Bibtex Entries
@ARTICLE{Soltani13,
author={Soltani, M.N. and Knudsen, T. and Svenstrup, M. and Wisniewski, R. and Brath, P. and Ortega, R. and Johnson, K.},
journal={Control Systems Technology, IEEE Transactions on},
title={Estimation of Rotor Effective Wind Speed: A Comparison},
year={2013},
volume={21},
number={4},
pages={1155-1167},
abstract={Modern wind turbine controllers use wind speed information to improve power production and reduce loads on the turbine components. The turbine top wind speed measurement is unfortunately imprecise and not a good representative of the rotor effective wind speed. Consequently, many different model-based algorithms have been proposed that are able to estimate the wind speed using common turbine measurements. In this paper, we present a concise yet comprehensive analysis and comparison of these techniques, reviewing their advantages and drawbacks. We implement these techniques and compare the results on both aero-servo-elastic turbine simulations and real turbine field experiments in different wind scenarios.},
keywords={rotors;velocity control;velocity measurement;wind;wind turbines;aero-servo-elastic turbine simulation;model-based algorithm;power production;rotor effective wind speed;turbine component;turbine field experiment;turbine measurement;turbine top wind speed measurement;wind scenario;wind speed information;wind turbine controller;Comparison;Kalman filter;effective wind;estimation;field test;observer;wind speed;wind turbine},
doi={10.1109/TCST.2013.2260751},
ISSN={1063-6536},}
@INPROCEEDINGS{Wisniewski13,
author={Wisniewski, R. and Svenstrup, M. and Pedersen, A.S. and Steiniche, C.S.},
booktitle={American Control Conference (ACC), 2013},
title={Certificate for safe emergency shutdown of wind turbines},
year={2013},
pages={3667-3672},
abstract={To avoid damage to a wind turbine in the case of a fault or a large wind gust, a detection scheme for emergency shutdown is developed. Specifically, the concept of a safety envelope is introduced. Within the safety envelope, the system can be shutdown without risking structural damage to the turbine. To demarcate the boundary of the safety envelope, a protection certificate, is computed. To this end, a model-based framework of barrier certificates is used. As a result, the protection certificate problem is formulated as a sum-of-squares program with the optimisation criterion related to the volume of the safety envelope. The framework enables the inclusion of a bounded wind disturbance and the a priori known emergency shutdown procedure. For this purpose, the model of a wind turbine is developed that includes structural safety critical components.},
keywords={electrical safety;power generation faults;power generation protection;wind turbines;detection scheme;emergency shutdown procedure;model-based framework;optimisation criterion;safe emergency shutdown certificate;safety envelope;sum-of-squares program;wind disturbance;wind gust;wind turbine;Blades;Ellipsoids;Optimization;Polynomials;Rotors;Safety;Wind turbines},
ISSN={0743-1619},}
@PHDTHESIS{Svenstrup2011,
author = {Mikael Svenstrup},
title = {Navigation Among Humans; towards safe, comfortable and
natural navigation},
school = {Aalborg University},
year = {2011},
isbn = {978-87-92328-36-6}
}
@INBOOK{Svenstrup2011c,
author = {Mikael Svenstrup},
chapter = {Navigation Among Humans},
pages = {133-158},
title = {Advances in Robot Navigation},
publisher = {InTech},
year = {2011},
editor = {Alejandra Barrera},
isbn = {978-953-307-346-0}
}
@ARTICLE{Svenstrup2011b,
author = {Mikael Svenstrup and S\{o}ren Tranberg Hansen and Hans J\{o}rgen
Andersen and Thomas Bak},
title = {Adaptive Human Aware Robot Navigation in Close Proximity to Humans},
journal = {International Journal of Advanced Robotic Systems},
year = {2011},
volume = {8},
pages = {1-15},
issn = {1729-8806}
}
@INPROCEEDINGS{Svenstrup2011a,
author = {Mikael Svenstrup and Thomas Bak and Hans J{\o}rgen Andersen},
title = {Minimising Computational Complexity of the RRT Algorithm - A Practical
Approach},
booktitle = {Submitted to IEEE International Conference on Robotics and
Automation, 2011. ICRA '11.},
year = {2011},
abstract = {Sampling based techniques for robot motion planning have become more
widespread during the last decade. The algorithms however, still
struggle with for example narrow passages in the configuration space
and suffer from high number of necessary samples, especially in
higher dimensions. A widely used method is Rapidly-exploring Random
Trees (RRT's). One problem with this method is the nearest neighbour
search time, which grows significantly when adding a large number of
vertices. We propose an algorithm which decrease the computation
time, such that more vertices can be added in the same amount of
time to generate better trajectories. The algorithm is based on
subdividing the configuration space into boxes, where only specific
boxes needs to be searched to find the nearest neighbour. It is
shown that the computational complexity is lowered from a
theoretical point of view. The result is an algorithm that can
provide better trajectories within a given time period, or
alternatively compute trajectories faster. In simulation the
algorithm is verified for a simple RRT implementation, and in a more
specific case where a robot has to plan a path through a human
inhabited environment.},
doi = {10.1109/ROBOT.2009.5152690},
issn = {1050-4729},
keywords = {Kalman filters, adaptive control, human-robot interaction, mobile
robots, path planning, pose estimation, robot visionKalman filter,
adaptive robot behaviour, human kinematic movement, human-robot interaction,
laser range measurement, mobile robot, pose estimation, robot navigation},
owner = {ms},
timestamp = {2010.08.13}
}
@INPROCEEDINGS{Svenstrup2010,
author = {Mikael Svenstrup and Thomas Bak and Hans J\{o}rgen Andersen},
title = {Trajectory Planning for Robots in Dynamic Human Environments},
booktitle = {IROS 2010: The 2010 IEEE/RSJ International Conference on Intelligent
Robots and Systems},
year = {2010},
address = {Taipei, Taiwan},
month = {October},
abstract = {This paper present a trajectory planning algorithm for a robot operating
in dynamic human environments. Environments such as pedestrian streets,
hospital corridors and train stations. We formulate the problem as
planning a minimal cost trajectory through a potential field, defined
from the perceived position and motion of persons in the environment.
