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  • 1.
    Amirijoo, Mehdi
    et al.
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory.
    Brännström, Per
    Institutionen för datavetenskap Linköpings universitet.
    Hansson, Jörgen
    Linköping University, The Institute of Technology. Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory.
    Gunnarsson, Svante
    Linköping University, The Institute of Technology. Linköping University, Department of Electrical Engineering, Automatic Control.
    Son, Sang
    Department of Computer Science University of Virginia.
    Toward Adaptive Control of QoS-Importance Decoupled Real-Time Systems2007In: IEEE International Workshop on Feedback Control Implementation and Design in Computing Systems and Networks,2007, 2007Conference paper (Refereed)
    Abstract [en]

    This paper deals with differentiated services in real-time systems. Tasks submitted to a real-time system are differentiated with respect to importance and QoS requirements. We use feedback control to enforce the requirements in QoS and ensure a hierarchical admission policy based on the importance of the tasks. The results show that the requirements are met during steady state when the workload is constant. The feedback control approach does not satisfactorily manage QoS when there is a sudden and significant workload change (transient state) due to the time-variant nature of the system. To address this, we present preliminary and promising results using adaptive control, and report on some challenges we are facing when applying the theory.

  • 2.
    Amirijoo, Mehdi
    et al.
    Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory. Linköping University, The Institute of Technology.
    Chaufette, Nicolas
    Hansson, Jörgen
    Software Engineering Institute, Carnegie Mellon University, USA.
    Son, Sang H.
    Dept. of Computer Science, University of Virginia, Charlottesville, USA.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Generalized performance management of multi-class real-time imprecise data services2005In: Real-Time Systems Symposium, 2005. RTSS 2005. 26th IEEE International, 2005, p. 12-49Conference paper (Other academic)
    Abstract [en]

    The intricacy of real-time data service management increases mainly due to the emergence of applications operating in open and unpredictable environments, increases in software complexity, and need for performance guarantees. In this paper we propose an approach for managing the quality of service of real-time databases that provide imprecise and differentiated services, and that operate in unpredictable environments. Transactions are classified into service classes according to their level of importance. Transactions within each service class are further classified into subclasses based on their quality of service requirements. In this way transactions are explicitly differentiated according to their importance and quality of service requests. The performance evaluation shows that during overloads the most important transactions are guaranteed to meet their deadlines and that reliable quality of service is provided even in the face of varying load and execution time estimation errors.

  • 3.
    Amirijoo, Mehdi
    et al.
    Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hansson, Jörgen
    Software Engineering Institute, Carnegie Mellon University, Pittsburgh, PA, USA.
    Son, Sang H.
    University of Virginia, USA.
    Quantifying and Suppressing the Measurement Disturbance in Feedback Controlled Real-Time Systems2008In: Real-time systems, ISSN 0922-6443, E-ISSN 1573-1383, Vol. 40, no 1, p. 44-76Article in journal (Refereed)
    Abstract [en]

    In the control of continuous and physical systems, the controlled system is sampled sufficiently fast to capture the dynamics of the system. In general, this property cannot be applied to the control of computer systems as the measured variables are often computed over a data set, e.g., deadline miss ratio. In this paper we quantify the disturbance present in the measured variable as a function of the data set size and the sampling period, and we propose a feedback control structure that suppresses the measurement disturbance. The experiments we have carried out show that a controller using the proposed control structure outperforms a traditional control structure with regard to performance reliability.

  • 4.
    Amirijoo, Mehdi
    et al.
    Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory. Linköping University, The Institute of Technology.
    Hansson, Jörgen
    Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Son, Sang H.
    University of Virginia, VA, USA.
    Enhancing Feedback Control Scheduling Performance by On-line Quantification and Suppression of Measurement Disturbance2005In: Proceedings of the 11th IEEE Real-Time and Embedded Technology and Applications Symposium, 2005, p. 2-11Conference paper (Refereed)
    Abstract [en]

    In the control of continuous and physical systems, the controlled system is sampled sufficiently fast to capture the system dynamics. In general, this property cannot be applied to the control of computer systems as the measured variables are often computed over a data set, e.g., deadline miss ratio. In this paper we quantize the disturbance present in the measured variable as a function of the sampling period and we propose a measurement disturbance suppressive control structure. The experiments we have carried out show that a controller using the proposed control structure outperforms a traditional control structure with regard to performance reliability and adaptation.

