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Brake-By-Wire means that the hydraulic-mechanical brake system in a car is partly or completely replaced with an electronic/electromechanical brake system. Brake-By-Wire systems are safety critical. A Brake-By-Wire system must also be fault tolerant and have a dependable real-time performance. One communication protocol that is developed to meet these requirements is called TTP/C (Time Triggered P
In this study, it is investigated how different parameters influence 16QAM modulation. The focus is on how different parameters in the Automatic Gain Control algorithm influence raw bit error rates, but other parameters such as frequency error and misplaced decision levels are also investigated. The goal is not to develop optimal parameter configurations, but to gain some understanding on what par
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
Robot control systems are traditionally closed system. With the aid of vision, visual feedback is used to guide the robot manipulator to the target in a similar manner as humans do. This hand-to-target task is fairly easy if the target is static in Cartesian space. However, if the target is dynamics in motion, a model of this dynamical behaviour is required in order for the robot to predict or tra
The development of steer-by-wire involves an increased amount of possibilities for control in future cars. For example, the experimental vehicle available has both front and rear wheel steering. This enables a simultaneous multivariable control of both the yaw rate and the side slip angle. The today existing control approach is designed in the time domain and it has a decoupled control structure,
This report summarizes a master-thesis project where the goal has been to control a submarine vehicle. The vehicle is used to take video films of the bottom of the sea. For this reason, it is desired to keep the vehicle at a constant distance over the sea bottom. The workconsist of a model-building phase, where a frequency-response experiment is performed on the vehicle. Based on this model, sever
Recent progress in parameterization of linear robust controllers has made it possible to investigate advanced controller specifications numerically using convex optimization. The main focus of this thesis project is to investigate how to design a LTI controller for a LTI plant using convex optimization, particularly Linear Programming technique. The concerned performance specification is defined a
This master's thesis involves design and implementation of an infrared link between an air diffuser and a Palm handheld computer. The diffuser, IDCC (Intelligent Diffuser for Climate Control), is developed by LindinVent AB. The application can download current controller variables and parameters and send new parameters to the diffuser. For adjusting parameters on the Palm an intuitive graphica
This master thesis evaluates control algorithms for control applications using Bluetooth in the loop. It is done in order to investigate whether Bluetooth can be used in hard real-time control loops or not. The control algorithms suggested in this work are evaluated on a real process, the Furuta pendulum, due to the unstable nature of the process. This will assure that the Bluetooth communicati
In order to maximize the biomass yield in fed-batch cultivations of Saccharomyces cerevisiae, a pulse feeding strategy originally developed by Mats Åkesson at the department of automatic con-trol (Åkesson, 1999), was implemented. The controller was intended to keep the specific glucose uptake rate, qs, below the critical specific glucose uptake rate qs crit , to avoid over-flow metabolism. Simulat
The aim of this project is to make a predictive controller of a part of an irrigation channel. The channel is called ``The Haughton Main Channel'' (HMC) and is situated in Queensland. Irrigation channels are used by farmers all around the year and it is important that they deliver water on demand. The project has been made in cooperation with the Department of Electrical and Electronic Eng
Image registration of X-ray images is used to correctly align the patient before the cancer tumour is treated with sets of high dose X-ray radiation. Before the first treatment, a simulated X-ray image is taken showing the best possible localisation of the tumour. From then on, after each of the radiation treatments of the tumour, a low dose of the X-ray theurapeutic radiation is used to take an i
This ‘Automatic Test System (ATS) for Network Servers’ Master Thesis project was carried out from September 2000 till March 2001 at Axis Communication AB, Lund. The project was to build a common test system platform for all future tests of Axis network servers’ products. Thus, overcoming the current practice of costly dedicated test system development for individual products. The project is a gra
Modern gas turbines use lean premixed combustion to achieve the best compromise between emissions and efficiency. This type of combustion is very sensitive to thermoacoustic instabilities causing high pressure sound waves. One reason for these intense pressure fluctuations is the flame is acting as source of sound, that is placed in an acoustic resonator accumulating acoustic energy. Due to the re
This master thesis project has been performed in cooperation with TAC, a building automation company in Malmö and the Department of Automatic Control at LTH. TAC has experienced problems for some time with their PID controllers. This master thesis has therefore investigated the use of PID control at TAC, the problems with the existing controllers. The thesis also describes a new PID controller tha
Clarifying the mechanisms maintaining atrial activity during atrial fibrillation (AF), still remains as a relevant topic. The purpose of this master thesis is to apply correlation analysis and system identification methods to study spatial and temporal propagation of atrial activation along coronary sinus (situated in the posterior left part of the heart, in the groove between left atrium and left
