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Rönnbäck, Sven
Publications (10 of 17) Show all publications
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.
Open this publication in new window or tab >>Range statistics and suppressing snowflakes: detects for laser range finders in snowfall
2010 (English)In: Intelligent Systems: From Theory to Practice, Berlin: Springer Science+Business Media B.V., 2010, p. 261-277Chapter in book (Refereed)
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

Place, publisher, year, edition, pages
Berlin: Springer Science+Business Media B.V., 2010
Series
Studies in Computational Intelligence, ISSN 1860-949X ; 299
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
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 (Local ID)978-3-642-13427-2 (ISBN)29626050-d85f-11df-8b36-000ea68e967b (Archive number)29626050-d85f-11df-8b36-000ea68e967b (OAI)
Note

Validerad; 2011; 20101015 (ysko)

Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2018-07-10Bibliographically approved
Rönnbäck, S. (2008). Circle sectors for detection of oncoming cars in range data (ed.). In: (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. 17-40). Piscataway, NJ: IEEE Communications Society, 2
Open this publication in new window or tab >>Circle sectors for detection of oncoming cars in range data
2008 (English)In: 2008 4th International IEEE Conference Intelligent Systems: Varna, Bulgaria, 6 - 8 September 2008, Piscataway, NJ: IEEE Communications Society, 2008, Vol. 2, p. 17-40Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents how expanding circle sectors are used for finding free-space in front of a vehicle equipped with a laser range finder. The circle sectors give support for detection of oncoming cars since they will cause changes in the circle sector parameters. The velocities and headings of detected oncoming cars are estimated from clustered range data that are time stamped.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2008
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
urn:nbn:se:ltu:diva-34969 (URN)10.1109/IS.2008.4670552 (DOI)2-s2.0-78650479979 (Scopus ID)94c93300-5fc6-11dd-82d9-000ea68e967b (Local ID)978-1-4244-1739-1 (ISBN)94c93300-5fc6-11dd-82d9-000ea68e967b (Archive number)94c93300-5fc6-11dd-82d9-000ea68e967b (OAI)
Conference
International IEEE Conference Intelligent Systems : 06/09/2008 - 08/09/2008
Note

Godkänd; 2008; 20080801 (sr)

Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-07-10Bibliographically approved
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
Open this publication in new window or tab >>On filtering of laser range data in snowfall
2008 (English)In: 2008 4th International IEEE Conference Intelligent Systems: Varna, Bulgaria, 6 - 8 September 2008, Piscataway, NJ: IEEE Communications Society, 2008, Vol. 2, p. 33-39Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2008
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
urn:nbn:se:ltu:diva-39696 (URN)10.1109/IS.2008.4670551 (DOI)2-s2.0-78650448859 (Scopus ID)e8b4cfb0-5fc6-11dd-82d9-000ea68e967b (Local ID)978-1-4244-1739-1 (ISBN)e8b4cfb0-5fc6-11dd-82d9-000ea68e967b (Archive number)e8b4cfb0-5fc6-11dd-82d9-000ea68e967b (OAI)
Conference
International IEEE Conference Intelligent Systems : 06/09/2008 - 08/09/2008
Note
Godkänd; 2008; 20080801 (sr)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2018-07-10Bibliographically approved
Fredriksson, H., Danielsson, P., Rönnbäck, S. & Hyyppä, K. (2008). snowBOTs: Gyro guided steering of a teleoperated tractor during winter conditions (ed.). Paper presented at International Workshop on Research and Education in Mechatronics : 18/09/2008 - 19/09/2008. Paper presented at International Workshop on Research and Education in Mechatronics : 18/09/2008 - 19/09/2008.
Open this publication in new window or tab >>snowBOTs: Gyro guided steering of a teleoperated tractor during winter conditions
2008 (English)Conference paper, Oral presentation only (Other academic)
Abstract [en]

This article describes the steering system implemented on the tractor IceMaker I. No direct position feedback is used for the steering angle of the front wheels. Instead, the steering angle is estimated by a motion model of the vehicle using gyro and odometer information. This estimated angle is used as feedback to a regulator that controls the steering system. The operator sets the requested steering angle and the regulator controls the hydraulic steering system to maintain the requested steering angle. Within certain limits, the tractor can be expected to behave according to the motion model irrespective of the surface conditions. The tractor can be teleoperated from a remote computer through a wireless network, WLAN. To enable teleoperation, the tractor has been equipped with a computer, some sensors, and other necessary equipment. During teleoperation, the operator controls the steering angle of the front wheels and the speed of the tractor using a joystick. The steering system has been tested both during winter conditions on a low friction surface and also on dry asphalt. The results indicates good performance when teleoperating the tractor. When driving carefully it is possible to operate the tractor up to full speed (25km/h). However, the steering regulator tends to exaggerate the real steering angle during sharp turns when driving on very slippery surface.