  • 5.
    Amirijoo, Mehdi
    et al.
    Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory. Linköping University, The Institute of Technology.
    Hansson, Jörgen
    Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory. Linköping University, The Institute of Technology.
    Son, Sang H.
    University of Virginia, USA.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Experimental Evaluation of Linear Time-Invariant Models for Feedback Performance Control in Real-Time Systems2007In: Real-time systems, ISSN 0922-6443, E-ISSN 1573-1383, Vol. 35, no 3, p. 209-238Article in journal (Refereed)
    Abstract [en]

    In recent years a new class of soft real-time applications operating in unpredictable environments has emerged. Typical for these applications is that neither the resource requirements nor the arrival rates of service requests are known or available a priori. It has been shown that feedback control is very effective to support the specified performance of dynamic systems that are both resource insufficient and exhibit unpredictable workloads. To efficiently use feedback control scheduling it is necessary to have a model that adequately describes the behavior of the system. In this paper we experimentally evaluate the accuracy of four linear time-invariant models used in the design of feedback controllers. We introduce a model (DYN) that captures additional system dynamics, which a previously published model (STA) fails to include. The accuracy of the models are evaluated by validating the models with regard to measured data from the controlled system and through a set of experiments where we evaluate the performance of a set of feedback control schedulers tuned using these models. From our evaluations we conclude that second order models (e.g., DYN) are more accurate than first order models (e.g. STA). Further we show that controllers tuned using second order models perform better than controllers tuned using first order models.

  • 6.
    Andersson, Magnus
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Glad, Torkel
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Norrlöf, Mikael
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Simulation and Animation Tool for Studying Multivariable Control2002In: Proceedings of the 15th IFAC World Congress, 2002, p. 1432-1432Conference paper (Refereed)
    Abstract [en]

    A simulation and animation tool for education in multivariable control is presented. The purpose of the tool is to support studies of various aspects of multivariable dynamical systems and design of multivariable feedback control systems. Different ways to use this kind of tool in control education are also presented and discussed.

  • 7.
    Armstrong, Perry
    et al.
    Queens University Belfast, United Kingdom.
    Bankel, Johan
    Chalmers University of Technology, Sweden.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Keesee, John
    Massachusetts Institute of Technology, USA.
    Oosthuizen, Pat
    Queens University, Canada.
    Meeting the CDIO Requirements: An International Comparison of Engineering Curricula2006In: World Transactions on Engineering and Technology Education, ISSN 1446-2257, Vol. 5, no 2, p. 263-266Article in journal (Refereed)
    Abstract [en]

    In this article, the Conceive – Design – Implement – Operate (CDIO) Syllabus and CDIO Standards are introduced, and the question is posed as to whether or not national circumstances affect the ability of engineering programmes to meet CDIOrequirements. In particular, the extent to which representative programmes from the USA, Canada, Sweden and the UK cover the CDIO Syllabus is assessed and conclusions are drawn. The international applicability of the CDIO Syllabus also depends on the absence of conflict between the syllabus and national accreditation criteria. Based on the countries considered, the authors suggest that no conflict exists. Furthermore, it is argued that the CDIO Syllabus is aspirational and, as such, it complements the threshold requirements of national accreditation criteria. It is also argued that the CDIO Syllabus, coupled with the CDIO Standards, could form the basis for an international benchmark that would co-exist with any future global accreditation criteria and would serve to continuously improve engineering education.

  • 8.
    Azevedo Costa, Marcelo
    et al.
    Universidade Federal de Minas Gerais, Brazil.
    Wullt, Bernard
    Robotics and Motion Division, ABB AB.
    Norrlöf, Mikael
    Robotics and Motion Division, ABB AB.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Failure detection in robotic arms using  statistical modeling, machine learning and hybrid gradient boosting2018Report (Other academic)
    Abstract [en]

    Modeling and failure prediction is an important task in manyengineering systems. For this task, the machine learning literaturepresents a large variety of models such as classification trees,random forest, artificial neural networks, fuzzy systems, amongothers. In addition, standard statistical models can be applied suchas the logistic regression, linear discriminant analysis, $k$-nearestneighbors, among others. This work evaluates advantages andlimitations of statistical and machine learning methods to predictfailures in industrial robots. The work is based on data from morethan five thousand robots in industrial use. Furthermore, a newapproach combining standard statistical and machine learning models,named \emph{hybrid gradient boosting}, is proposed. Results show thatthe a priori treatment of the database, i.e., outlier analysis,consistent database analysis and anomaly analysis have shown to becrucial to improve classification performance for statistical, machinelearning and hybrid models. Furthermore, local joint information hasbeen identified as the main driver for failure detection whereasfailure classification can be improved using additional informationfrom different joints and hybrid models.

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  • 9.
    Berggren, Karl-Fredrik
    et al.
    Linköping University, Department of Physics, Chemistry and Biology, Theoretical Physics. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Svensson, Tomas
    Linköping University, Department of Electrical Engineering. Linköping University, The Institute of Technology.
    Wiklund, Ingela
    Linköping University, The Institute of Technology.
    The Development of the Applied Physics and Electrical Engineering (Y) Programme at Linköping University through Participation in the CDIO Initiative2005In: Proceedings of the 8th UICEE Annual Conference on Engineering Education, 2005, p. 321-324Conference paper (Refereed)
  • 10.
    Blaus, Johan
    et al.
    KTH.
    Fagrell, Per
    KTH.
    Fahlgren, Anna
    Linköping University, Faculty of Medicine and Health Sciences. Linköping University, Department of Biomedical and Clinical Sciences, Division of Cell Biology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Kiessling, Anna
    Karolinska Institutet.
    Structures, processes, and methods for collaboration with stakeholders on relevance assessment of higher education2021Conference paper (Refereed)
    Abstract [en]

    Introduction 

    Higher education institutions (HEIs) face challenges assessing the relevance of educational programmes. Upon graduation, the student should have acquired knowledge and understanding, competence and skills as well as good judgement and approaches to operate in a changing labour market. Ideas on new programmes and courses mainly emanate from research findings identified at the HEIs. Needs and expectations from external stakeholders have the potential to further contribute if room for collaboration is created. Extensive rapid societal changes increase this need for collaboration. 