A Rapidly-exploring Random Tree (RRT) algorithm is proposed as a
solution to the planning problem. A new method for selecting the
best trajectory in the RRT, according to the cost of traversing a
potential field, is presented. The RRT expansion is enhanced to direct
the search and account for the kinodynamic robot constraints. Compared
to standard RRT, the algorithm proposed here find the robot control
input that will drive the robot towards a new sampled point in the
configuration space. The effect of the input is simulated, to add
a reachable vertex to the tree. Instead of executing a whole trajectory,
when planned, the algorithm uses an Model Predictive Control (MPC)
approach, where only a short segment of the trajectory is executed
while a new iteration of the RRT is done. The planning algorithm
is demonstrated in a simulated pedestrian street environment.},
owner = {ms},
timestamp = {2010.08.13}
}
@MISC{Svenstrup2010a,
author = {Mikael Svenstrup},
title = {Sampling Based Trajectory Planning for Robots in Dynamic Human Environments},
howpublished = {Poster at workshop Motion Planning: From Theory to Practice at Robotics
Science and Systems (RSS) 2010},
month = {June},
year = {2010},
owner = {ms},
timestamp = {2010.08.13}
}
@CONFERENCE{Svenstrup2010b,
author = {Mikael Svenstrup},
title = {Sampling Based Trajectory Planning for Robots in Dynamic Human Environments},
booktitle = {Extended abstract in workshop material from Robotics Science and
Systems (RSS) 2010},
year = {2010},
owner = {ms},
timestamp = {2010.08.13}
}
@INPROCEEDINGS{Hansen2010,
author = {S{\o}ren Tranberg Hansen and Mikael Svenstrup and Lars Dalgaard},
title = {An Adaptive Robot Game},
booktitle = {ISR/ROBOTIK 2010 (Proceedings of the joint conference of ISR 2010
(41st International Symposium on Robotics) and ROBOTIK 2010 (6th
German Conference on Robotics))},
year = {2010},
pages = {76--83},
month = {June},
publisher = {VDE Verlag},
abstract = {The goal of this paper is to describe an adaptive robot game, which
motivates elderly people to do a regular amount of physical exercise
while playing. One of the advantages of robot based games is that
the initiative to play can be taken autonomously by the robot. In
this case, the goal is to improve the mental and physical state of
the user by playing a physical game with the robot. Ideally, a robot
game should be simple to learn but difficult to master, providing
an appropriate degree of challenge for players with different skills.
