1.1 1394 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Anna Johnsson author Stéphane Velut supervisor Killian Link supervisor Prof Karl-Erik Årzén supervisor Department of Automatic Control v1000253 department This master thesis project serves to investigate the possibilities of Nonlinear Model Predictive Control (NMPC) using the example of enthalpy control of the BENSON HRSG (heat recovery steam generator) of a combined cycle power plant (CCPP). The general idea of NMPC is to solve an optimization problem, to nd the next control action, and this optimization problem is based on a model of the system. The models used in the controller implementation are Modelica-based, and the system is described by algebraic dierential equations (DAEs).<br /> <br /> The controller was implemented in the Python interface of JModelica.org (Modelica-based modeling tool, supporting the Modelica extension Optimica for optimization), together with an extended Kalman lter (EKF) for state estimation. The control algorithm was only evaluated for a setup where the controller model is very similar to the model representing the real process; both models are simplied representations of the real process. http://lup.lub.lu.se/student-papers/record/4175598/file/4180010.pdf application/pdf 2555110 no 2013 eng Optimization Nonlinear Model Predictive Control Extended Kalman lter Modelica Optimica JModelica.org Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5926--SE http://lup.lub.lu.se/student-papers/record/4175598/file/4180012.pdf application/pdf no 4175598 2013-11-27T13:41:42+01:00 2013-12-02T09:45:02+01:00 2013-12-02T09:45:02+01:00 1 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Christian Fogelberg author Toru Namerikawa supervisor professor Anders Rantzer supervisor Department of Automatic Control v1000253 department In recent years, there has been an increase of interest in smart grid concept, to adapt the power grid to improve the reliability, efficiency and economics of the electricity production and distribution. One of the generator side problem in this is to meet the power requirement while not wasting unnecessary power, thus keeping the cost down, which must be done while the frequency is kept in a suitable range that will not damage any equipment connected to the power grid. It would theoretically be most logical to have a centralized controller that gathers the full networks data, calculates the control signals and adjusts the generators. However in practice this is not practical, mostly due to distance. The transmission of sensor data to the controller and the transmission of control signals to the generators would have to travel far, thus taking up to much time before the generators could act.<br /> <br /> This paper presents a distributed model predictive control based method to control the frequency of the power network. First, an augmented matrix model predictive controller is introduced and implemented on a two homogeneous subsystems network. Later the control method is changed to a state space model predictive controller and is then utilized on a four heterogeneous subsystems network. This controller implementation also includes state<br /> observers by Kalman filtering, constraints handler utilizing quadratic programming, and different connection topology setups to observe how the connectivity affects the outcome of the system.<br /> <br /> The effectiveness of the proposed distributed control method was compared against the corresponding centralized and decentralized controller implementation results. It is also compared to other control algorithms, specifically, an iterative gradient method, and a model predictive controller generated by the MATLAB MPC Toolbox. The results show that the usage of a distributed setup improves the outcome compared to the decentralized case, whilst keeping a more convenient setup than the centralized case. It it also shown that the level of connectivity for a chosen network topology matters for the outcome of the system, the results are improved when more connections exists. http://lup.lub.lu.se/student-papers/record/4317314/file/4317341.pdf application/pdf 7578980 no 2013 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5931--SE http://lup.lub.lu.se/student-papers/record/4317314/file/4317327.pdf application/pdf no 4317314 2014-02-19T11:12:59+01:00 2014-02-19T11:59:52+01:00 2014-02-19T11:59:52+01:00 2 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Fredrik Karlsson author Martin Karlsson author Dr. Fredrik Tufvesson supervisor Professor Bo Bernhardsson supervisor Department of Automatic Control v1000253 department A ubiquitous and accurate positioning system for mobile devices is of great importance both to business and research due to the large number of applications and services it enables. In most outdoor environments this problem was solved by the introduction of the Global Positioning System (GPS). In indoor or suburban areas however, the GPS signals are often too weak to enable a reliable position estimate. Instead, other techniques must be utilized to provide accurate positioning. One of these is trilateration based on WiFi signal strengths. This is an auspicious technology to use partly because of the large number of access points (APs) in our everyday environment, and partly due to the possibility of measuring signal strength with a normal smartphone. The technique is further enabled by the move to include transmitters at 2.4 as well as 5 GHz in modern APs, providing a better basis for accurate position estimations. Furthermore, the motion sensors present in today’s smartphones are accurate enough to provide a short-time estimate of the user’s movement with high accuracy. In this thesis, both of these technologies are used to develop an accurate method for indoor positioning, and the contributions can be summed up into two points.