to give information about strain in the sagittal plane. The ankle angle of the orthosis was fixed and strain characteristics were therefore changed when walking on slopes. With a Fourier series representation of the strain during a gait cycle, ground angle at different walking speeds and inclinations could be estimated with similar accuracy as previous studies using kinematically based estimators. Furthermore, if the angle of the mechanical foot ankle was changed, the sensing technique still could estimate ground angle without need for recalibration as opposed to kinematical sensors. This indicates that embedded strain sensors can be used for online control of future orthoses with inclination adaptation. Also, there would be no need to recalibrate the sensing system when changing shoes with different heel heights.

sted, utgiver, år, opplag, sider
New York: Hindawi Publishing Corporation, 2010
Emneord
Estimation, Strain sensors, Fourier series, Ground inclination, Orthorsis
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-4295 (URN)10.1155/2010/465618 (DOI)
Merknad

Article ID: 465618

Tilgjengelig fra: 2010-04-20 Laget: 2010-04-19 Sist oppdatert: 2020-05-07bibliografisk kontrollert
Svensson, W. & Holmberg, U. (2008). Ankle-Foot-Orthosis Control in Inclinations and Stairs. In: 2008 IEEE Conference on Robotics, Automation and Mechatronics. Paper presented at Robotics, Automation and Mechatronics, 2008 IEEE Conference on, Chengdu, PEOPLES Rep. CHINA, 21-24 Sept. 2008 (pp. 301-306). Piscataway, N.J.: IEEE Press
Åpne denne publikasjonen i ny fane eller vindu >>Ankle-Foot-Orthosis Control in Inclinations and Stairs
2008 (engelsk)Inngår i: 2008 IEEE Conference on Robotics, Automation and Mechatronics, Piscataway, N.J.: IEEE Press, 2008, s. 301-306Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

A control procedure is proposed for an ankle-footorthosis (AFO) for different gait situations, such as inclinations and stairs. This paper presents a novel AFO control of the ankle angle. A magneto-rheological damper was used to achieve ankle damping during foot down and locking at swing, thereby avoiding foot slap as well as foot drop.

The controller used feedback from the ankle angle only. Still it was capable of not only adjusting damping within a gait step but also changing control behavior depending on level walking, ascending and descending stairs. As a consequence, toe strike was possible in stair gait as opposed to heel strike in level walking.

Tests verified the expected behavior in stair gait and in level walking where gait speed and ground inclinations varied. The self-adjusted AFO is believed to improve gait comfort in slopes and stairs.

sted, utgiver, år, opplag, sider
Piscataway, N.J.: IEEE Press, 2008
Emneord
gait control, orthosis, stair walking, magneto-rheological damper
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-2128 (URN)10.1109/RAMECH.2008.4681479 (DOI)000269060400158 ()2-s2.0-58049120348 (Scopus ID)2082/2523 (Lokal ID)978-1-4244-1676-9 (ISBN)2082/2523 (Arkivnummer)2082/2523 (OAI)
Konferanse
Robotics, Automation and Mechatronics, 2008 IEEE Conference on, Chengdu, PEOPLES Rep. CHINA, 21-24 Sept. 2008
Merknad

©2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Tilgjengelig fra: 2008-11-12 Laget: 2008-11-12 Sist oppdatert: 2018-03-23bibliografisk kontrollert
Byttner, S. & Holmberg, U. (2008). Closed-loop control of EGR using ion currents. In: L. Bruzzone (Ed.), Proceedings of the 27th IASTED International Conference on Modelling, Identification, and Control, MIC. Paper presented at 27th IASTED International Conference on Modelling, Identification, and Control, 11-13 February, 2008, Innsbruck, Austria (pp. 7). Anaheim: ACTA Press
Åpne denne publikasjonen i ny fane eller vindu >>Closed-loop control of EGR using ion currents
2008 (engelsk)Inngår i: Proceedings of the 27th IASTED International Conference on Modelling, Identification, and Control, MIC / [ed] L. Bruzzone, Anaheim: ACTA Press, 2008, s. 7-Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Two virtual sensors are proposed that use the spark-plug based ion current sensor for combustion engine control. The first sensor estimates combustion variability for the purpose of controlling exhaust gas recirculation (EGR) and the second sensor estimates the pressure peak position for control of ignition timing. Use of EGR in engines is important because the technique can reduce fuel consumption and NOx emissions, but recirculating too much can have the adverse effect with e.g. increased fuel consumption and poor driveability of the vehicle. Since EGR also affects the phasing of the combustion (because of the diluted gas mixture with slower combustion) it is also necessary to control ignition timing otherwise efficiency will be lost. The combustion variability sensor is demonstrated in a closed-loop control experiment of EGR on the highway and the pressure peak sensor is shown to handle both normal and an EGR condition.

