oru.sePublications
Change search
Link to record
Permanent link

Direct link
BETA
Rögnvaldsson, ThorsteinnORCID iD iconorcid.org/0000-0001-5163-2997
Publications (8 of 8) Show all publications
Andreasson, H., Bouguerra, A., Åstrand, B. & Rögnvaldsson, T. (2014). Gold-Fish SLAM: An Application of SLAM to Localize AGVs. In: Yoshida, Kazuya; Tadokoro, Satoshi (Ed.), Field and Service Robotics: Results of the 8th International Conference (pp. 585-598). Heidelberg, Germany: Springer Berlin/Heidelberg
Open this publication in new window or tab >>Gold-Fish SLAM: An Application of SLAM to Localize AGVs
2014 (English)In: Field and Service Robotics: Results of the 8th International Conference / [ed] Yoshida, Kazuya; Tadokoro, Satoshi, Heidelberg, Germany: Springer Berlin/Heidelberg, 2014, p. 585-598Chapter in book (Refereed)
Abstract [en]

The main focus of this paper is to present a case study of a SLAM solution for Automated Guided Vehicles (AGVs) operating in real-world industrial environments. The studied solution, called Gold-fish SLAM, was implemented to provide localization estimates in dynamic industrial environments, where there are static landmarks that are only rarely perceived by the AGVs. The main idea of Gold-fish SLAM is to consider the goods that enter and leave the environment as temporary landmarks that can be used in combination with the rarely seen static landmarks to compute online estimates of AGV poses. The solution is tested and verified in a factory of paper using an eight ton diesel-truck retrofitted with an AGV control system running at speeds up to 3 m/s. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs

Place, publisher, year, edition, pages
Heidelberg, Germany: Springer Berlin/Heidelberg, 2014
Series
Springer Tracts in Advanced Robotics, ISSN 1610-7438 ; 92
National Category
Computer Sciences
Identifiers
urn:nbn:se:oru:diva-41306 (URN)10.1007/978-3-642-40686-7_39 (DOI)2-s2.0-84897721700 (Scopus ID)978-3-642-40685-0 (ISBN)978-3-642-40686-7 (ISBN)
Projects
MALTA
Available from: 2014-08-28 Created: 2015-01-14 Last updated: 2018-06-15Bibliographically approved
Andreasson, H., Bouguerra, A., Åstrand, B. & Rögnvaldsson, T. (2012). Gold-fish SLAM: an application of SLAM to localize AGVs. In: Proceedings of the International Conference on Field and Service Robotics (FSR), July 2012.: . Paper presented at International Conference on Field and Service Robotics (FSR), July 2012..
Open this publication in new window or tab >>Gold-fish SLAM: an application of SLAM to localize AGVs
2012 (English)In: Proceedings of the International Conference on Field and Service Robotics (FSR), July 2012., 2012Conference paper, Published paper (Other academic)
Abstract [en]

The main focus of this paper is to present a case study of a SLAM solution for Automated Guided Vehicles (AGVs) operating in real-world industrial environ- ments. The studied solution, called Gold-fish SLAM, was implemented to provide localization estimates in dynamic industrial environments, where there are static landmarks that are only rarely perceived by the AGVs. The main idea of Gold-fish SLAM is to consider the goods that enter and leave the environment as temporary landmarks that can be used in combination with the rarely seen static landmarks to compute online estimates of AGV poses. The solution is tested and verified in a factory of paper using an eight ton diesel-truck retrofitted with an AGV control sys- tem running at speeds up to 3 meters per second. The paper includes also a general discussion on how SLAM can be used in industrial applications with AGVs.

Keywords
Mobile robotics, AGV localization
National Category
Computer Sciences
Research subject
Computer and Systems Science; Computer Science
Identifiers
urn:nbn:se:oru:diva-10393 (URN)
Conference
International Conference on Field and Service Robotics (FSR), July 2012.
Available from: 2010-04-19 Created: 2010-04-19 Last updated: 2018-01-12Bibliographically approved
Byttner, S., Rögnvaldsson, T. & Svensson, M. (2011). Consensus self-organized models for fault detection (COSMO). Engineering applications of artificial intelligence, 24(5), 833-839
Open this publication in new window or tab >>Consensus self-organized models for fault detection (COSMO)
2011 (English)In: Engineering applications of artificial intelligence, ISSN 0952-1976, E-ISSN 1873-6769, Vol. 24, no 5, p. 833-839Article in journal (Refereed) Published
Abstract [en]