    The Standards and Guidelines for Quality Assurance in the European Higher Education Area (ESG) state that higher education aims to fulfil multiple purposes, including preparing students for active citizenship, future careers, personal development and create a broad, advanced knowledge base and stimulate research and innovation (ENQA, 2015). However, different stakeholders may have other priorities. Therefore, quality assurance needs to take these different perspectives into account. 

    Relevance is considered an aspect of quality in higher education, but many HEIs in Sweden lack structures, processes, and methods for assessing relevance and involving stakeholders in these processes.

    This project aimed to increase the knowledge and provide methods to systematically assess relevance and use university-industry collaborations as tools for educational development. 

    Methods/Approach 

    This paper is a summary of the project MERUT focused on methods for assessment of relevance in higher education. The project was carried out during 2017-2020 with financial support from Vinnova (The Swedish Innovation Agency) and involved seven Swedish HEIs. The connection to future career paths is often stated as the primary factor to describe the relevance of educational programmes and was selected as the focus of MERUT. Data have been collected using workshops, meetings, literature reviews, interview studies, and surveys. Important parts of the work have been interviews with external stakeholders in different labour-market areas who, in various ways, are involved in higher education, most often in advisory boards. Also, interviews with quality coordinators at university programmes as well as at faculty and university management levels at each HEI have been carried out.

    The seven participating Swedish universities in MERUT have been Karolinska Institutet, Kristianstad University, KTH Royal Institute of Technology, Mälardalen University, Linköping University, Stockholm University, and Umeå University.

    Results The project resulted in knowledge, tools, and methods to work systematically with relevance in higher education. The results can be summarized as follows:

    ·         Interviews with HEIs showed that they collaborate with external stakeholders in many ways, primarily around teaching and learning and to a lesser extent around programme management and quality assurance. 

    ·         Further, the involvement of stakeholders varied both between and within the universities (faculties, subject areas, levels of education). Therefore, it is difficult to evaluate, in a systematic way, how collaboration is included in the quality systems of the HEIs. 

    ·         A toolbox with methods for how to involve external stakeholders in the process of assessing and developing the relevance of a study programme. These methods can be used in continuous quality work, in major curriculum revisions as well as in the establishment of new programmes.

    ·         A checklist for external stakeholders' involvement in educational development to facilitate and clarify roles, structures, and tasks in connection with external stakeholders in both the development and operational phases of a study programme. 

    The results show that there are many similarities between the HEIs in the study in terms of relevance assessment and dimensioning decisions. However, the potential of a systematic collaboration with stakeholders and society for relevance assessment and dimensioning of education is not yet fully being realised. 

    Conclusion 

    HEIs interact with external stakeholders in many ways within education. However, it is rare to find examples where external stakeholders are involved in the quality assurance process, at least not in a systematic way. The MERUT project has developed recommendations for collaboration perspectives and stakeholder participation in the governing of educational programmes. A systematic dialogue and interaction with stakeholders contribute to a mutual understanding of different stakeholder groups’ needs and expectations, and their view of quality of higher education. Furthermore, to consider relevance as a quality aspect creates a basis for a more methodical assessment process where external stakeholders can contribute in a clear role. MERUT has developed a toolbox and a checklist to facilitate such systematic interaction and collaboration with stakeholder groups. A conclusion of  this project is that a reciprocal, transparent, and systematic approach leads to a sustainable educational collaboration with improved quality and relevance of higher education.

    It would constitute a large gain for society if the HEIs are able to systematically and by efficient processes take external stakeholders’ and societal needs and expectations into account when building comprehensive and systematic relevance assessment processes and in dimensioning of education.  

    References

    European Association for Quality Assurance in Higher Education (ENQA). (2015). Standards and Guidelines for Quality Assurance in the European Higher Education Area (ESG). Brussels, EURASHE.

