Researchers: Martin Ohlin, Peter Alriksson, Dan Henriksson, Anton Cervin, and Karl-Erik Årzén in collaboration with the other partners in the Runes project.
Duration: September 2004 - August 2007
RUNES is an EU/IST FP6 integrated project on networked embedded systems with special focus on sensor/actuator networks, that started September 1, 2004. RUNES is coordinated by Ericsson and consists of 23 industrial or academic partners.
Our participation in RUNES is focused on three areas:
Partly within
RUNES and partly in a student project course we have developed a
sensor-network based mobile inverted pendulum robot. The objectives of
the project were to develop a test case for control over
sensor
networks and investigate the performance that can be achieved using
state of the art sensor network technology wuch as TelosB motes with
ZigBee radio communication. An inverted pendulum is mounted on the
robot. The task is to stabilize the pendulum while driving around in an
environment where sensor network nodes are located. The robot contains
two ATMEL AVR Mega8 processors (for the wheel motor control), one ATMEL
AVR Mega16 processor (for the pendulum angle sensor interface) and one
TelosB mote. The control of the pendulums is either done locally on the
robot mote or remotely on some other mote.Official RUNES project web page
Peter Alriksson:
"State Estimation for Distributed and Hybrid Systems".
PhD thesis ISRN LUTFD2/TFRT--1084--SE, Department of Automatic Control, Lund University, Sweden, September 2008.
Peter Alriksson, Anders Rantzer:
"Model Based Information Fusion in Sensor Networks".
In Proceedings of the 17th IFAC World Congress, Seoul, Korea, July 2008.
Peter Alriksson, Karl-Erik Årzén:
"A Component-Based Approach to Ultrasonic Self Localization in Sensor Networks".
Technical report ISRN LUTFD2/TFRT--7619--SE, Department of Automatic Control, Lund University, Sweden, May 2008.
Peter Alriksson, Anders Rantzer:
"Experimental Evaluation of a Distributed Kalman Filter Algorithm".
In Proceedings of the 46th IEEE Conference on Decision and Control, New Orleans, LA, December 2007.
Peter Alriksson:
"Distributed Kalman Filtering using Weighted Averaging — Theory and Experiments".
Karl-Erik Årzén, Martin Ohlin, Anton Cervin, Peter Alriksson, Dan Henriksson:
"Holistic Simulation of Mobile Robot and Sensor Network Applications Using TrueTime".
In Proceedings of the European Control Conference, Kos, Greece, July 2007.
Peter Alriksson, Jerker Nordh, Karl-Erik Årzén, Antonio Bicchi, Alberto Danesi, Riccardo Sciadi, Lucia Pallottino:
"A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems".
In Proceedings of the European Control Conference, Kos, Greece, July 2007.
Karl-Erik Årzén, Antonio Bicchi, Gianluca Dini, Stephen Hailes, Karl Henrik Johansson, John Lygeros, Anthony Tzes:
"A component-based approach to the design of networked control systems".
In 2007 European Control Conference, Kos, Greece, July 2007. Submitted. Accepted for publication in tutorial session
Karl-Erik Årzén, Antonio Bicchi, Gianluca Dini, Stephen Hailes, Karl Henrik Johansson, John Lygeros, Anthony Tzes:
"A component-based approach to the design of networked control systems".
European Journal of Control, 13:2-3, June 2007.
Karl-Erik Årzén, Antonio Bicchi, Stephen Hailes, Karl Henrik Johansson, John Lygeros:
"On the Design and Control of Wireless Networked Embedded Systems".
In Proceedings of the 2006 IEEE Computer Aided Control Systems Design Symposium, October 2006.
Anton Cervin, Peter Alriksson:
"Optimal On-Line Scheduling of Multiple Control Tasks: A Case Study".
In Proceedings of the 18th Euromicro Conference on Real-Time Systems, Dresden, Germany, July 2006.
Peter Alriksson, Anders Rantzer:
"Observer Synthesis for Switched Discrete-Time Linear Systems using Relaxed Dynamic Programming".
In Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, Kyoto, Japan, July 2006.
Peter Alriksson, Anders Rantzer:
"Distributed Kalman Filtering Using Weighted Averaging".
In Proceedings of the 17th International Symposium on Mathematical Theory of Networks and Systems, Kyoto, Japan, July 2006.
Martin Ohlin:
"Feedback Linux Scheduling and a Simulation Tool for Wireless Control".
Licentiate thesis ISRN LUTFD2/TFRT--3240--SE, Department of Automatic Control, Lund University, Sweden, June 2006.
Dan Henriksson, Anton Cervin, Martin Andersson, Karl-Erik Årzén:
"TrueTime: Simulation of Networked Computer Control Systems".
In Proceedings of the 2nd IFAC Conference on Analysis and Design of Hybrid Systems, Alghero, Italy, June 2006. Invited talk
Martin Andersson, Dan Henriksson, Anton Cervin, Karl-Erik Årzén:
"Simulation of Wireless Networked Control Systems".
In Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005, Seville, Spain, December 2005.
Dan Henriksson, Anton Cervin:
"Optimal On-line Sampling Period Assignment for Real-Time Control Tasks Based on Plant State Information".
In Proceedings of the 44th IEEE Conference on Decision and Control and European Control Conference ECC 2005, Seville, Spain, December 2005.
Karl-Erik Årzén:
"Timing Analysis and Simulation Tools for Real-Time Control".
In Paul Pettersson, Wang Yi (Eds.): Formal Modeling and Analysis of Timed Systems, volume 3829, Springer, September 2005. Extended astract in the Proceedings of FORMATS 2005, Uppsala. Invited Talk.
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