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Gunnarsson, Svante
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Publications (10 of 193) Show all publications
Johansson, V., Moberg, S., Hedberg, E., Norrlöf, M. & Gunnarsson, S. (2018). A learning approach for feed-forward friction compensation. In: Proceedings of the 12th IFAC Symposium on Robot Control: . Paper presented at 12th IFAC Symposium on Robot Control, Budapest, Hungary, August 27-30, 2018.
Open this publication in new window or tab >>A learning approach for feed-forward friction compensation
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2018 (English)In: Proceedings of the 12th IFAC Symposium on Robot Control, 2018Conference paper, Published paper (Other academic)
Abstract [en]

An experimental comparison of two feed-forward based frictioncompensation methods is presented. The first method is based on theLuGre friction model, using identified friction model parameters, andthe second method is based on B-spline network, where the networkweights are learned from experiments. The methods are evaluated andcompared via experiments using a six axis industrial robot carryingout circular movements of different radii. The experiments show thatthe learning-based friction compensation gives an error reduction ofthe same magnitude as for the LuGre-based friction compensation.

Keywords
friction, feed-forward compensation, splines, learning control, industrial ropots
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-150952 (URN)
Conference
12th IFAC Symposium on Robot Control, Budapest, Hungary, August 27-30, 2018
Projects
LINK-SIC
Funder
VINNOVA
Available from: 2018-09-06 Created: 2018-09-06 Last updated: 2018-09-17
Hedberg, E., Norrlöf, M., Moberg, S. & Gunnarsson, S. (2018). Comparing Feedback Linearization and Jacobian Linearization for LQ Control of an Industrial Manipulator. In: Proccedings of the 12TH IFAC SYMPOSIUM ON ROBOT CONTROL: . Paper presented at 12TH IFAC SYMPOSIUM ON ROBOT CONTROL.
Open this publication in new window or tab >>Comparing Feedback Linearization and Jacobian Linearization for LQ Control of an Industrial Manipulator
2018 (English)In: Proccedings of the 12TH IFAC SYMPOSIUM ON ROBOT CONTROL, 2018Conference paper, Published paper (Refereed)
Abstract [en]

Feedback linearization is compared to Jacobian linearization for LQ control of atwo-link industrial manipulator. A method for obtaining equivalent nominal performance forboth control designs is introduced. An experimentally verified benchmark model with industrialrelevance is used for comparing the designs. Results do not show any conclusive advantages ofFeedback linearization.

National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-151588 (URN)
Conference
12TH IFAC SYMPOSIUM ON ROBOT CONTROL
Available from: 2018-09-25 Created: 2018-09-25 Last updated: 2018-09-25
Gunnarsson, S. (2017). Automatic Control Education in a CDIO Perspective. In: 20th IFAC World Congress: . Paper presented at 20th World Congress of the International-Federation-of-Automatic-Control (IFAC), Toulouse, France, 9–14 July 2017 (pp. 12161-12166). Elsevier, 50(1)(1)
Open this publication in new window or tab >>Automatic Control Education in a CDIO Perspective
2017 (English)In: 20th IFAC World Congress, Elsevier, 2017, Vol. 50(1), no 1, p. 12161-12166Conference paper, Published paper (Refereed)
Abstract [en]

The CDIO framework for development of engineering education is presented, including the overall ideas, the fundamental documents, and some development tools. The automatic control subject and its role in engineering education is studied using the CDIO Standards as reference. Some examples from the engineering education at Linkoping University are presented with special focus on the control education. (C) 2017, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

Place, publisher, year, edition, pages
Elsevier, 2017
Series
IFAC PAPERSONLINE, ISSN 2405-8963 ; 50(1)
Keywords
The CDIO framework; the CDIO Standards; active learning; design-implement experiences
National Category
Pedagogy
Identifiers
urn:nbn:se:liu:diva-145494 (URN)10.1016/j.ifacol.2017.08.2145 (DOI)000423965200028 ()
Conference
20th World Congress of the International-Federation-of-Automatic-Control (IFAC), Toulouse, France, 9–14 July 2017
Available from: 2018-03-02 Created: 2018-03-02 Last updated: 2018-06-04Bibliographically approved
Cerqueira, J., Rezende, A., Waldemar, B. M. & Gunnarsson, S. (2016). Introducing CDIO at The Military Institue of Engineering in Brazil. Linköping: Linköping University Electronic Press
Open this publication in new window or tab >>Introducing CDIO at The Military Institue of Engineering in Brazil
2016 (English)Report (Other academic)
Abstract [en]