  • 11.
    Carvalho Bittencourt, André
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Static Friction in a Robot Joint: Modeling and Identificaiton of Load and Temperature Effects2011Report (Other academic)
    Abstract [en]

    Friction is the result of complex interactions between contacting surfaces in a nanoscale perspective. Depending on the application, the different models available are more or less suitable. Available static friction models are typically considered to be dependent only on relative speed of interacting surfaces. However, it is known that friction can be affected by other factors than speed. In this paper, the typical friction phenomena and models used in robotics are reviewed. It is shown how such models can be represented as a sum of linear and nonlinear functions of relevant states, and how the identification method described in [1] can be used to identify them when all state sare measured. The discussion follows with a detailed experimental study of friction in a robot joint under changes of joint angle, load torque and temperature. Justified by their significance, load torque and temperature are included in an extended static friction model. The proposed model is validated in a wide operating range, considerably improving the prediction performance compared to a standard model.

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  • 12.
    Carvalho Bittencourt, André
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Static Friction in a Robot Joint: Modeling and Identification of Load and Temperature Effects2012In: Journal of Dynamic Systems Measurement, and Control, ISSN 0022-0434, E-ISSN 1528-9028, Vol. 134, no 5Article in journal (Refereed)
    Abstract [en]

    Friction is the result of complex interactions between contacting surfaces in down to a nanoscale perspective. Depending on the application, the different models available are more or less suitable. Static friction models are typically considered to be dependent only on relative speed of interacting surfaces. However, it is known that friction can be affected by other factors than speed.

    In this paper, the typical friction phenomena and models used in robotics are reviewed. It is shown how such models can be represented as a sum of functions of relevant states which are linear and nonlinear in the parameters, and how the identification method described in Golub and Pereyra (1973) can be used to identify them when all states are measured. The discussion follows with a detailed experimental study of friction in a robot joint under changes of joint angle, load torque and temperature. Justified by their significance, load torque and temperature are included in an extended static friction model. The proposed model is validated in a wide operating range, considerably improving the prediction performance compared to a standard model.

  • 13.
    Carvalho Bittencourt, André
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Saarinen, Kari
    ABB Corporate Research.
    Sander Tavallaey, Shiva
    ABB Corporate Research.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Data-Driven Method for Monitoring of Repetitive Systems: Applications to Robust Wear Monitoring of a Robot Joint2013Report (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.

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  • 14.
    Carvalho Bittencourt, André
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Saarinen, Kari
    ABB Corporate Research, Västerås, Sweden.
    Sander Tavallaey, Shiva
    ABB Corporate Research, Västerås, Sweden.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Norrlöf, Mikael
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology. ABB Robotics, Västerås, Sweden.
    A data-driven approach to diagnostics of repetitive processes in the distribution domain: Applications to gearbox diagnosticsin industrial robots and rotating machines2014In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 24, no 8, p. 1032-1041Article in journal (Refereed)
    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.

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  • 15.
    Cerqueira, Jorge
    et al.
    Military Institute of Engineering, Brazil.
    Rezende, André
    Military Institute of Engineering, Brazil.
    Barrosso Magno, Waldemar
    Military Institute of Engineering, Brazil.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Introduction of the CDIO Framework ay the Military Institue of Engineering in Brazil2016In: 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 (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.

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  • 16.
    Cerqueira, Jorge
    et al.
    Military Institute of Engineering, Brazil.
    Rezende, André
    Military Institute of Engineering, Brazil.
    Waldemar, Barosso Magno
    Military Institute of Engineering, Brazil.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Introducing CDIO at The Military Institue of Engineering in Brazil2016Report (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.

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  • 17.
    Enqvist, Martin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Norrlöf, Mikael
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Wernholt, Erik
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hansson, Anders
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    The CDIO Initiative from an Automatic Control Project Course Perspective2005In: Proceedings of the 16th IFAC World Congress, 2005, p. 2283-2283Conference paper (Refereed)
    Abstract [en]

    The CDIO (Conceive Design Implement Operate) Initiative is explained, and some of the results at the Applied Physics and Electrical Engineering program at Linköping University, Sweden, are presented. A project course in Automatic Control is used as an example. The projects within the course are carried out using the LIPS (Linköping interactive project steering) model. An example of a project, the golf playing industrial robot, and the results from this project are also covered.

  • 18.
    Enqvist, Martin
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Norrlöf, Mikael
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Wernholt, Erik
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Hansson, Anders
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    The CDIO Initiative from an Automatic Control Project Course Perspective2004Report (Other academic)
    Abstract [en]

    The CDIO (Conceive Design Implement Operate) Initiative is explained, and some of the results at the Applied Physics and Electrical Engineering program at Linköping University, Sweden, are presented. A project course in Automatic Control is used as an example. The projects within the course are carried out using the LIPS (Linköping interactive project steering) model. An example of a project, the golf playing industrial robot, and the results from this project are also covered.

