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Wernersson, Åke
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Rönnbäck, S. & Wernersson, Å. (2010). Range statistics and suppressing snowflakes: detects for laser range finders in snowfall. In: Vassil Sgurev; Mincho Hadjiski; Janusz Kacprzyk (Ed.), Intelligent Systems: From Theory to Practice (pp. 261-277). Paper presented at . Berlin: Springer Science+Business Media B.V.
Öppna denna publikation i ny flik eller fönster >>Range statistics and suppressing snowflakes: detects for laser range finders in snowfall
2010 (Engelska)Ingår i: Intelligent Systems: From Theory to Practice, Berlin: Springer Science+Business Media B.V., 2010, s. 261-277Kapitel i bok, del av antologi (Refereegranskat)
Abstract [en]

This paper presents statistics on registrations from laser range finders in snowfall. The sensors are standard laser range finders in robotics, the LMS200 and the URG-04LX. Three different working cases were identified for the pulsed laser range finder. 1) Normal operation with background objects present within the range of the sensor. 2) Close range objects where ranges to objects are shorter than the pulse length. 3) Free-space in the background. The findings are summarized as: Two laser range finders have been used, one that sends out a pulsed wide beam and one with a modulated narrow laser beam. The narrow beam laser has better penetration between the snowflakes. Median filtering shows a substantial reduction in snowflake detects. The gamma distribution describes fairly well the range distribution of detected snowflakes. In an intense snowfall where about 24% of the ranges detected snowflakes. A time-polar median filter showed good results in suppressing snowflakes in range data

Ort, förlag, år, upplaga, sidor
Berlin: Springer Science+Business Media B.V., 2010
Serie
Studies in Computational Intelligence, ISSN 1860-949X ; 299
Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-20179 (URN)10.1007/978-3-642-13428-9_12 (DOI)2-s2.0-77957730561 (Scopus ID)29626050-d85f-11df-8b36-000ea68e967b (Lokalt ID)978-3-642-13427-2 (ISBN)29626050-d85f-11df-8b36-000ea68e967b (Arkivnummer)29626050-d85f-11df-8b36-000ea68e967b (OAI)
Anmärkning

Validerad; 2011; 20101015 (ysko)

Tillgänglig från: 2016-09-29 Skapad: 2016-09-29 Senast uppdaterad: 2018-07-10Bibliografiskt granskad
Rönnbäck, S. & Wernersson, Å. (2008). On filtering of laser range data in snowfall (ed.). In: (Ed.), (Ed.), 2008 4th International IEEE Conference Intelligent Systems: Varna, Bulgaria, 6 - 8 September 2008. Paper presented at International IEEE Conference Intelligent Systems : 06/09/2008 - 08/09/2008 (pp. 33-39). Piscataway, NJ: IEEE Communications Society, 2
Öppna denna publikation i ny flik eller fönster >>On filtering of laser range data in snowfall
2008 (Engelska)Ingår i: 2008 4th International IEEE Conference Intelligent Systems: Varna, Bulgaria, 6 - 8 September 2008, Piscataway, NJ: IEEE Communications Society, 2008, Vol. 2, s. 33-39Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper is towards reducing the clutter from snowflakes for outdoor robots. There are three basic cases: 1. Normal operation of the laser with objects within range for detection. 2. Close range with objects close to the laser i.e. shorter than the pulse length. 3. Free space as background i.e. all detects are false. The findings are summarized as: The two lasers used were a pulsed wide beam laser and a modulated narrow beam laser. The narrow beam laser has much better penetration between the snowflakes. We did not use snow and rain threshold setting for the wide beam laser. Median filtering shows a substantial reduction in snowflake detects. The gamma distribution describes fairly well the distribution of detected snowflakes.

