A priori knowledge about the process is often available when designing an adaptive controller. This report describes a method to use this knowledge. The first step is to design a nominal controller. In the following steps the nominal controller is modified adaptively. The principal advantage of this method over conventional methods is that the calculations are minimized. In this report the metho

The report describes a system, which can be used to determine the position and orientation of items. The system consists of one video-camera, one framegrabber-board making the image digital and a personal computer. The camera is placed above a lightboard, on which the object lies. This involves that only the two-dimensional projection is studied. A program, written in C, has been developed. This

The detailed dynamic modelling, simulation and optimisation of a batch distillation process at Bayer AG is presented. The model considers a mixture of 10 components separated in a 40 tray column. Simulations performed in the process modelling tool gPROMS proved that the model gives a very accurate description of the process behaviour. To increase the profit of the process an optimisation of the op

Volvo Excavator AB has problems controlling the number of revolutions per second, in the diesel engine of an excavator, when it is running. To solve this problem the different processes controlling the energy flow in an excavator are mathematically identified. These models are later put together to enable simulations of a running excavator on the computer. The different models that need to be iden

Industrial robots are used/configured/programmed by several different types of users/programmers. The control system should preferably expose a uniform view for each programming situation. Such views were defined by the Open Robot Control (ORC) architecture, developed within the department in an earlier project. This project refines and evaluates some robot programming principles. First, earlier p

This Master Thesis Project presents an interactive program intended to be used in a course in Digital control, given by the Department of Automatic Control at Lund Institute of Technology. This application is supposed to give the students a good comprehension of sampled data systems. The areas that are covered are sampling, aliasing, observability, parameter sensitivity, PID-control, pole placemen

A library of Omola models for modeling and simulation of mechanical multibody systems in three dimensions has been developed. It contains common basic mechanical components such as springs and joints of different kinds. Omola is an object-oriented modeling language and supports flexability. The modularization and inheritance concepts supports easy modification of models. The library contains abstr

Window based interactive software systems can be used to create very user friendly interface e.g. to image processing libraries, and hence to image processing hardware. A system has been implemented, where standard "off the shelf" products that are commercially available from different companies have been used. The use of readily available components greatly simplifies the implementation