National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
urn:nbn:se:ltu:diva-31152 (URN)53bb3890-742a-11dd-a03a-000ea68e967b (Local ID)53bb3890-742a-11dd-a03a-000ea68e967b (Archive number)53bb3890-742a-11dd-a03a-000ea68e967b (OAI)
Conference
International Workshop on Research and Education in Mechatronics : 18/09/2008 - 19/09/2008
Projects
CASTT - Centre for Automotive Systems Technologies and Testing
Note
Godkänd; 2008; 20080827 (hf)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-11-25Bibliographically approved
Rönnbäck, S. (2007). Aktivitet: Modern hjälpmedel för personer med synnedsättning och blindhet (ed.). Paper presented at ID-dagarna 2007 : 10/10/2007 - 12/10/2007. Paper presented at ID-dagarna 2007 : 10/10/2007 - 12/10/2007.
Open this publication in new window or tab >>Aktivitet: Modern hjälpmedel för personer med synnedsättning och blindhet
2007 (Swedish)Conference paper, Published paper (Other (popular science, discussion, etc.))
Abstract [sv]

Föreläsningen presenterade hur en handburen laser-scanner kan hjälpa blinda och personer med synnedsättning att ta sig fram i en miljö med hinder osv. Tekniken gör det möjligt att positionera sig samt veta åt vilket håll man går. Ett tillämpningsområde för tekniken är att vägleda en brukare till olika ställen i en matvarubutik - t.ex. till mjölken, till kaffet samt till kassan. Tekniken bygger i grunden på LADAR (laser radar, laser range finder), IMU (Inertial Measurement Unit, tröghetssensorer, rate-gyron samt accelerometrar), GPS (satellit positionering), samt en bärbar dator. Emneord: laser scanner, gps, synnedsättning,

Identifiers
urn:nbn:se:ltu:diva-41837 (URN)ee5c48b0-7d60-11dc-b50c-000ea68e967b (Local ID)ee5c48b0-7d60-11dc-b50c-000ea68e967b (Archive number)ee5c48b0-7d60-11dc-b50c-000ea68e967b (OAI)
Conference
ID-dagarna 2007 : 10/10/2007 - 12/10/2007
Note
Startdatum: 12/10/2007; Slutdatum: 12/10/2007; Roll: Föreläsare; Typ: Föreläsning / muntligt bidragAvailable from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-11-24Bibliographically approved
Rönnbäck, S. (2007). Aktivitet: Modernt hjälpmedel för personer med synnedsättning och blindhet (ed.). Paper presented at Modernt hjälpmedel för personer med synnedsättning och blindhet : 12/10/2007 - 12/10/2007. Paper presented at Modernt hjälpmedel för personer med synnedsättning och blindhet : 12/10/2007 - 12/10/2007.
Open this publication in new window or tab >>Aktivitet: Modernt hjälpmedel för personer med synnedsättning och blindhet
2007 (Swedish)Conference paper, Published paper (Other (popular science, discussion, etc.))
Identifiers
urn:nbn:se:ltu:diva-41548 (URN)72857630-5fc8-11dd-82d9-000ea68e967b (Local ID)72857630-5fc8-11dd-82d9-000ea68e967b (Archive number)72857630-5fc8-11dd-82d9-000ea68e967b (OAI)
Conference
Modernt hjälpmedel för personer med synnedsättning och blindhet : 12/10/2007 - 12/10/2007
Note
Startdatum: 12/10/2007; Slutdatum: 12/10/2007; Roll: Föreläsare; Typ: Föreläsning / muntligt bidragAvailable from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-11-24Bibliographically approved
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.
Open this publication in new window or tab >>An autonomous vehicle for a RobotDay
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2007 (English)Conference paper, Oral presentation only (Other academic)
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.

National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
urn:nbn:se:ltu:diva-35561 (URN)a2261a20-7356-11dc-86ab-000ea68e967b (Local ID)a2261a20-7356-11dc-86ab-000ea68e967b (Archive number)a2261a20-7356-11dc-86ab-000ea68e967b (OAI)
Conference
Mekatronikmöte 2007 : 10/10/2007 - 11/10/2007
Projects
CASTT - Centre for Automotive Systems Technologies and Testing
Note
Godkänd; 2007; 20071005 (kalevi)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-11-25Bibliographically approved
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
Open this publication in new window or tab >>snowBOTS: a mobile robot on snow covered ice
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2007 (English)In: 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, p. 222-228Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
Anaheim, Calif.: ACTA Press, 2007
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
urn:nbn:se:ltu:diva-31828 (URN)61ef13e0-5f9b-11dc-807a-000ea68e967b (Local ID)9780889866850 (ISBN)61ef13e0-5f9b-11dc-807a-000ea68e967b (Archive number)61ef13e0-5f9b-11dc-807a-000ea68e967b (OAI)
Conference
IASTED International Conference on Robotics and Applications : 29/08/2007 - 31/08/2007
Projects
CASTT - Centre for Automotive Systems Technologies and Testing
Note
Validerad; 2007; 20070910 (hf)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-11-25Bibliographically approved
Rönnbäck, S., Piekkari, J., Hyyppä, K., Berglund, T. & Koskinen, S. (2006). A semi-autonomous wheelchair towards user-centered design (ed.). In: (Ed.), Klaus Miesenberger (Ed.), Computers helping people with special needs: 10th international conference, ICCHP 2006, Linz, Austria, July 11-13, 2006 ; proceedings. Paper presented at International Conference on Computers Helping People with Special Needs : 11/07/2006 - 13/07/2006 (pp. 701-708). Berlin: Encyclopedia of Global Archaeology/Springer Verlag
Open this publication in new window or tab >>A semi-autonomous wheelchair towards user-centered design
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2006 (English)In: Computers helping people with special needs: 10th international conference, ICCHP 2006, Linz, Austria, July 11-13, 2006 ; proceedings / [ed] Klaus Miesenberger, Berlin: Encyclopedia of Global Archaeology/Springer Verlag, 2006, p. 701-708Conference paper, Published paper (Refereed)
Abstract [en]