This report describes the motivation, the current state and the future actions of an improvement process in engineering education at the Brazilian higher education institution called the Military Institute of Engineering. Based on the reasons for why and how to change, the CDIO framework was chosen, at the end of 2014, as the kernel of this improvement process. The activities realized, the plan for the future actions and the open questions are presented in this report.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2016. p. 29
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3088
Keywords
CDIO, CDIO Syllabus, CDIO Standards, Implementation
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-125383 (URN)LiTH-ISY-R-3088 (ISRN)
Available from: 2016-02-22 Created: 2016-02-22 Last updated: 2016-02-23Bibliographically approved
Cerqueira, J., Rezende, A., Barrosso Magno, W. & Gunnarsson, S. (2016). Introduction of the CDIO Framework ay the Military Institue of Engineering in Brazil. In: Jerker Björkqvist, Kristina Edström, Ronald J. Hugo, Juha Kontio, Janne Roslöf, Rick Sellens & Seppo Virtanen (Ed.), The 12th International CDIO Conference Proceedings – Full papers: . Paper presented at 12th International CDIO Conference, June 12-16, Turku, Finland.
Open this publication in new window or tab >>Introduction of the CDIO Framework ay the Military Institue of Engineering in Brazil
2016 (English)In: The 12th International CDIO Conference Proceedings – Full papers / [ed] Jerker Björkqvist, Kristina Edström, Ronald J. Hugo, Juha Kontio, Janne Roslöf, Rick Sellens & Seppo Virtanen, 2016Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes the motivation, the current state and the further actions of an improvement process of the engineering education at the Military Institute of Engineering (IME) in Brazil. Based on the reasons for why and how to change, the CDIO framework has been chosen as the kernel of this improvement process. The activities realized the plan of the further actions and the open questions are presented in this paper. The paper is a condensed presentation of the report (Cerqueira et. al., 2016), where a thorough background and more details can be found.

Series
Turku University of Applied Sciences, ISSN 1796-9964 ; 45
Keywords
CDIO Initiative, Implementation, CDIO Syllabus, CDIO Standards: 1 - 12
National Category
Other Engineering and Technologies
Identifiers
urn:nbn:se:liu:diva-129548 (URN)978-952-216-610-4 (ISBN)
Conference
12th International CDIO Conference, June 12-16, Turku, Finland
Note

CDIO Initiative: Proceedings of the International CDIO Conference, ISSN 2002-1593

Available from: 2016-06-21 Created: 2016-06-21 Last updated: 2016-06-30Bibliographically approved
Gunnarsson, S., Jung, Y., Veibäck, C. & Glad, T. (2016). IO (Implement and Operate) First in an Automatic Control Context. In: Jerker Björkqvist, Kristina Edström, Ronald J. Hugo, Juha Kontio, Janne Roslöf, Rick Sellens & Seppo Virtanen (Ed.), Proceedings of the 12th International CDIO Conference, Turku University of Applied Sciences,Turku, Finland, June 12-16, 2016: . Paper presented at The 12th International CDIO Conference, Turku University of Applied Sciences,Turku, Finland, June 12-16, 2016 (pp. 238-249). CDIO
Open this publication in new window or tab >>IO (Implement and Operate) First in an Automatic Control Context
2016 (English)In: Proceedings of the 12th International CDIO Conference, Turku University of Applied Sciences,Turku, Finland, June 12-16, 2016 / [ed] Jerker Björkqvist, Kristina Edström, Ronald J. Hugo, Juha Kontio, Janne Roslöf, Rick Sellens & Seppo Virtanen, CDIO , 2016, p. 238-249Conference paper, Published paper (Refereed)
Abstract [en]

A first course in Automatic control is presented.  A main objective of the course is to put most of the emphasis on the Implement and Operate phases in the process of developing a control system for a process. The course is built around a large amount of student active learning based on three extensive laboratory exercises, where each laboratory exercise can have duration of up to two weeks. For each of the laboratory exercises there is a sequence of learning activities supporting the students’ learning: Introductory lecture, problem solving session, preparation work, help-desk session, independent work in the laboratory, and a final demonstration of the control system. In addition there is a small project where the task is to write a manual for a process operator. The laboratory tasks involve implementation of a control system in an industrial PLC (Programmable Logic Controller) and development of an operator interface.