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  • 19.
    Fagrell, Per
    et al.
    KTH, Sweden.
    Fahlgren, Anna
    Linköping University, Department of Biomedical and Clinical Sciences, Division of Cell Biology. Linköping University, Faculty of Medicine and Health Sciences.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Curriculum development and quality work in higher education in Sweden: The external stakeholder perspective2020In: Journal of Praxis in Higher Education, E-ISSN 2003-3605, Vol. 2, no 1, p. 28-45Article in journal (Refereed)
    Abstract [en]

    This article provides an external stakeholder perspective on the influence of higher education in Sweden, exploring their views on curriculum development and qualitywork at the programme level. Semi-structured interviews with a selected number of representatives of external stakeholders involved in various educational areas were conducted at seven higher education institutions. The participants argued that changes intheir business sectors, and subsequent changes in the knowledge and skills in the labour needed, should encourage higher education institutions to adjust and develop their programmes. They did not anticipate or demand immediate changes in response to their comments, nor did they see themselves as a part of any quality assurance scheme. Uncertainties about the internal decision-making process and organisation in higher education institutions apparently do not facilitate external stakeholders’ understanding of their role in the larger scheme. However, all informants had comments on quality in higher education, perceiving it predominantly as something connected to the world of work. The practical implication of this study is that curriculum development at higher education institutions would benefit from communicating the internal decision-making processes to external stakeholders and agreeing on the expectations with them, in collaboration.

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  • 20.
    Fagrell, Per
    et al.
    KTH.
    Fahlgren, Anna
    Linköping University, Faculty of Medicine and Health Sciences. Linköping University, Department of Biomedical and Clinical Sciences, Division of Cell Biology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Relevans i högre utbildning2021Conference paper (Refereed)
    Abstract [sv]

    Betyder kvalitet och relevans samma sak inom högre utbildning? Medan begreppet kvalitet har studerats utförligt och används i utvärderings- och kvalitetssäkringssystem, är betydelsen och vikten av ordet relevans inte studerat i samma omfattning. Inom ramen för en nyligen genomförd studie gjordes ett försök att rama in begreppen kvalitet och relevans inom högre utbildning och klargöra eventuella likheter och skillnader i begreppens innebörd. Vidare belystes kopplingen till nyttiggörande och arbetsmarknad. Samtliga tillfrågade i studien såg kopplingar mellan kvalitet och relevans, och flera menade att en utbildning med hög kvalitet rimligtvis bör vara relevant, och av det följer att relevans bör vara en viktig komponent i kvalitetsbegreppet. Dessutom uppfattas kvalitet och relevans i många fall som delmängder av varandra, d.v.s. som kompletterande snarare än som motsatser. De tillfrågande såg ett tydligt samband mellan relevans och arbetsmarknad, men sambandet var inte lika starkt för begreppet kvalitet. 

  • 21.
    Fahlgren, Anna
    et al.
    Linköping University, Department of Clinical and Experimental Medicine, Division of Cell Biology. Linköping University, Faculty of Medicine and Health Sciences.
    Larsson, Max
    Linköping University, Department of Clinical and Experimental Medicine, Divison of Neurobiology. Linköping University, Faculty of Medicine and Health Sciences.
    Lindahl, Mats
    Linköping University, Department of Clinical and Experimental Medicine, Division of Neuro and Inflammation Science. Linköping University, Faculty of Medicine and Health Sciences.
    Thorsell, Annika
    Linköping University, Department of Clinical and Experimental Medicine, Center for Social and Affective Neuroscience. Linköping University, Faculty of Medicine and Health Sciences.
    Kågedal, Katarina
    Linköping University, Department of Clinical and Experimental Medicine, Division of Cell Biology. Linköping University, Faculty of Medicine and Health Sciences.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Design and Outcome of a CDIO Syllabus Survey for a Biomedicine Program2019In: The 15th International CDIO Conference: Proceedings – Full Papers / [ed] Jens Bennedsen, Aage Birkkjær Lauritsen, Kristina Edström, Natha Kuptasthien, Janne Roslöf & Robert Songer, Aarhus: Aarhus University , 2019, p. 191-200Conference paper (Refereed)
    Abstract [en]

    The CDIO Syllabus survey has successfully been applied to the Bachelor’s and Master’s programs in Experimental and Medical Biosciences, within the Faculty of Medicine and Health Sciences at Linköping University, Sweden. The programs are and have been, subject to considerable redesign with strong influence from the CDIO framework. One of the main drivers for the redesign is a shift concerning the main job market after graduation, from an academic career to industry and healthcare. One of the steps in the development process has been to carry out a Syllabus survey based on an adapted version of the CDIO Syllabus. The survey was sent out to students and to various categories of professionals, and in total 87 responses were received. The adapted version of the Syllabus and the design, execution, and outcome of the survey is presented.

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    Design and Outcome of a CDIO Syllabus Survey for a Biomedicine Program
  • 22.
    Fujimori, Atsushi
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Norrlöf, Mikael
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Gain Scheduling Control of Nonlinear Systems along a Reference Trajectory2005In: Proceedings of the 16th IFAC World Congress, 2005, p. 609-609Conference paper (Refereed)
    Abstract [en]

    This paper presents a gain scheduling control of a nonlinear system in which the reference trajectory is given in advance. Multiple frozen operating times are chosen on the reference trajectory and a linear time invariant model is obtained at each operating time. A linear parameter varying model is then constructed by interpolating the region between the neighbor frozen operating times. A gain scheduling state feedback law is designed by a linear matrix inequality formulation. The effectiveness is demonstrated in a numerical simulation of a traing control of a two-link robot arm.