sted, utgiver, år, opplag, sider
Anaheim: ACTA Press, 2008
Emneord
ion currents, virtual sensing, electronic engine control, exhaust gas recirculation, ignition timing, combustion variability
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-1861 (URN)2-s2.0-77955173650 (Scopus ID)2082/2256 (Lokal ID)978-0-88986-711-6 (ISBN)978-0-88986-712-3 (ISBN)2082/2256 (Arkivnummer)2082/2256 (OAI)
Konferanse
27th IASTED International Conference on Modelling, Identification, and Control, 11-13 February, 2008, Innsbruck, Austria
Merknad

Sponsors, the International Association of Science and Technology for Development (IASTED), Technical Committee on Modelling and Simulation, Technical Committee on Control, World Modelling and Simulation Forum (WMSF)

Tilgjengelig fra: 2008-09-09 Laget: 2008-09-09 Sist oppdatert: 2018-03-23bibliografisk kontrollert
Svensson, W. & Holmberg, U. (2008). Ground angle estimator from an ankle foot orthosis based on strain sensing and Fourier series. In: IEEE International Conference on Mechatronics and Automation, 2008. ICMA 2008. Paper presented at IEEE International Conference on Mechatronics and Automation Location, Takamatsu, JAPAN, 5-8 August, 2008 (pp. 203-206). Piscataway, N.J.: IEEE Press
Åpne denne publikasjonen i ny fane eller vindu >>Ground angle estimator from an ankle foot orthosis based on strain sensing and Fourier series
2008 (engelsk)Inngår i: IEEE International Conference on Mechatronics and Automation, 2008. ICMA 2008, Piscataway, N.J.: IEEE Press, 2008, s. 203-206Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

A ground angle estimation technique for use on ankle-foot-orthosis AFO, during gait is proposed. Strain gauge sensors were mounted on a foot orthosis in order to give information about strain in the sagittal plane. The ankle angle of the orthosis was fixed. Strain characteristics were therefore changed when walking on slopes. It was investigated if strain information could be used for detection of inclination and estimation of inclination angle. With a Fourier series representation of the strain during a gait cycle, ground angle at different walking speeds and inclinations could be estimated with similar accuracy as previous studies using kinematically based estimators. This indicates that embedded strain sensors can be used for online control of future orthoses with inclination adaptation.

sted, utgiver, år, opplag, sider
Piscataway, N.J.: IEEE Press, 2008
Emneord
Fourier series, ankle foot orthosis, gait cycle, ground angle estimation, strain gauge sensors
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-1789 (URN)10.1109/ICMA.2008.4798752 (DOI)000267671500037 ()2-s2.0-65349119316 (Scopus ID)2082/2184 (Lokal ID)978-1-4244-2632-4 (ISBN)2082/2184 (Arkivnummer)2082/2184 (OAI)
Konferanse
IEEE International Conference on Mechatronics and Automation Location, Takamatsu, JAPAN, 5-8 August, 2008
Merknad

©2008 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Tilgjengelig fra: 2008-08-21 Laget: 2008-08-21 Sist oppdatert: 2018-03-23bibliografisk kontrollert
Svensson, W., Salomonsson, T. & Holmberg, U. (2007). Foot orthosis strain sensing in hill walking. In: ICORR '07: 2007 IEEE 10th International Conference on Rehabilitation Robotics : June 12-15, Noordwijk, The Netherlands. Paper presented at 10th International Conference on Rehabilitation Robotics, June 12-15, Noordwijk, The Netherlands (pp. 700-703). Piscataway, N.J.: IEEE Press
Åpne denne publikasjonen i ny fane eller vindu >>Foot orthosis strain sensing in hill walking
2007 (engelsk)Inngår i: ICORR '07: 2007 IEEE 10th International Conference on Rehabilitation Robotics : June 12-15, Noordwijk, The Netherlands, Piscataway, N.J.: IEEE Press, 2007, s. 700-703Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

