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The goal of this semester project was to set up the mathematical model for the simplified process of the spherical pendulum, develop a simulation model of the process in Modelica that could then also be animated in 3D, and finally, design a controller for the process. The simplification is that the pendulum cannot turn about its own axis. For the Modelica model, a Pendulum Library, with the essent
Testing of control code written in IEC 61131-3 has long been a strenuous manual process. The focus in this master's thesis is on building a simulator of an Alfa Laval separator to enable testing of control code. In this particular case, the control code being tested is written and executed in a soft PLC called TwinCAT. The simulator for testing code is written in C#. When testing code, automat
At the department of Automatic Control at Lund Institute of Technology a mobile robot has to be assembled. The capabilities of the vehicle comprises a possibility to control it via internet with the help of a Java-applet as well as a function that realizes an autonomous navigation through a predefined environment. The first part of this work deals with the implementation of the remote control func
The topic of this master thesis is cooperative robots. The master and slave configuration is to be used for cooperative tasks and the task chosen is to move a flexible beam together. A trajectory is fed to the master robot to move it to the desired positions. The slave robot then follows the movement of the master robot by force control using force measurements from a force sensor. All experiments
The aim of this project is to control a double linked inverted pendulum called the "Pendubot". A cascade control scheme has been developed at Laboratoire d'Automatique (EPFL) for this purpose. The structure of the cascade scheme is: Input-output feedback linearization and a linear controller in the inner-loop to assure the control of the fi-angle, the outer loop is responsible for st
The current generation of earth-based telescopes has been of great use to astronomers for the past decades. New fields of astrophysics like the search for and analysis of earth-like planets would however need telescopes with even better resolution. These telescopes are called Extremely Large Telescopes and an ongoing project to develop such a telescope is the Euro50 project. For the Euro50 telesco
The process of hydro plant is on first sight easy to understand and well documented. Development of new control strategies could be accordingly based on that knowledge and trial and error approach at the commissioning. This traditional approach shows to be time consuming and expensive. Plant models available are often obsolete as they are simplified for the narrow linear range of the working area
This master thesis concerns the analysis and implementation of a tire slip controller for an off-the-shelf RC-model car. The Anti-lock brake system was implemented using two Atmel microcontrollers programmed in C, and sensors on all four wheels in additional to the standard electronics of the model car. The control strategy used was PI-methodology.' The car is able to accelerate and brake at a
Characterized by a high ratio between the height of center of gravity and the track-width, commercial vehicle dynamics differ from passenger car dynamics. The roll stability limit, measured in terms of lateral acceleration, is much lower, while longitudinal and lateral load transfer during braking and cornering reduce the yaw stability, resulting in roll motion. Rollovers are dangerous and possibl
The first part of this thesis investigates if probing control can be applied to glucose feeding of the bacteria Bacillus subtilis producing the enzyme xylanase. The experimental work reveals unexpected results, where growth and cell/glucose yield are significantly lower in the feed phase than in the batch phase of a fed-batch cultivation. The reason for this is still unclear, but some hypotheses a
The problem of (online) state estimation for dynamical systems arises frequently in control. The well known Kalman Filter comprises a coherent theory for the case of linear systems with Gaussian noise, but as soon as either condition is relaxed the picture becomes much less clear. This thesis investigates the case when process disturbances and measurements are relaxed from Gaussian to log-concave.
This thesis deals with some aspects of the Nowait Transit train concept in order to provide insight and guidelines for further development. The train constitutes an interconnected closed string of cars and requires track areas with complex rail geometry. The thesis is divided into two parts where the first part provides a strategy in order to ensure smooth passing through these zones. The main par
This master thesis has been development at the Department of Automatic Control in Lund University between October 2003 and February 2004 under the supervision of Karl-Erik Årzen.The topic of this master thesis has been to investigate and implement the code generation for an AVR Mega8 microcontroller from JGrafchart, program development by the Department of Automatic Control.This project concerns t
During the ongoing development of new car models, testing and simulation are used for validation, which involves a large amount of measured data being sampled. To use the tests and simulations in the best way possible, the data collection needs to be effectively worked on. Currently, the evaluation of sampled data is done primarily through studies of numerous parameters in graphs. To avoid problem
When building a telescope, importance does not only lie on the optical performance. Keeping the entire structure stable is also of great importance. In the case of the Euro50, the secondary mirror cell will be located some 60 m above ground level, exposed of wind speeds up to 15 m/s. This makes the stabilization of the mirror cell to a dicult problem. However, it has to be solved.
The main goa
This work treats a specific multi-vehicle control case, namely six vehicles on the Multi-Vehicle Wireless Testbed (MTWT), wich is an arena at Caltech, California, built for doing experiments on small vehicles. A model is set up and a controller is found through simulations that stabilizes the system. Stability is proven through a Nyquist-like creterion and by looking at the poles for the closed lo
This Master Thesis is dealing with a vision system for analysing the quality of a fabric that is used in the paper industry when the water is to be removed from the pulp. When the loom is stopped by any reason the fabric tends to slide a bit in one direction or the other which makes the density rise or decline and make a mark in the fabric. To avoid this the weaver has to adjust the loom before re
This thesis investigates the influence of sleep deprivation on the human's postural control and conceptions of adaptation. Seventeen subjects were investigated with posturography after 24 h and 36 h of sleep deprivation, and a control posturography trial was performed either one week before or one week after the sleep deprivation trials. Stabilizing torques and forces were recorded by a force
Abstract The topic of this master thesis is Portable Robot Control and it has been performed jointly with the thesis Portable Robot Programming. The robots mentioned in the title of the Master thesis are industrial robots. Industrial robots are embedded real-time systems. In the embedded real-time systems the computer is part of the system. As all other real-time systems they have to fulfill real-
This Master Thesis has been done at the Department of Automatic Control, Lund Institute of Technology, and Dynasim AB, in Lund. Dynasim develops the simulation software called Dymola (Dynamic Modeling Laboratory). With the upcoming release 6, they have introduced the opportunity of interfacing their software with an optimization tool called MOPS (Multi-Objective Parameter Synthesis). This work sho