Place, publisher, year, edition, pages
CDIO, 2016
Series
Research Reports from Turku University of Applied Sciences, ISSN 1796-9964 ; 45
Keywords
Active learning, laboratory exercise, PLC-programming, operator interface, Standards 7, 8, 11
National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-129383 (URN)978-952-216-610-4 (ISBN)
Conference
The 12th International CDIO Conference, Turku University of Applied Sciences,Turku, Finland, June 12-16, 2016
Available from: 2016-06-21 Created: 2016-06-17 Last updated: 2016-06-30Bibliographically approved
Carvalho Bittencourt, A., Saarinen, K., Sander Tavallaey, S., Gunnarsson, S. & Norrlöf, M. (2014). A data-driven approach to diagnostics of repetitive processes in the distribution domain: Applications to gearbox diagnosticsin industrial robots and rotating machines. Mechatronics (Oxford), 24(8), 1032-1041
Open this publication in new window or tab >>A data-driven approach to diagnostics of repetitive processes in the distribution domain: Applications to gearbox diagnosticsin industrial robots and rotating machines
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2014 (English)In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 24, no 8, p. 1032-1041Article in journal (Refereed) Published
Abstract [en]

This paper presents a data-driven approach to diagnostics of systems that operate in a repetitive manner. Considering that data batches collected from a repetitive operation will be similar unless in the presence of an abnormality, a condition change is inferred by comparing the monitored data against an available nominal batch. The method proposed considers the comparison of data in the distribution domain, which reveals information of the data amplitude. This is achieved with the use of kernel density estimates and the Kullback–Leibler distance. To decrease sensitivity to disturbances while increasing sensitivity to faults, the use of a weighting vector is suggested which is chosen based on a labeled dataset. The framework is simple to implement and can be used without process interruption, in a batch manner. The approach is demonstrated with successful experimental and simulation applications to wear diagnostics in an industrial robot gearbox and for diagnostics of gear faults in a rotating machine.

Place, publisher, year, edition, pages
Elsevier, 2014
National Category
Robotics
Identifiers
urn:nbn:se:liu:diva-109332 (URN)10.1016/j.mechatronics.2014.01.013 (DOI)000347499900014 ()
Funder
VINNOVA
Available from: 2014-08-13 Created: 2014-08-13 Last updated: 2017-12-05Bibliographically approved
Wallen Axehill, J., Dressler, I., Gunnarsson, S., Robertsson, A. & Norrlöf, M. (2014). Estimation-based ILC applied to a parallel kinematic robot. Control Engineering Practice, 33
Open this publication in new window or tab >>Estimation-based ILC applied to a parallel kinematic robot
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2014 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 33Article in journal (Refereed) Published
Abstract [en]

Estimation-based iterative learning control (ILC) is applied to a parallel kinematic manipulator known as the Gantry-Tau parallel robot. The system represents a control problem where measurements of the controlled variables are not available. The main idea is to use estimates of the controlled variables in the ILC algorithm, and in the paper this approach is evaluated experimentally on the Gantry-Tau robot. The experimental results show that an ILC algorithm using estimates of the tool position gives a considerable improvement of the control performance. The tool position estimate is obtained by fusing measurements of the actuator angular positions with measurements of the tool path acceleration using a complementary filter.