An embedded measurement system for foot orthosis during gait is proposed. In this paper strain gauge sensors are mounted on a foot orthosis in order to give information about strain in the sagital plane. The ankle angle of the orthosis is fixed. Strain characteristics are therefore changed when walking on slopes. It is investigated if strain information can be used for detection of inclination and estimation of inclination angle. Also walking speed influence is studied. It is shown that strain sensing only gives significant information about up hill walking. At a known walking speed ground angle can be estimated for up hill walking.

sted, utgiver, år, opplag, sider
Piscataway, N.J.: IEEE Press, 2007
Serie
International Conference on Rehabilitation Robotics ICORR, ISSN 1945-7898
Emneord
strain sensing, orthosis, embedded measurement system, hill walking, foot orthosis, strain gauge sensors
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-1800 (URN)10.1109/ICORR.2007.4428502 (DOI)000255389600105 ()2-s2.0-48349108993 (Scopus ID)2082/2195 (Lokal ID)978-1-4244-1320-1 (ISBN)2082/2195 (Arkivnummer)2082/2195 (OAI)
Konferanse
10th International Conference on Rehabilitation Robotics, June 12-15, Noordwijk, The Netherlands
Merknad

©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Tilgjengelig fra: 2008-08-27 Laget: 2008-08-27 Sist oppdatert: 2018-03-23bibliografisk kontrollert
Svensson, W. & Holmberg, U. (2007). Stair Gait Classification from Kinematic Sensors. In: Sashi S. Kommu (Ed.), Rehabilitation Robotics (pp. 523-534). Wien: I-Tech Education and Publishing KG
Åpne denne publikasjonen i ny fane eller vindu >>Stair Gait Classification from Kinematic Sensors
2007 (engelsk)Inngår i: Rehabilitation Robotics / [ed] Sashi S. Kommu, Wien: I-Tech Education and Publishing KG, 2007, s. 523-534Kapittel i bok, del av antologi (Annet vitenskapelig)
Abstract [en]

Gait measurement is of interest for both orthopedists and biomechanical engineers. It is useful for analysis of gait disorders and in design of orthotic and prosthetic devices.

In this chapter an algorithm is presented to suit estimation of one foot angle in the sagital plane, independent on gait conditions. Only one gyro is used during swing and two accelerometers are needed for calibration during stance. Also, the sensor placement at the front foot avoids the need for heel strike for stance transition. Stair walking can therefore be studied. From the estimated swing trajectory three different gait conditions: up stair, horizontal and down stair are classified.

sted, utgiver, år, opplag, sider
Wien: I-Tech Education and Publishing KG, 2007
Emneord
Stair gait classification, kinematic sensors
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-1797 (URN)2082/2192 (Lokal ID)978-3-902613-01-1 (ISBN)2082/2192 (Arkivnummer)2082/2192 (OAI)
Merknad

Abstracting and non-profit use of the material is permitted with the credit to the source. After this work has been published by the I-Tech Education and Publishing, authors have the right to republish it, in whole or part, in any publication of which they are an author or editor, and the make other personal use of the work. (www.ars-journal.com)

Tilgjengelig fra: 2008-08-27 Laget: 2008-08-27 Sist oppdatert: 2018-03-23bibliografisk kontrollert
Petersson, D., Johansson, J., Holmberg, U. & Åstrand, B. (2007). Torque Sensor Free Power Assisted Wheelchair. In: ICORR '07: 2007 IEEE 10th International Conference on Rehabilitation Robotics : June 12-15, Noordwijk, The Netherlands. Paper presented at 10th International Conference on Rehabilitation Robotics, June 12-15, Noordwijk, The Netherlands (pp. 151-157). Piscataway, N.J.: IEEE Press
Åpne denne publikasjonen i ny fane eller vindu >>Torque Sensor Free Power Assisted Wheelchair
2007 (engelsk)Inngår i: ICORR '07: 2007 IEEE 10th International Conference on Rehabilitation Robotics : June 12-15, Noordwijk, The Netherlands, Piscataway, N.J.: IEEE Press, 2007, s. 151-157Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