Methods for equipment monitoring are traditionally constructed from specific sensors and/or knowledge collected prior to implementation on the equipment. A different approach is presented here that builds up knowledge over time by exploratory search among the signals available on the internal field bus system and comparing the observed signal relationships among a group of equipment that perform similar tasks. The approach is developed for the purpose of increasing vehicle uptime, and is therefore demonstrated in the case of a city bus and a heavy duty truck. However, it also works fine for smaller mechatronic systems like computer hard-drives. The approach builds on an onboard self-organized search for models that capture relations among signal values on the vehicles' data buses, combined with a limited bandwidth telematics gateway and an off-line server application where the parameters of the self-organized models are compared. The presented approach represents a new look at error detection in commercial mechatronic systems, where the normal behavior of a system is actually found under real operating conditions, rather than the behavior observed in a number of laboratory tests or test-drives prior to production of the system. The approach has potential to be the basis for a self-discovering system for general purpose fault detection and diagnostics. (c) 2011 Elsevier Ltd. All rights reserved.

National Category
Engineering and Technology
Research subject
Computer Technology
Identifiers
urn:nbn:se:oru:diva-18682 (URN)10.1016/j.engappai.2011.03.002 (DOI)000291524200010 ()
Available from: 2011-09-30 Created: 2011-09-29 Last updated: 2018-05-03Bibliographically approved
Bouguerra, A., Andreasson, H., Lilienthal, A. J., Åstrand, B. & Rögnvaldsson, T. (2009). An autonomous robotic system for load transportation. In: 2009 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2009): . Paper presented at 14th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Univ Balear Isl, Mallorca, Spain, September 22-25, 2009 (pp. 1563-1566). New York: IEEE conference proceedings
Open this publication in new window or tab >>An autonomous robotic system for load transportation
Show others...
2009 (English)In: 2009 IEEE Conference on Emerging Technologies & Factory Automation (EFTA 2009), New York: IEEE conference proceedings, 2009, p. 1563-1566Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents an overview of an autonomous robotic material handling system. The goal of the system is to extend the functionalities of traditional AGVs to operate in highly dynamic environments. Traditionally, the reliable functioning of AGVs relies on the availability of adequate infrastructure to support navigation. In the target environments of our system, such infrastructure is difficult to setup in an efficient way. Additionally, the location of objects to handle are unknown, which requires that the system be able to detect and track object positions at runtime. Another requirement of the system is to be able to generate trajectories dynamically, which is uncommon in industrial AGV systems.

Place, publisher, year, edition, pages
New York: IEEE conference proceedings, 2009
Series
IEEE International Conference on Emerging Technologies and Factory Automation-ETFA, ISSN 1946-0740, E-ISSN 1946-0759
Keywords
AGV system; Autonomous robotic systems; Dynamic environments; Material handling; Object Detection; Runtimes
National Category
Information Systems Computer Sciences
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-8441 (URN)10.1109/ETFA.2009.5347247 (DOI)000355314000252 ()2-s2.0-77949908233 (Scopus ID)978-1-4244-2727-7 (ISBN)978-1-4244-2728-4 (ISBN)
Conference
14th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA), Univ Balear Isl, Mallorca, Spain, September 22-25, 2009
Available from: 2009-11-13 Created: 2009-11-02 Last updated: 2018-01-12Bibliographically approved
Åstrand, B., Rögnvaldsson, T., Bouguerra, A., Andreasson, H. & Lilienthal, A. J. (2009). An Autonomous Robotic System for Load Transportation. In: Proceedings of the 4th Swedish Workshop on Autonomous Robotics (SWAR) (pp. 56-57).
Open this publication in new window or tab >>An Autonomous Robotic System for Load Transportation
Show others...
2009 (English)In: Proceedings of the 4th Swedish Workshop on Autonomous Robotics (SWAR), 2009, p. 56-57Conference paper, Published paper (Refereed)
National Category
Engineering and Technology Other Computer and Information Science
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-8438 (URN)
Projects
KKS MALTA
Available from: 2009-11-08 Created: 2009-11-02 Last updated: 2018-01-12
Rögnvaldsson, T., Etchells, T. A., You, L., Garwicz, D., Jarman, I. & Lisboa, P. J. G. (2009). How to find simple and accurate rules for viral protease cleavage specificities. BMC Bioinformatics, 10, 149
Open this publication in new window or tab >>How to find simple and accurate rules for viral protease cleavage specificities
Show others...
2009 (English)In: BMC Bioinformatics, ISSN 1471-2105, E-ISSN 1471-2105, Vol. 10, p. 149-Article in journal (Refereed) Published
Abstract [en]