  • 23.
    Fujimori, Atsushi
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Norrlöf, Mikael
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    A Gain Scheduling Control of Nonlinear Systems along a Reference Trajectory2004Report (Other academic)
    Abstract [en]

    This paper presents a gain scheduling control of a nonlinear system in which the reference trajectory is given in advance. Multiple frozen operating times are chosen on the reference trajectory and a linear time invariant model is obtained at each operating time. A linear parameter varying model is then constructed by interpolating the region between the neighbor frozen operating times. A gain scheduling state feedback law is designed by a linear matrix inequality formulation. The effectiveness is demonstrated in a numerical simulation of a traing control of a two-link robot arm.

    Download full text (pdf)
    FULLTEXT01
  • 24.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
    Automatic Control Education in a CDIO Perspective2017In: 20th IFAC World Congress, Elsevier, 2017, Vol. 50(1), no 1, p. 12161-12166Conference 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.

    Download full text (pdf)
    Automatic Control Education in a CDIO Perspective
  • 25.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Combining Tracking and Regularization in Recursive Least Squares Identification1996In: Proceedings of the 35th IEEE Conference on Decision and Control, 1996, p. 2551-2552 vol.3Conference paper (Refereed)
    Abstract [en]

    The combination of tracking and regularization in recursive identification is studied. It is shown that regularization of the information matrix corresponds to a normalization of the covariance matrix, and that several of the proposed methods for dealing with covariance matrix blow up can be interpreted as approximate implementations of covariance matrix normalization.

  • 26.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Combining Tracking and Regularization in Recursive Least Squares Identification1996Report (Other academic)
    Abstract [en]

    The combination of tracking and regularization in recursive identification is studied. It is shown that regularization of the information matrix corresponds to a normalization of the covariance matrix, and that several of the proposed methods for dealing with covariance matrix blow up can be interpreted as approximate implementations of covariance matrix normalization.

    Download full text (pdf)
    fulltext
    Download full text (ps)
    FULLTEXT01
  • 27.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Frequency Domain Accuracy of Recursively Identified ARX Models1991In: International Journal of Control, ISSN 0020-7179, E-ISSN 1366-5820, Vol. 54, no 2, p. 465-480Article in journal (Refereed)
    Abstract [en]

    Recursive identification of time varying systems using ARX models is considered, with focus on the accuracy of the transfer function estimates. Three recursive identification algorithms are studied, the least mean squares algorithm, the recursive least squares algorithm and the Kalman filter respectively. The model accuracy is studied in terms of algorithm design variables, input and disturbance signal properties and variations of the true system. Using asymptotic methods approximate expressions for the model quality are derived. The derived expressions are validated by simulations.

  • 28.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Frequency Domain Aspects of Modeling and Control in Adaptive Systems1988Doctoral thesis, monograph (Other academic)
    Abstract [en]

    In this thesis various aspects of modeling and control in adaptive systems are presented from a frequency domain viewpoint.

    The thesis consists of three parts, where the first part contains a general introduction and background information concerning the problems that will be treated. In the second part some recursive identification algorithms are studied with respect to their ability to track time-varying systems and their disturbance sensitivity. Simple and illustrative frequency domain expressions that describe these properties are derived using asymptotic methods. The algorithms that are treated are the constant gain gradient (LMS) algorithm, the recursive least squares algorithm with constant forgetting factor and the Kalman filter respectively. The behavior of these methods when applied to FIR and ARX systems are studied. In the third part of the thesis adaptive control based on low order models is studied. The adaptive control algorithm that is investigated is the recursive least squares algorithm combined with pole placement regulator design. Starting from frequency domain expressions, that describe how a low order model obtained by system identification approximates a higher order system, the consequences for adaptive control are investigated. It is shown how a proper use of filtering in the identification part of the adaptive regulator can improve the robustness properties of the adaptive regulator with respect to unmodelled dynamics.

  • 29.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Frequency Domain Description of the Quality of Recursively Identified FIR Models in the Presence of Correlated Disturbances1990Report (Other academic)
  • 30.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Model Quality in Recursive Identification of Time Varying Systems with ARX Structure1990In: Proceedings of the 1990 American Control Conference, 1990, p. 1909-1914Conference paper (Refereed)
    Abstract [en]

    Recursive identification of time varying systems with ARX structures is considered, with the interest focused on the quality of the estimated transfer functions. Three recursive identification algorithms are considered, the least mean squares (LMS) algorithm, the recursive least squares (RLS) algorithm and the Kalman filter respectively. The model quality is studied in terms of algorithm design variables, input and disturbance signal properties and variations of the true system. Using asymptotic methods approximate expressions for the model quality are derived.