A power assisted wheelchair combines human power, which is delivered by the arms through the pushrims, with electrical motors, which are powered by a battery. Todays electric power assisted wheelchairs use force sensors to measure the torque exerted on the pushrims by the user. This leads to rather expensive and clumsy constructions. A new design, which only relies on velocity feedback, thus avoiding the use of expensive force sensors in the pushrims, is proposed in this paper. The control design is based on a simple PD-structure with only two design parameters easily tuned to fit a certain user; one parameter is used to adjust the amplification of the user’s force and the other one is used to change the lasting time of the propulsion influence. Since the new assisting control system only relies on the velocity, the torque sensor free power assisted wheelchair will besides giving the user assisting power also give an assistant, which pushes the wheelchair, additional power. This is a big advantage compared to the pushrim activated one, where this benefit for the assistant is not possible.

sted, utgiver, år, opplag, sider
Piscataway, N.J.: IEEE Press, 2007
Serie
International Conference on Rehabilitation Robotics ICORR, ISSN 1945-7898
Emneord
wheelchair, power assist, electric power assisted wheelchairs, velocity feedback, torque sensor, force sensors
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-1799 (URN)10.1109/ICORR.2007.4428421 (DOI)000255389600024 ()2-s2.0-48349125718 (Scopus ID)2082/2194 (Lokal ID)978-1-4244-1320-1 (ISBN)2082/2194 (Arkivnummer)2082/2194 (OAI)
Konferanse
10th International Conference on Rehabilitation Robotics, June 12-15, Noordwijk, The Netherlands
Merknad

©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

Tilgjengelig fra: 2008-08-27 Laget: 2008-08-27 Sist oppdatert: 2018-03-23bibliografisk kontrollert
Svensson, W. & Holmberg, U. (2006). An Autonomous Control System for a Prosthetic Foot Ankle. In: 4th IFAC Symposium on Mechatronic Systems (2006). Paper presented at 4th IFAC Symposium on Mechatronic Systems, 12 - 14 september, 2006, Ruprecht-Karls-University, Germany (pp. 856-861). International Federation of Automatic Control (IFAC)
Åpne denne publikasjonen i ny fane eller vindu >>An Autonomous Control System for a Prosthetic Foot Ankle
2006 (engelsk)Inngår i: 4th IFAC Symposium on Mechatronic Systems (2006), International Federation of Automatic Control (IFAC) , 2006, s. 856-861Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

When walking on inclined ground the biological foot adjusts the ankle angle accordingly. Prosthetic foot users have often a limited range of motion in their ankle which makes walking on hills uncomfortable. This paper describes a system which can autonomously correct the ankle angle to the inclination. The ground angle is estimated using an accelerometer. The angle foot blade to heel is then adjusted with a DC-motor. Since the controller only activates the motor when the foot is lifted and thus not loaded, a small powered system can be used.

sted, utgiver, år, opplag, sider
International Federation of Automatic Control (IFAC), 2006
Serie
Mechatronic Systems ; vol. 4, part 1
Emneord
accelerometers, hill climbing, walking, actuator, adaptive system
HSV kategori
Identifikatorer
urn:nbn:se:hh:diva-1798 (URN)2082/2193 (Lokal ID)978-3-902661-17-3 (ISBN)2082/2193 (Arkivnummer)2082/2193 (OAI)
Konferanse
4th IFAC Symposium on Mechatronic Systems, 12 - 14 september, 2006, Ruprecht-Karls-University, Germany
Merknad

Preprints of the 4th IFAC-Symposium on Mechatronics Systems. Copyright © 2006 International Federation of Automatic Control (IFAC). All rights reserved. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional pruposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from IFAC. For technical support please contact Transfer GmbH.

Tilgjengelig fra: 2008-08-27 Laget: 2008-08-27 Sist oppdatert: 2018-03-23bibliografisk kontrollert
Organisasjoner