Ort, förlag, år, upplaga, sidor
Piscataway, NJ: IEEE Communications Society, 2008
Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-39696 (URN)10.1109/IS.2008.4670551 (DOI)2-s2.0-78650448859 (Scopus ID)e8b4cfb0-5fc6-11dd-82d9-000ea68e967b (Lokalt ID)978-1-4244-1739-1 (ISBN)e8b4cfb0-5fc6-11dd-82d9-000ea68e967b (Arkivnummer)e8b4cfb0-5fc6-11dd-82d9-000ea68e967b (OAI)
Konferens
International IEEE Conference Intelligent Systems : 06/09/2008 - 08/09/2008
Anmärkning
Godkänd; 2008; 20080801 (sr)Tillgänglig från: 2016-10-03 Skapad: 2016-10-03 Senast uppdaterad: 2018-07-10Bibliografiskt granskad
Rönnbäck, S., Fredriksson, H., Rosendahl, D., Hyyppä, K. & Wernersson, Å. (2007). An autonomous vehicle for a RobotDay (ed.). Paper presented at Mekatronikmöte 2007 : 10/10/2007 - 11/10/2007. Paper presented at Mekatronikmöte 2007 : 10/10/2007 - 11/10/2007.
Öppna denna publikation i ny flik eller fönster >>An autonomous vehicle for a RobotDay
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2007 (Engelska)Konferensbidrag, Enbart muntlig presentation (Övrigt vetenskapligt)
Abstract [en]

This paper describes the autonomous car that is being built for the RobotDay competition, arranged by SICK GmbH. The basic rule is to let an autonomous vehicle drive a track as fast as possible, based on any sensor technology. For this race SICK donated one S300 professional proximity sensor to each team. Our vehicle will use the circle sector expansion (CSE) method to avoid obstacles and to find its way along the track. We show initial results where the CSE method was used to guide the vehicle through a test track defined by cones and other objects.

Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-35561 (URN)a2261a20-7356-11dc-86ab-000ea68e967b (Lokalt ID)a2261a20-7356-11dc-86ab-000ea68e967b (Arkivnummer)a2261a20-7356-11dc-86ab-000ea68e967b (OAI)
Konferens
Mekatronikmöte 2007 : 10/10/2007 - 11/10/2007
Projekt
CASTT - Centre for Automotive Systems Technologies and Testing
Anmärkning
Godkänd; 2007; 20071005 (kalevi)Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2017-11-25Bibliografiskt granskad
Fredriksson, H., Rönnbäck, S., Berglund, T., Wernersson, Å. & Hyyppä, K. (2007). snowBOTS: a mobile robot on snow covered ice (ed.). In: (Ed.), K. Schilling (Ed.), Proceedings of the 13th IASTED International Conference on Robotics and Applications: August 29 - 31, 2007, Würzburg, Germany. Paper presented at IASTED International Conference on Robotics and Applications : 29/08/2007 - 31/08/2007 (pp. 222-228). Anaheim, Calif.: ACTA Press
Öppna denna publikation i ny flik eller fönster >>snowBOTS: a mobile robot on snow covered ice
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2007 (Engelska)Ingår i: Proceedings of the 13th IASTED International Conference on Robotics and Applications: August 29 - 31, 2007, Würzburg, Germany / [ed] K. Schilling, Anaheim, Calif.: ACTA Press, 2007, s. 222-228Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

We introduce snowBOTs as a generic name for robots working in snow. This paper is a study on using scan ning range measuring lasers towards an autonomous snow cleaning robot, working in an environment consisting al most entirely of snow and ice. The problem addressed here is using lasers for detecting the edges generated by "the snow meeting the road". First the laser data were filtered using his togram/median to discriminate against falling snowflakes and small objects. Then the road surface was extracted us ing the range weighted Hough/Radon transform. Finally the left and right edges of the road was detected by thresh olding. Tests have been made with a laser on top of a car driven in an automobile test range just south of the Arctic Circle. Moreover, in the campus area, the algorithms were tested in closed loop with the laser on board a robotized wheelchair.