Place, publisher, year, edition, pages
Elsevier, 2014
Keywords
Iterative methods; Learning control; Robotic manipulator; Estimation algorithm; Performance evaluation
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:liu:diva-113180 (URN)10.1016/j.conengprac.2014.08.008 (DOI)000345728700001 ()
Note

Funding Agencies|ELLIIT, Excellence Center at Linkoping - Lund in Information Technology; LCCC Linnaeus Center at Lund University; Vinnovas Industry Excellence Center LINK-SIC at Linkoping University

Available from: 2015-01-13 Created: 2015-01-12 Last updated: 2017-12-05
Samuelsson, A., Carvalho Bittencourt, A., Saarinen, K., Sander Tavallaey, S., Norrlöf, M., Andersson, H. & Gunnarsson, S. (2014). Simulation based Evaluation of Fault Detection Algorithms: Applications to Wear Diagnosis in Manipulators. In: Proceedings of the 19th IFAC World Congress: . Paper presented at 19th IFAC World Congress, Cape Town, South Africa, August 24-29, 2014.
Open this publication in new window or tab >>Simulation based Evaluation of Fault Detection Algorithms: Applications to Wear Diagnosis in Manipulators
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2014 (English)In: Proceedings of the 19th IFAC World Congress, 2014Conference paper, Published paper (Refereed)
Abstract [en]

Fault detection algorithms (FDAs) process data to generate a test quantity. Test quantities are used to determine presence of a fault in a monitored system, despite disturbances. Because only limited knowledge of the system can be embedded in an FDA, it is important to evaluate it in scenarios relevant in practice. In this paper, simulation based approaches are proposed in an attempt to determine: i) which disturbances affect the output of an FDA the most; ii) how to compare the performance of dierent FDAs; and iii) which combinations of fault change size and disturbances variations are allowed to achieve satisfactory performance. The ideas presented are inspired by the literature of design of experiments, surrogate models, sensitivity analysis and change detection. The approaches are illustrated for the problem of wear diagnosis in manipulators where three FDAs are considered. The application study reveals that disturbances caused by variations in temperature and payload mass error affect the FDAs the most. It is also shown how the size of these disturbances delimit the capacity of an FDA to relate to wear changes. Further comparison of the FDAs reveal which performs "best" in average.

National Category
Control Engineering
Identifiers
urn:nbn:se:liu:diva-109333 (URN)
Conference
19th IFAC World Congress, Cape Town, South Africa, August 24-29, 2014
Funder
Vinnova
Available from: 2014-08-13 Created: 2014-08-13 Last updated: 2014-09-17
Carvalho Bittencourt, A., Saarinen, K., Sander Tavallaey, S. & Gunnarsson, S. (2013). A Data-Driven Method for Monitoring of Repetitive Systems: Applications to Robust Wear Monitoring of a Robot Joint. Linköping: Linköping University Electronic Press
Open this publication in new window or tab >>A Data-Driven Method for Monitoring of Repetitive Systems: Applications to Robust Wear Monitoring of a Robot Joint
2013 (English)Report (Other academic)
Abstract [en]

This paper presents a method for monitoring of systems that operate in a repetitive manner. Considering that data batches collected from a repetitive operation will be similar unless in the presence of an abnormality, a condition change is inferred by comparing the monitored data against a nominal batch. The method proposed considers the comparison of data in the distribution domain, which reveals information of the data amplitude. This is achieved with the use of kernel density estimates and the Kullback-Leibler distance. To decrease sensitivity to unknown disturbances while increasing sensitivity to faults, the use of a weighting vector is suggested which is chosen based on a labeled dataset. The framework is simple to implement and can be used without process interruption, in a batch manner. The method was developed with interests in industrial robotics where a repetitive behavior is commonly found. The problem of wear monitoring in a robot joint is studied based on data collected from a test-cycle. Real data from accelerated wear tests and simulations are considered. Promising results are achieved where the method output shows a clear response to the wear increases.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2013. p. 12
Series
LiTH-ISY-R, ISSN 1400-3902 ; 3056
Keywords
Condition monitoring, Data driven methods, Industrial robots, Wear, Condition based maintenance, Automation, Industrirobotar, Nötning
National Category
Robotics
Identifiers
urn:nbn:se:liu:diva-88209 (URN)LiTH-ISY-R-3056 (ISRN)
Funder
Vinnova
Available from: 2013-01-31 Created: 2013-01-31 Last updated: 2014-06-16Bibliographically approved
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