  • 31.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Model Quality in Recursive Identification of Time Varying Systems with ARX Structure1990Report (Other academic)
    Abstract [en]

    Recursive identification of time varying systems with ARX structures is considered, with the interest focused on the quality of the estimated transfer functions. Three recursive identification algorithms are considered, the least mean squares (LMS) algorithm, the recursive least squares (RLS) algorithm and the Kalman filter respectively. The model quality is studied in terms of algorithm design variables, input and disturbance signal properties and variations of the true system. Using asymptotic methods approximate expressions for the model quality are derived.

  • 32.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On Covariance Modification and Regularization in Recursive Least Squares Identification1994In: Proceedings of the 10th IFAC Symposium on System Identification, 1994, p. 661-666Conference paper (Refereed)
    Abstract [en]

    In this paper the relationships between covariance modification and regularization in recursive least squares identification are investigated. An update equation for the information matrix is derived and it is shown how regularization of the information matrix can be expressed as a particular type of covariance matrix modification. The paper also presents an analysis of the effects of a covariance modification for obtaining regularization that was proposed in Salgado et al. (1988)

  • 33.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On Identification of a Flexible Mechanical System using Decimated Data2005In: Proceedings of the 16th IFAC World Congress, 2005, p. 12-12Conference paper (Refereed)
    Abstract [en]

    System identification of a flexible mechanical system using decimated data is studied. It is illustrated how the use of decimated data can give erroneous results due to the inter-sample behavior of the signals, and an intuitive explanation to this phenomenon is proposed. The possible improvement by using alternative assumptions for the inter-sample behavior is investigated.

  • 34.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On Identification of a Flexible Mechanical System using Decimated Data2004Report (Other academic)
    Abstract [en]

    System identification of a flexible mechanical system using decimated data is studied. It is illustrated how the use of decimated data can give erroneous results due to the inter-sample behavior of the signals, and an intuitive explanation to this phenomenon is proposed. The possible improvement by using alternative assumptions for the inter-sample behavior is investigated.

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    FULLTEXT01
  • 35.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On some Asymptotic Uncertainty Bounds in Recursive Least Squares Identification1992Report (Other academic)
    Abstract [en]

    This note deals with the performance of the recursive least squares algorithm when it is applied to problems where the measured signal is corrupted by bounded noise. Using ideas from bounding ellipsoid algorithms we derive an asymptotic expression for the bound on the uncertainty of the parameter estimate for a simple choice of design variables. This bound is also transformed to a bound on the uncertainty of the transfer function estimate.

    Download full text (ps)
    FULLTEXT01
  • 36.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On Some Asymptotic Uncertainty Bounds in Recursive Least Squares Identification1993In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 38, no 11, p. 1685-1688Article in journal (Refereed)
    Abstract [en]

    This note deals with the performance of the recursive least squares algorithm when it is applied to problems where the measured signal is corrupted by bounded noise. Using ideas from bounding ellipsoid algorithms we derive an asymptotic expression for the bound on the uncertainty of the parameter estimate for a simple choice of design variables. This bound is also transformed to a bound on the uncertainty of the transfer function estimate.

  • 37.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On Some Updating Strategies in Recursive Least Squares Identification1991Report (Other academic)
  • 38.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Mean Square Error of Transfer Function Estimates with Applications to Control1986Licentiate thesis, monograph (Other academic)
    Abstract [en]

    In this report we study the mean square error of transfer function estimates obtained by identification. The model quality is related to the use of models in regulator design, and the properties of affecting the bias part of the mean square error, both in fixed parameter control and adaptive control.

    We also study the variance part of the mean square error for transfer function estimates obtained by recursive identification. In the report we derive expressions for the variance as a function of the step length of the identification method, the input spectrum, the variations of the true system and the model order. These expressions are verified and utilized in simulations.

  • 39.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Performance of the Recursive Least Squares Method in the Presence of Bounded Disturbances1991In: Proceedings of the 30th IEEE Conference on Decision and Control, 1991, Vol. 1, p. 762-763 vol.1Conference paper (Refereed)
    Abstract [en]

    The author considers the performance of the recursive least squares method when applied to problems where the measured signal is corrupted by noise, which is bounded but otherwise of unknown characteristics. An asymptotic expression for the bound on the parameter estimation error is derived using ideas from bounding ellipsoid algorithms.

  • 40.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Performance of the Recursive Least Squares Method in the Presence of Bounded Disturbances1991Report (Other academic)
    Abstract [en]

    The author considers the performance of the recursive least squares method when applied to problems where the measured signal is corrupted by noise, which is bounded but otherwise of unknown characteristics. An asymptotic expression for the bound on the parameter estimation error is derived using ideas from bounding ellipsoid algorithms.

    Download full text (ps)
    FULLTEXT01
  • 41.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Properties of Pole Placement Regulators1986In: Proceedings of the 25th IEEE Conference on Decision and Control, 1986, p. 114-116Conference paper (Refereed)
    Abstract [en]

    The frequency domain properties of pole placement regulators are studied, and the influence of the regulator on the model quality is discussed. Some methods to affect the regulator properties are discussed.