Ort, förlag, år, upplaga, sidor
Anaheim, Calif.: ACTA Press, 2007
Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-31828 (URN)61ef13e0-5f9b-11dc-807a-000ea68e967b (Lokalt ID)9780889866850 (ISBN)61ef13e0-5f9b-11dc-807a-000ea68e967b (Arkivnummer)61ef13e0-5f9b-11dc-807a-000ea68e967b (OAI)
Konferens
IASTED International Conference on Robotics and Applications : 29/08/2007 - 31/08/2007
Projekt
CASTT - Centre for Automotive Systems Technologies and Testing
Anmärkning
Validerad; 2007; 20070910 (hf)Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2017-11-25Bibliografiskt granskad
Wernersson, Å., Hyyppä, K., Åström, K., Hedström, A. & Rahm, J. (2005). Laser guided vehicles, LGV's: industrial experiences and needs for the future (ed.). In: (Ed.), (Ed.), Proceedings of the Third Swedish Workshop on Autonomous Robotics, Stockholm: . Paper presented at Workshop on Autonomous Robotics : 01/09/2005 - 02/09/2005.
Öppna denna publikation i ny flik eller fönster >>Laser guided vehicles, LGV's: industrial experiences and needs for the future
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2005 (Engelska)Ingår i: Proceedings of the Third Swedish Workshop on Autonomous Robotics, Stockholm, 2005Konferensbidrag, Publicerat paper (Övrigt vetenskapligt)
Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-29912 (URN)388ab7e0-1b7d-11dd-8c59-000ea68e967b (Lokalt ID)388ab7e0-1b7d-11dd-8c59-000ea68e967b (Arkivnummer)388ab7e0-1b7d-11dd-8c59-000ea68e967b (OAI)
Konferens
Workshop on Autonomous Robotics : 01/09/2005 - 02/09/2005
Anmärkning
Godkänd; 2005; 20080506 (ysko)Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2017-11-25Bibliografiskt granskad
Rönnbäck, S., Hyyppä, K. & Wernersson, Å. (2005). On coordinating autonomous vehicles by tracking features using MATLAB (ed.). Paper presented at International Conference on Computing, Communications and Control Technologies : 24/07/2005 - 27/07/2005. Paper presented at International Conference on Computing, Communications and Control Technologies : 24/07/2005 - 27/07/2005.
Öppna denna publikation i ny flik eller fönster >>On coordinating autonomous vehicles by tracking features using MATLAB
2005 (Engelska)Konferensbidrag, Enbart muntlig presentation (Refereegranskat)
Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-32301 (URN)6c330e70-6cd9-11db-83c6-000ea68e967b (Lokalt ID)6c330e70-6cd9-11db-83c6-000ea68e967b (Arkivnummer)6c330e70-6cd9-11db-83c6-000ea68e967b (OAI)
Konferens
International Conference on Computing, Communications and Control Technologies : 24/07/2005 - 27/07/2005
Anmärkning
Godkänd; 2005; 20060913 (ysko)Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2017-11-25Bibliografiskt granskad
Rönnbäck, S., Hyyppä, K. & Wernersson, Å. (2005). On passing a doorway with an autonomous Internet connected wheelchair using MATLAB (ed.). In: (Ed.), 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems: Edmonton, AB, Canada, 2 - 6 August 2005. Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems : 02/08/2005 - 06/08/2005 (pp. 1532-1537). Piscataway, NJ: IEEE Communications Society
Öppna denna publikation i ny flik eller fönster >>On passing a doorway with an autonomous Internet connected wheelchair using MATLAB
2005 (Engelska)Ingår i: 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems: Edmonton, AB, Canada, 2 - 6 August 2005, Piscataway, NJ: IEEE Communications Society, 2005, s. 1532-1537Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

