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The deteriorating effects of friction on the control of mechanical systems is a major problem in a multitude of applications such as high-performance robotics and pointing systems. This thesis aims at improving control by using a nonlinear friction observer to detect friction in the system and use this information to modify the control input. After some initial attempts with the LuGre friction mod
This master thesis is the first step in developing a new laboratory process for the automatic control basic course. The new process should illustrate the benefits of state-space control compared to PID control. A process with several outputs to control is then desired as a single PID controller does not support such a system. The suggested process consists of two carts mounted on a linear rail and
In this thesis the possibility to use the discrete-event modelling tool JGrafchart as a front end to the object-oriented modelling language Modelica has been studied. In this context, a code generator from JGrafchart to Modelica has been implemented. The code generator includes the basic JGrafchart objects like steps, transitions and variables, but also hierarchical elements like macrosteps and in
Using flying vehicles for reconnaissance and surveillance has always been interesting, especially in military applications. Unmanned aerial vehicles (UAVs) have been increasingly used in the last decades, but they have often been controlled by an operator on the ground. In an attempt towards higher level of autonomy, the UAV should be able to decide itself where to fly. This thesis examines a meth
This master's thesis has been performed in cooperation with TAC in Malmö. The TAC group makes commercial buildings smarter by integrating and automating the technical systems required to run them. TAC:s control systems use PID-controllers to control processes such as heating and ventilation. The PID-controllers are often badly tuned, since it is too timeconsuming to calculate good PID-paramete
Abstract I would like to thank my mentor Richard Murray at the Control and Dynamical Systems Department of California Institute of Technology (Caltech) for giving me the opportunity of conducting my master's thesis at Caltech and for his support during the project. I would also like to thank my other mentor Anders Rantzer at the Department of Automatic Control of Lund Institute of Technology u
The aim of this work was to investigate the possibilities and consequences for Haldex Traction of starting to use the OSEK/VDX standard for realtime operating systems. This report contains a summary of the realtime operating system documents produced by OSEK/VDX. OSEK/VDX is a committee that produces standards for realtime operating systems in the European vehicle industry. The report also contain
In this thesis a control loop asset monitor is developed for ABB's automation system 800xA. The asset monitor developed here is based on ABB's Loop Performance Manager, which also is described here as well as the general properties and functions of an asset monitor. The asset monitor is a prototype for the 800xA system and a detailed description of how to implement asset monitors into the
This thesis describes an effort to enhance the control capabilities of an electric motor. It is in the interest of TetraPak that the research on this motor is performed so that it, in the future, can be a part of their production systems. The thesis has been separated into three main parts, where in the first part we are trying to find a model that describes the process. The second part describes
One of the most difficult problems that an engineer who works with modeling deals with, is the question about how to translate a physical phenomenon into a set of equations. It is usually difficult to capture all dynamics and phenomena, so one usually strives for a set of equations that describes the physical system approximately and adequately with the accuracy for the purpose. In our case, we mo
During the last years the number of Electrical Control Units (ECU) in vehicles have increased rapidly with the effect of increasing costs. To meet this trend and reduce costs, applications have to be centralized into more powerful ECUs. This gives rise to new problems such as data and temporal integrity. The thesis gives an introduction to these new problems and a solution based on static time-tri
The purpose of this thesis was to examine the effects of time delay on a visual servoing system. We analyse the effect of time delays on a linear model of a robotic arm joint, as well as an ABB irb2400 robotic arm with 6 degrees of freedom. This master thesis is consequently divided into two separate parts. The first concern of the project is to deal with the design of the visual servoing system.
Insulin Dependant Diabetes Mellitus(IDDM) is a chronic disease characterized by the inability of the pancreas to produce sufficient amounts of insulin. To cover the deficiency 4-6 insulin injections have to be taken daily. The aim of this insulin therapy is to maintain normoglycemia, blood glucose level between 4-7 mmol/L. To determine the amount and timing of these injections different approaches
The origin of many environmental and health hazardous emissions from diesel engines are the crankcase gases. Since no regulations of the emission levels from the crankcase have existed in the past, no attention has been paid to cleaning crankcase gases. New regulations are coming up and they will all demand lower emissions from the engine. This has lead to the introduction of the Alfdex separator.
This master thesis has been conducted for Solvina. Solvina is a firm in Gothenburg, which among other things simulates steam nets for the paper process industry. Doing this Solvina has had to simulate not only the steam net itself, but also to simulate the control system. The purpose of this master thesis was to try to build an interface between the controller and the simulated process so that the
The goal of this thesis was to design and implement a distributed real time vision system in Java and to investigate its performance with the aid of some robot experiments. Controlling a process requires reference- and feedback signals which can be sensed by means of digital cameras. The image data coming from the cameras needs to be collected, processed and transmitted through the network without
Dynamic vision is a class of problems in computer vision that calculates properties of the3D world through the dynamics of the system observing by cameras. In this thesis we introduce the issue of motion and shape estimation with the aid of a single camera and for particular objects as points, planar surfaces and polyhedrons. This problem is well known in literature as Shape from Motion. We are in
The system under development provides a means to assess the semi-circular canals of the human vestibular system. The Impulse Test is a simple method to detect disorders within the three sets of semi-circular canals, by stimulating each pair of canals in turn. This report describes the work carried out to develop a simple, non-intrusive system whereby the patient can be assessed in a matter of seco
The aim of this Master Thesis was to measure and quantify the effect of a continuous visual stimulus on postural stability. The visual stimulus was applied using a Head Mounted Display through which the image of a vertically rotating cylinder was projected. It was hoped that the relationship between the speed of rotation of the cylinder and the body sway of the subject would be quantified through
This thesis describes the results of an investigation into the use of Subspace-based System Identification techniques in the field of Adaptive Control. The project aims included adaption of subspace algorithms for online use, proposal of new algorithms of adaptive control based on these algorithms, and analysis of properties of the proposed systems. The thesis includes reviews of various subspace