  • 42.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Properties of Pole Placement Regulators1987Report (Other academic)
    Abstract [en]

    The frequency domain properties of pole placement regulators are studied, and the influence of the regulator on the model quality is discussed. Some methods to affect the regulator properties are discussed.

  • 43.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Quality of Recursively Identified FIR Models1992In: IEEE Transactions on Signal Processing, ISSN 1053-587X, E-ISSN 1941-0476, Vol. 40, no 3, p. 679-682Article in journal (Refereed)
    Abstract [en]

    The author considers recursive identification of time-varying systems having finite impulse response, focusing on the tradeoff between tracking capability and disturbance rejection. Approximate, but simple and explicit, frequency-domain expressions for the model quality are derived for three different identification algorithms. The results, derived under the assumption of slow adaptation, slow system variation, and high model order, are extensions of the results presented by Gunnarsson and Ljung (see ibid., vol.37, p.1072, 1989) to the case where the system output is affected by correlated disturbances.

  • 44.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Variance of Recursive Transfer Function Estimates of Systems with FIR-Structure1986In: Proceedings of the 25th IEEE Conference on Decision and Control, 1986, p. 2029-2030Conference paper (Refereed)
    Abstract [en]

    The variance of recursive transfer function estimates for systems with finite impulse response structure is studied. Expressions for the variance are derived using asymptotic methods. The variance expressions explicitly show the influence of step length, input spectrum, noise variance, parameter variations and model order.

  • 45.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    On the Variance of Recursive Transfer Function Estimates with FIR-Structure1987Report (Other academic)
    Abstract [en]

    The variance of recursive transfer function estimates for systems with finite impulse response structure is studied. Expressions for the variance are derived using asymptotic methods. The variance expressions explicitly show the influence of step length, input spectrum, noise variance, parameter variations and model order.

  • 46.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Robustness in Adaptive Control from a Frequency Domain System Identification Perspective1989In: Proceedings of the 1989 IFAC Symposium on Adaptive Control and Signal Processing, 1989, p. 433-437Conference paper (Refereed)
  • 47.
    Gunnarsson, Svante
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Robustness in Adaptive Control from a Frequency Domain System Identification Perspective1988Report (Other academic)
  • 48.
    Gunnarsson, Svante
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Amirijoo, Mehdi
    Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory. Linköping University, The Institute of Technology.
    Hansson, Jörgen
    Linköping University, Department of Computer and Information Science, RTSLAB - Real-Time Systems Laboratory. Linköping University, The Institute of Technology.
    Son, Sang H
    University of Virginia, Charlottesville, USA.
    Robust Quality Management for Differentiated Imprecise Data Services2004In: Proceedings of the 25th IEEE International Real-Time Systems Symposium, 2004, p. 265-275Conference paper (Refereed)
    Abstract [en]

    Several applications, such as Web services and e-commerce, are operating in open environments where the workload characteristics, such as the load applied on the system and the worst-case execution times, are inaccurate or even not known in advance. This implies that transactions submitted to a real-time database cannot be subject to exact schedulability analysis given the lack of a priori knowledge of the workload. In this paper we propose an approach, based on feedback control, for managing the quality of service of real-time databases that provide imprecise and differentiated services, given inaccurate workload characteristics. For each service class, the database operator specifies the quality of service requirements by explicitly declaring the precision requirements of the data and the results of the transactions. The performance evaluation shows that our approach provides reliable quality of service even in the face of varying load and inaccurate execution time estimates.

  • 49.
    Gunnarsson, Svante
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Berggren, Karl-Fredrik
    Linköping University, Department of Physics, Chemistry and Biology, Theoretical Physics. Linköping University, The Institute of Technology.
    Svensson, Tomas
    Linköping University, Department of Electrical Engineering. Linköping University, The Institute of Technology.
    Wiklund, Ingela
    Linköping University.
    Redesign of the Applied Physics and Electrical Engineering Program at Linköping University According to CDIO2005In: Proceedings of the 33rd SEFI Annual Conference, 2005, p. 260-Conference paper (Refereed)
  • 50.
    Gunnarsson, Svante
    et al.
    Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
    Collignon, Vincent
    Université Catholique de Louvain, Belgium.
    Rousseaux, Olivier
    Université Catholique de Louvain, Belgium.
    Tuning of a Decoupling Controller for a 2×2 System using Iterative Feedback Tuning2003In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 11, no 9, p. 1035-1041Article in journal (Refereed)
    Abstract [en]

    Iterative feedback tuning is used to tune a decoupling controller for a 2 × 2 multivariable system. The tuning is carried out in two steps. In the first step the coefficients of two proportional decoupling controllers are tuned, and in the second step two PD-controllers are tuned. The approach is evaluated on a nonlinear simulation model of a two-link manipulator. The evaluation is carried out using two different reference trajectories and also in the presence of friction. The resulting closed loop systems show satisfactory behavior in all three cases.

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