If a wheelchair for disabled is used for semi-autonomous navigation indoors it must be able to navigate through doors. A door and doorway can be parameterized with five parameters. A divide and conquer implementation of the Hough transform is used to segment outlines from range scans. The client software remote controls the wheelchair from the MATLAB environment. The software consists of several Java threads that run concurrently. Sensor data are polled by threads and put into databases to reduce the network lag. The databases are used by a controller and a Kalman filter. Since most of the implementation is coded in Java it is possible to run it as a stand alone program on a computer that has Java installed. From 10 runs the trajectory offset was calculated to 0.9 cm with a standard deviation of 1.4 cm. The standard deviation of the heading was 2.2 degrees. This performance is essentially independent of the initial starting pose

Ort, förlag, år, upplaga, sidor
Piscataway, NJ: IEEE Communications Society, 2005
Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-27614 (URN)10.1109/IROS.2005.1545567 (DOI)000235632103123 ()79958002059 (Scopus ID)11af3aa0-4fab-11db-9592-000ea68e967b (Lokalt ID)0-7803-8912-3 (ISBN)11af3aa0-4fab-11db-9592-000ea68e967b (Arkivnummer)11af3aa0-4fab-11db-9592-000ea68e967b (OAI)
Konferens
IEEE/RSJ International Conference on Intelligent Robots and Systems : 02/08/2005 - 06/08/2005
Anmärkning

Godkänd; 2005; 20060913 (ysko)

Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2018-07-10Bibliografiskt granskad
Rönnbäck, S., Hyyppä, K. & Wernersson, Å. (2004). Remote CAN operations in Matlab over the Internet (ed.). In: (Ed.), (Ed.), Proceedings: 2004 Second International IEEE Conference "Intelligent Systems" : June 22 - 24, 2004, St. Constantine and Helena resort, Varna, Bulgaria. Paper presented at International IEEE Conference on Intelligent Systems : 22/06/2004 - 24/06/2004 (pp. 123-128). Piscataway, NJ: IEEE Communications Society
Öppna denna publikation i ny flik eller fönster >>Remote CAN operations in Matlab over the Internet
2004 (Engelska)Ingår i: Proceedings: 2004 Second International IEEE Conference "Intelligent Systems" : June 22 - 24, 2004, St. Constantine and Helena resort, Varna, Bulgaria, Piscataway, NJ: IEEE Communications Society, 2004, s. 123-128Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper describes the implementation of a CAN server that acts as a CAN tool to a client. It can be used to monitor, observe and send messages to a distant CAN network over IEEE802.11b (Wave-LAN). The CAN server is controlled by one or several clients that can connect to it by TCP/IP. It is possible to send and receive CAN messages over Internet from a MATLAB environment since the client software is written in Java. The CAN server collects CAN messages and stores them into a ring buffer. The messages in the ring buffer are classified by their identifier and stored into a database. The CAN tool has been used in a demonstrative application example that consist of a remotely controlled wheelchair. In the example the wheelchair was programmed to run in a square. The positions obtained by odometric CAN messages are compared with the position from the navigation system onboard the wheelchair.

Ort, förlag, år, upplaga, sidor
Piscataway, NJ: IEEE Communications Society, 2004
Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-30378 (URN)10.1109/IS.2004.1344865 (DOI)000223848300028 ()42903440-5f54-11db-8cbe-000ea68e967b (Lokalt ID)0-7803-8278-1 (ISBN)42903440-5f54-11db-8cbe-000ea68e967b (Arkivnummer)42903440-5f54-11db-8cbe-000ea68e967b (OAI)
Konferens
International IEEE Conference on Intelligent Systems : 22/06/2004 - 24/06/2004
Anmärkning
Godkänd; 2004; 20060929 (ysko)Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2018-07-10Bibliografiskt granskad
Wernersson, Å. (2004). Telerobotics: Towards Extending Your Sensing and Hands into a Remote Reality. Paper presented at 1st IFAC Symposium on Telematics Applications in Automation and Robotics (TA 2004), Espoo, Finland, 21-23 June 2004. Elsevier IFAC Publications / IFAC Proceedings series, 37(7), 1-4
Öppna denna publikation i ny flik eller fönster >>Telerobotics: Towards Extending Your Sensing and Hands into a Remote Reality
2004 (Engelska)Ingår i: Elsevier IFAC Publications / IFAC Proceedings series, ISSN 1474-6670, Vol. 37, nr 7, s. 1-4Artikel i tidskrift (Refereegranskat) Published
Abstract [en]