Background: Proteases of human pathogens are becoming increasingly important drug targets, hence it is necessary to understand their substrate specificity and to interpret this knowledge in practically useful ways. New methods are being developed that produce large amounts of cleavage information for individual proteases and some have been applied to extract cleavage rules from data. However, the hitherto proposed methods for extracting rules have been neither easy to understand nor very accurate. To be practically useful, cleavage rules should be accurate, compact, and expressed in an easily understandable way. Results: A new method is presented for producing cleavage rules for viral proteases with seemingly complex cleavage profiles. The method is based on orthogonal search-based rule extraction (OSRE) combined with spectral clustering. It is demonstrated on substrate data sets for human immunodeficiency virus type 1 (HIV-1) protease and hepatitis C (HCV) NS3/4A protease, showing excellent prediction performance for both HIV-1 cleavage and HCV NS3/4A cleavage, agreeing with observed HCV genotype differences. New cleavage rules (consensus sequences) are suggested for HIV-1 and HCV NS3/4A cleavages. The practical usability of the method is also demonstrated by using it to predict the location of an internal cleavage site in the HCV NS3 protease and to correct the location of a previously reported internal cleavage site in the HCV NS3 protease. The method is fast to converge and yields accurate rules, on par with previous results for HIV-1 protease and better than previous state-of-the-art for HCV NS3/4A protease. Moreover, the rules are fewer and simpler than previously obtained with rule extraction methods. Conclusion: A rule extraction methodology by searching for multivariate low-order predicates yields results that significantly outperform existing rule bases on out-of-sample data, but are more transparent to expert users. The approach yields rules that are easy to use and useful for interpreting experimental data.

National Category
Information Systems
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-19248 (URN)10.1186/1471-2105-10-149 (DOI)000267595400003 ()
Available from: 2011-10-05 Created: 2011-10-04 Last updated: 2018-01-12Bibliographically approved
Bouguerra, A., Andreasson, H., Lilienthal, A. J., Åstrand, B. & Rögnvaldsson, T. (2009). MALTA: a system of multiple autonomous trucks for load transportation. In: Ivan Petrovic, Achim J. Lilienthal (Ed.), Proceedings of the 4th European conference on mobile robots (ECMR). Paper presented at Proceedings of the 4th European conference on mobile robots, ECMR'09, September 23 – 25, 2009, Mlini/Dubrovnik, Croatia (pp. 93-98).
Open this publication in new window or tab >>MALTA: a system of multiple autonomous trucks for load transportation
Show others...
2009 (English)In: Proceedings of the 4th European conference on mobile robots (ECMR) / [ed] Ivan Petrovic, Achim J. Lilienthal, 2009, p. 93-98Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents an overview of an autonomousrobotic material handling system. The goal of the system is toextend the functionalities of traditional AGVs to operate in highlydynamic environments. Traditionally, the reliable functioning ofAGVs relies on the availability of adequate infrastructure tosupport navigation. In the target environments of our system,such infrastructure is difficult to setup in an efficient way.Additionally, the location of objects to handle are unknown,which requires that the system be able to detect and track objectpositions at runtime. Another requirement of the system is to beable to generate trajectories dynamically, which is uncommon inindustrial AGV systems.

Keywords
Autonomous Vehicles, Load Handling, AGVs
National Category
Engineering and Technology Computer Sciences
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-8440 (URN)978-953-6037-54-4 (ISBN)
Conference
Proceedings of the 4th European conference on mobile robots, ECMR'09, September 23 – 25, 2009, Mlini/Dubrovnik, Croatia
Projects
KKS MALTA
Available from: 2009-11-08 Created: 2009-11-02 Last updated: 2018-01-12Bibliographically approved
Svensson, M., Byttner, S. & Rögnvaldsson, T. (2009). Vehicle diagnostics method by anomaly detection and fault identification software. SAE international journal of passenger cars : electronic and electrical systems, 2(1), 352-358
Open this publication in new window or tab >>Vehicle diagnostics method by anomaly detection and fault identification software
2009 (English)In: SAE international journal of passenger cars : electronic and electrical systems, ISSN 1946-4614, Vol. 2, no 1, p. 352-358Article in journal (Refereed) Published
Abstract [en]

A new approach is proposed for fault detection. It builds on using the relationships between sensor values on vehicles to detect deviating sensor readings and trends in the system performance. However, in contrast to previous approaches based on such sensor relations, our approach uses a fleet of vehicles to define the normal conditions and relations. The relationships between the sensors are also determined automatically in a self-organized way on each vehicle, i.e. no off-line modeling is required. The proposed method is the first step in a remote diagnostics and maintenance service where error detection is done automatically, followed by a download of special purpose diagnostics software for the particular subsystem where the possible fault was detected. © 2009 SAE International.

National Category
Engineering and Technology
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-14226 (URN)
Available from: 2011-01-25 Created: 2011-01-25 Last updated: 2017-10-18Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-5163-2997

Search in DiVA

Show all publications