This volume describes a study of different methods for identifying systems operating in closed loop. The results are to be applied on power generating systems.

This report is the documentation of a project called "A Process Knowledge Base Browser", that has been performed as a Master Thesis in Computer Engineering at the Lund Institute of Technology.

An important function for the human body is the ability to maintain balance. This has been compared to a sixth sense whose function we would have difficulties to be without. The system of balance is a complex system which uses several different sensors to get a satisfactory image of the position and motion of the body. One of the sensors is vision. Our assignment has been to make an equipment for

When measuring transient behaviour in descrete time, limitations in memory size impose truncation errors on the computations performed in the subsequent analysis of data. In this paper different approached to minimize or avoid these errors are investigated.

Identification of process dynamics is used for stability monitoring in nuclear reactors (Boiling Water Reactor). This report treats the problem of estimating a damping factor and a resonance frequency from the neutron flux as measured in the reactor. A new parametric online method for identification is derived and presented, and is shown to meet the requirements of stability monitoring. The techni

This report contains a study on inertial parameter estimation for application in robot control. Symbolic manipulation using Maple is applied to support the estimation efforts.

In this thesis a visual servoing approach for uncalibrated systems with 6 degrees of freedom (DOF) is evaluated. Assuming weak perspective, the observed motions of the robot end-effector are constrained to affine trans-formations in the image space. This allows us to express the control error directly in terms of an affine transformation in the camera images. By this approach, visual servoing is r

In order to minimise development time it is important to be able to implement and test control functions at an early stage in a project, even before the electronic hardware of the new product is available. For this purpose, a PC based rapid prototyping system including a graphical modelling/simulation tool and automatic C code generation for real-time simulations with hardware in the loop may be u

In this master thesis, it will be shown howto estimate the unknown environmental forces acting on different vehicular and robotic systems. As force sensors are expensive, complex and not suitable to operate in hazardous environments, we present an approach to force estimation using model based observers. Only position measurements are assumed to be available and it will be shown how to use this fo

Robot control systems and other manufacturing equipment are traditionally closed systems. This circumstance has hampered system integration of manipulators, sensors as well as other equipment, and such system integration has often been made at an unsuitably high hierarchical level. With the aid of vision, visual feedback is used to guide the robot manipulator to the target. This hand-to-target tas