Research on assistive technology for impaired and elderly is of great importance and it is intended to grow as society undergoes an age shift in its population. Research on assistive technology leads to the development of aids for individual users. These aids can be made more or less autonomous in order to fit an individuals specific needs. Aids can be designed not only to please a user from a technical perspective, but also from a psychological perspective. Based on knowledge about a user, from for example interviews, the design of an aid can be improved. We present a semi-autonomous wheelchair which can be controlled using head-mounted sensors. Control is also possible by sensors placed on the hand of a user. The wheelchair hand control was tested by a user and the feedback from the user is included. Through an interface suitable for specific users, the wheelchair can perform certain tasks autonomously. One such task is moving to a certain location pointed out by a user looking at a map of the surrounding which is presented on a computer screen. With a user centered perspective based on interviews, direct contact, and knowledge about users, we show results for improving the design of assistive technology.

Place, publisher, year, edition, pages
Berlin: Encyclopedia of Global Archaeology/Springer Verlag, 2006
Series
Lecture Notes in Computer Science, ISSN 0302-9743 ; 4061
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
urn:nbn:se:ltu:diva-36989 (URN)10.1007/11788713_103 (DOI)adc4e1d0-0509-11df-bae5-000ea68e967b (Local ID)978-3-540-36020-9 (ISBN)adc4e1d0-0509-11df-bae5-000ea68e967b (Archive number)adc4e1d0-0509-11df-bae5-000ea68e967b (OAI)
Conference
International Conference on Computers Helping People with Special Needs : 11/07/2006 - 13/07/2006
Note
Validerad; 2006; 20100119 (ysko)Available from: 2016-10-03 Created: 2016-10-03 Last updated: 2017-11-25Bibliographically approved
Rönnbäck, S., Berglund, T., Fredriksson, H. & Hyyppä, K. (2006). Circle sector expansions for on-line exploration (ed.). In: (Ed.), (Ed.), 2006 IEEE International Conference on Robotics and Biomimetics: Kunming, China, 17 - 20 December 2006. Paper presented at IEEE International Conference on Robotics and Biomimetics : 17/12/2006 - 20/12/2006 (pp. 1227-1232). Piscataway, NJ: IEEE Communications Society
Open this publication in new window or tab >>Circle sector expansions for on-line exploration
2006 (English)In: 2006 IEEE International Conference on Robotics and Biomimetics: Kunming, China, 17 - 20 December 2006, Piscataway, NJ: IEEE Communications Society, 2006, p. 1227-1232Conference paper, Published paper (Refereed)
Abstract [en]

A novel and effective method denoted circle sector expansion (CSE) is presented that can be used to generate reduced Voronoi diagrams. It is intuitive and can be used to efficiently compute possible paths for a vehicle. The idea is to model free space instead of the features in the environment. It is easy to implement and can be used while a vehicle moves and collects new data of its surrounding. The method is directly applicable and has properties for fast computations of safety margins while at the same time having low complexity. We have successfully implemented the algorithm and its methods and performed real-life tests using an autonomous wheelchair equipped with a range scanning laser, a rate gyro, and wheel-encoders. Tests showed good results for supporting the use of CSE. The results are applicable for example to improve assistive technology for wheelchair users.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 2006
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Industrial Electronics
Identifiers
urn:nbn:se:ltu:diva-27658 (URN)10.1109/ROBIO.2006.340103 (DOI)000245907302018 ()2-s2.0-46249089814 (Scopus ID)12c2d210-96bb-11db-8975-000ea68e967b (Local ID)1-424-40570-X (ISBN)12c2d210-96bb-11db-8975-000ea68e967b (Archive number)12c2d210-96bb-11db-8975-000ea68e967b (OAI)
Conference
IEEE International Conference on Robotics and Biomimetics : 17/12/2006 - 20/12/2006
Projects
CASTT - Centre for Automotive Systems Technologies and Testing
Note
Godkänd; 2006; 20061228 (ysko)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2018-07-10Bibliographically approved
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