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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
This rapport investigates the transmitter of the Ericsson Bluetooth radio. The open loop modulation scheme of the existing design is theoretically very simple but difficult to implement with available components. Frequency drift of the carrier is a common result of open loop modulation. This work therefore investigates an idea of frequency regulation where the regulation is active during modulatio
The report describes the development of a global model of a simple gas turbine in order to simulate the dynamic behaviour. The Modelica language is used for the creation of the model. The model is based on the evaporative gas turbine located in the Department of Heat and Power Engineering in Lund. This turbine was run as a conventional turbine before including the heat exchange and the evaporative
This project considers a special class of aero-dynamics of two different underactuated systems. The two systems under consideration are the Pendubot (actuator at the hip) and the Acrobot (actuator at the knee). The main objectives are to show stability and periodicity of the two systems. The next step is to change the zero-dynamics such that resulting periodic orbits produce walking gait patterns.
To use vision in a robotic setting it is important to achieve realtime performance. Real-time vision may be used to directly steer robots using for instance visual servoing techniques. In this thesis, an experimental vision setup using a stereo rig mounted on an industrial robot (ABB Irb-6) was built from ground up and then used to perform two experiments; visual servoing and collection of data fo
This is a report of how the two Telelogic development tools the SCADE Suite, and the SDL Suite can be used together, combining a time-driven language and an event-driven language. Suggestions on how the tools can be integrated are presented. The report also suggests how Telelogic can improve the SDL Suite from a hard real-time aspect. Last part of the report shows how the scheduling algorithm “Ear
Many machines and robots working today in factories are programmed to perform the same task repeatedly. By observing the tracking error in each iteration of the same task it becomes clear that it is actually repetitive, even though disturbances from noise and possibly sligthly changing friction dynamics affect the response. The idea of Iterative learning Control D ILC E is to use the knowledge fro
When designing an automatic brake control system for a car it is important to have a mathematical model of the vehicle to base the design upon. Since careful modeling of the entire car would encompass far too many variables, the most care is usually taken to the wheels and the tyres, as those parts contain most of the dynamics influential to the process. During braking the tyres deform because of