In order to achieve that, the robot should be able to adapt to the
behavior of the interacting person. This paper presents a simple
ball game between a single player and a mobile robot platform. The
algorithm has been validated using simulation and real world experiments.},
isbn = {978-3-8007-3273-9}
}
@MISC{Hansen2009b,
author = {Hansen, S{\o}ren Tranberg and Svenstrup, Mikael and Andersen, Hans
J{\o}rgen and Bak, Thomas and Jensen, Ole B.},
title = {The SantaBot experiment: a pilot study of human-robot interaction},
year = {2009},
note = {Video for the 4th ACM/IEEE international conference on Human robot
interaction (HRI) video session},
address = {New York, NY, USA},
doi = {http://doi.acm.org/10.1145/1514095.1514140},
isbn = {978-1-60558-404-1},
location = {La Jolla, California, USA},
publisher = {ACM}
}
@INPROCEEDINGS{Hansen2009a,
author = {Hansen, S{\o}ren Tranberg and Svenstrup, Mikael and Andersen, Hans
J{\o}rgen and Bak, Thomas and Jensen, Ole B.},
title = {The SantaBot experiment: a pilot study of human-robot interaction},
booktitle = {HRI '09: Proceedings of the 4th ACM/IEEE international conference
on Human robot interaction},
year = {2009},
pages = {211--212},
address = {New York, NY, USA},
publisher = {ACM},
doi = {http://doi.acm.org/10.1145/1514095.1514140},
isbn = {978-1-60558-404-1},
location = {La Jolla, California, USA}
}
@INPROCEEDINGS{Hansen2009,
author = {S{\o}ren Tranberg Hansen and Mikael Svenstrup and Hans J{\o}rgen Andersen and Thomas Bak},
title = {Adaptive Human aware Navigation based on Motion Pattern Analysis },
booktitle={Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on},
year = {2009},
month = {September-October},
pages = {-},
keywords={},
address = {Toyama, Japan},
isbn = {-}
}
@INPROCEEDINGS{Svenstrup2009,
title = {Pose Estimation and Adaptive Robot Behaviour for Human-Robot Interaction},
author = {Mikael Svenstrup and S{\o}ren Tranberg Hansen and Hans J{\o}rgen Andersen and Thomas Bak},
booktitle={Robotics and Automation, 2009. ICRA '09. IEEE International
Conference on},
year={2009},
month={May},
volume={},
number={},
pages={3571-3576},
abstract={This paper introduces a new method to determine a person's
pose based on laser range measurements. Such estimates are typically a
prerequisite for any human-aware robot navigation, which is the basis
for effective and time extended interaction between a mobile robot and
a human. The robot uses observed information from a laser range finder
to detect persons and their position relative to the robot. This
information together with the motion of the robot itself is fed
through a Kalman filter, which utilizes a model of the human kinematic
movement to produce an estimate of the person's pose. The resulting
pose estimates are used to identify humans who wish to be approached
and interacted with. The behaviour of the robot is based on adaptive
potential functions adjusted accordingly such that the persons social
spaces are respected. The method is tested in experiments that
demonstrate the potential of the combined pose estimation and adaptive
behaviour approach.},
keywords={Kalman filters, adaptive control, human-robot interaction,
mobile robots, path planning, pose estimation, robot visionKalman
filter, adaptive robot behaviour, human kinematic movement,
human-robot interaction, laser range measurement, mobile robot, pose
estimation, robot navigation},
doi={10.1109/ROBOT.2009.5152690},
ISSN={1050-4729},
address = {Kobe, Japan}
}
@INPROCEEDINGS{Andersen2008,
author = {Hans J{\o}rgen Andersen and Thomas Bak and Mikael Svenstrup},
title = {Adaptive Robot to Person Encounter},
booktitle = {Proceedings of the International Conference on Research and Education
in Robotics - {EUROBOT} 2008},
year = {2008},
series = {Lecture Notes in Computer Science},
pages = {13-23},
address = {Heidelberg, Germany},
publisher = {{MATFYZPRESS}},
isbn = {978-80-7378-042-5}
}
@INPROCEEDINGS{Svenstrup2008,
author = {Mikael Svenstrup and Thomas Bak and Ouri Maler and Hans J{\o}rgen
Andersen and Ole B. Jensen},
title = {Pilot Study of Person Robot Interaction in a Public Transit Space},
booktitle = {Proceedings of the International Conference on Research and Education
in Robotics - {EUROBOT} 2008},
year = {2008},
series = {Lecture Notes in Computer Science},
pages = {120-131},
address = {Heidelberg, Germany},
publisher = {Springer-Verlag GmbH}
}
@MASTERSTHESIS{Svenstrup2007,
author = {Mikael Svenstrup and Kasper Winther},
title = {Autonomous Hover of a Small Scale Electric Helicopter},
school = {Aalborg University},
year = {2007},
abstract = {Helicopter Aided Mapping Of Crops (HAMOC) is a project, which aims
at making a small scale electric helicopter able to obtain imagery
of a crop field. This report considers the first steps towards this,
by the use a Corona 120 electric helicopter. The project goal is
to make the helicopter hover autonomously in the laboratory. The
project has been divided into fourmain parts; hardware implementation,
modelling, state estimation, and control development. Regarding hardware,
it has been chosen to control the helicopter by an external computer,
and use an external power supply. The computer is interfaced to a
servoboard on the helicopter by a serial connection. An existing
helicopter model has been described, adapted to the Corona 120 helicopter,and
the parameters have been determined. The 12 rigid body states of
the helicopter have been estimated using image processing of camera
data and an inertial measurement unit (IMU), which as fused in an
extended Kalman filter. Four decoupled PID controllers have been
developed to control the helicopter (for the z, y and x axes, and
for the yaw angle, respectively). Hereafter, moreadvanced controllers
have been researched. The hardware works as expected, and it is possible
to control the helicopter from the external computer. The developed
controllers are able to control the nonlinear model in a simulation.
At the end of the project period, autonomouscontrol of the altitude
of the real helicopter has been reached, and preliminary tests of
a lateral controller have also been done. A helicopter crash has
damaged some of the hardware, and has thus prevented further tests
of the horizontalcontrollers, but it is expected that autonomoushover
is close to be obtained. It is believed that the developed subsystems
form a solid basis for further work on the project.}
}
Mikael
Svenstrup
ms[at]es.aau.dk