Abstract:

The problem addressed is control of robots and/or sensing, in workspaces at remote locations. Topics taken up in this plenary talk includes laser sensing, scene interpretation, telecommands for local autonomy, research issues especially for multirobot systems. Applications includes aerospace testing in north Sweden.

Telecommands are studied for high level control of robots over a communication channel with a non-neglectable time delay, time jitters and variable bandwidth. The sensors onboard the robot are a time-of-flight range measuring laser and a video camera. A few images are used by the operator for interpreting the scene. From the interpretations of the workspace around the robot, the operator specifies interactively the sequence of individual operations during a composite task. Each telecommand is then executed autonomously by closing the feedback loop between the robot and the objects in the surrounding workspace.

Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-63368 (URN)10.1016/S1474-6670(17)32114-6 (DOI)
Konferens
1st IFAC Symposium on Telematics Applications in Automation and Robotics (TA 2004), Espoo, Finland, 21-23 June 2004
Tillgänglig från: 2017-05-16 Skapad: 2017-05-16 Senast uppdaterad: 2017-11-29Bibliografiskt granskad
Wernersson, Å., Taylor, G. R. & Kleeman, L. (2002). Robust colour range sensing for robotic applications using a stereoscopic light stripe scanner (ed.). In: (Ed.), (Ed.), Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems: . Paper presented at IEEE/RSJ international conference on intelligent robots and systems : 30/09/2002 - 05/10/2002 (pp. 86-91). : IEEE Communications Society
Öppna denna publikation i ny flik eller fönster >>Robust colour range sensing for robotic applications using a stereoscopic light stripe scanner
2002 (Engelska)Ingår i: Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE Communications Society, 2002, s. 86-91Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

This paper presents an integrated, low-level approach to removing sensor noise, cross talk, spurious specular reflections, and solving the association problem in a light stripe scanner. Most single-camera scanners rely on the laser brightness exceeding that of the entire image. Our system uses two cameras to measure the stripe and combines knowledge of the light plane orientation to produce useful validation properties. The key result is the development of a condition relating image plane measurements and camera intrinsic parameters, which allows validationlassociation to be performed independently of 3D reconstruction. The same equations are used to improve ranging accuracy compared to single-camera systems. We also show how the system may be self-calibrated using measurements of an arbitrary nonplanar target. As validation allows operation in ambient light, registered colour and range are captured in the same sensor. An experimental scanner demonstrates the effectiveness of the proposed techniques.

Ort, förlag, år, upplaga, sidor
IEEE Communications Society, 2002
Nationell ämneskategori
Annan elektroteknik och elektronik
Forskningsämne
Industriell elektronik
Identifikatorer
urn:nbn:se:ltu:diva-29960 (URN)10.1109/IRDS.2002.1041367 (DOI)3998e500-7c9e-11db-8824-000ea68e967b (Lokalt ID)0-7803-7398-7 (ISBN)3998e500-7c9e-11db-8824-000ea68e967b (Arkivnummer)3998e500-7c9e-11db-8824-000ea68e967b (OAI)
Konferens
IEEE/RSJ international conference on intelligent robots and systems : 30/09/2002 - 05/10/2002
Anmärkning
Godkänd; 2002; 20061031 (ysko)Tillgänglig från: 2016-09-30 Skapad: 2016-09-30 Senast uppdaterad: 2017-11-25Bibliografiskt granskad
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