This master thesis project has been performed in cooperation with AGA, the well-known gas company which is a part of the German Linde group and the Department of Automatic Control, Lund Institute of Technology. Since summer 2000 AGA has developed and manufactured a fully automated reactor producing bicarbonate solution for stabilizing pH in papermaking processes. The reactor or ACU!22 (alkalinity

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

In this report we study systems governed by the Saint-Venant shallow water equations interacting with boundary conditions including control. We derive closed form formulas for the open-loop behavior. These formulas rely on first, second and third order approximations which are based on a perturbation that we develop. Properties of these solutions are studied and comparisons with existing non-linea

This master's thesis discusses the real-time issues of the operating system used by the Ericsson Bluetooth stack and the effects of replacing this operating system. The practical part consists of switching the operating system for the Ericsson Bluetooth stack and verifying if it still is operational and fulfils all timing requirements

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

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

The goal for this master thesis was to investigate the possibility of using an existing web server and modify it so it can be used in ABB controllers. The work has resulted in two different versions of a web server. The basic functionality is the same for both versions. The web servers are able to present a number of controller-related information. For example: hardware, which control programs tha

A graphical editor for Statecharts has been implemented. The editor is integrated in the ABB Control IT framework. The editor is written in Java/Swing and uses the graphical class package JGo. The developed Statecharts models are stored on file using XML. The editor can also generate executable code, in the form of IEC 61131-3 Structured Text (ST) code. The code is represented in an XML-document a

This work deals with the issue of implementing a UML-RT standard, one of the latest notations for object oriented specification and design, in the developing-process of new real-time software for Radio Base Stations in the 2000 series at Ericsson. UML-RT is the real-time extension of the Unified Modeling Language (UML). The thesis investigates the design-, implementation- and verification-problems

The goal of the Master Thesis is to upgrade the control of a power supply for a radar system. A controller based on Kalman filtering and state feedback has been developed for this two inputs two outputs system.

This thesis deals with manual control of unstable systems, subject to control signal constraints. Allocation of control authority is critical in this situation. The manual control, or reference following, must not be performed at the risk of loosing stability. The conflicting objective is to achieve acceptable reference following performance. Design of control systems under such circumstances is c

Two different techniques exist for glass fiber production, direct melt bushing and marble bushing. The purpose of the project was to study the glass fiber production process and investigate the possibilty of constructing mathematical models from experimental data. This part also included implementation of a DAQ system to obtain the expeimental data. A second objective was to construct an efficent

In situations where robots are performing manipulation tasks, e.g. welding, grinding, and drilling, it is necessary to avoid excessive forces in the contact with the environment. Because of geometric uncertainty and finite positioning accuracy this usually cannot be solved by position control alone. The subject of this thesis is robot force control, with particular interest devoted to impedance co

The aim of this master thesis is to develop a laboratory process that Saab Ericsson Space AB (SE) can use to demonstrate their fault tolerant computer systems at exhibitions. The process is an inverted pendulum shaped as a rocket to symbolize that the company develops fault tolerant control systems for satellites and carrier rockets e.g. for Ariane 5. The inverted pendulum is a classical control

The thesis consists of two parts. Registration of Digital Images: Registration of images is a fundamental task in image processing. This is to match two or more images taken, for example, at different times, from different sensors or from different points of view. The methods used to register images are striving for a similarity metric indicating when the images are correctly registered. A similar