<br /> <br /> The first contribution is an investigation of the behavior of two WiFi frequencies, 2.4 and 5 GHz, where their time dependent noise is proven to be almost uncorrelated with each other. This is then exploited to develop aWiFi-only trilateration algorithm by the use of a particle filter (PF), where the only restriction is that the locations of the APs need to be known.<br /> <br /> The second contribution is adding an accelerometer and a gyroscope to the algorithm, to provide a more accurate estimation. A step counter is developed using the accelerometer, and the gyroscope detects changes in heading while the WiFi signal strengths give information about the position. This makes it possible to alongside the position also estimate both heading and step length, while still keeping the only restriction of knowing the AP locations. The resulting algorithm produces position estimates with a mean error less than two meters for a specific use case, and around three meters when a more lenient user behavior is allowed. http://lup.lub.lu.se/student-papers/record/4317328/file/4317329.pdf application/pdf 2864956 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5932--SE http://lup.lub.lu.se/student-papers/record/4317328/file/4317331.pdf application/pdf no 4317328 2014-02-19T11:39:35+01:00 2014-02-19T13:48:05+01:00 2014-02-19T13:48:05+01:00 3 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Axel Keskikangas author Gustav Sällberg author Henrik Pettersson supervisor Björn Olofsson supervisor Giacomo Como supervisor Department of Automatic Control v1000253 department Decreasing fuel consumption and increasing road capacity are both desired in regards to heavy duty vehicles. One proposed way of doing this is by having vehicles travelling at close distances to reduce the air drag, and thereby reducing their fuel consumption. This thesis address the platooning problem on model-scale vehicles as they are a desirable demonstration platform since they can be driven indoors.<br /> <br /> This thesis considers the implementation and evaluation of the longitudinal control of a model-scale vehicle platoon where Model Predictive Control is utilised. The concept of platooning on real full-size vehicles is briefly discussed and some of its benefits are described. The thesis then discusses and evaluates what sensors are necessary to equip the model vehicles with and how to implement them, in addition to a discussion and evaluation of inter-vehicular communication in an indoor environment is provided. Then, based on the available sensors, a heuristic feedback controller and a model-based controller is designed as distance controllers, as well as a feedback controller used for speed control, and then connected in a cascading structure. The two controllers are then evaluated in simulations based on different<br /> scenarios and finally results from a working implementation on the model-scale vehicles are presented.<br /> <br /> The end results from this thesis are a demonstration platform of two model-scale electrical vehicles as well as two different distance control algorithms both based on using the cruise control developed in the vehicles. http://lup.lub.lu.se/student-papers/record/4317334/file/4317335.pdf application/pdf 8609493 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5933--SE http://lup.lub.lu.se/student-papers/record/4317334/file/4317337.pdf application/pdf no 4317334 2014-02-19T11:50:12+01:00 2014-02-19T13:47:15+01:00 2014-02-19T13:47:15+01:00 4 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Kristofer Rosquist author Anders Robertsson supervisor Professor Tore Hägglund supervisor Department of Automatic Control v1000253 department This Master’s Thesis shows how to model the kinematics and forward dynamics for the parallel kinematic robot from ABB, IRB340 FlexPicker, and how to implement the control using software and hardware from B&amp;R Automation. With conventional methods the forward kinematics, inverse kinematics and the kinematics for the velocities and accelerations of the robot are modelled. The forward dynamics, calculating the generated motor torques, of the robot is modelled with MapleSim and code generation of this model, to be implemented in the software from B&amp;R<br /> Automation and used online during control, is used. In the software from B&amp;R Automation, B&amp;R Automation Studio, the kinematic model, path trajectories for the TCP with polynomial functions, an interface between the software and a PC and programs for communicating with the drives are also implemented together with a main program. To simplify, analyze and calculate equations Maple is used.<br /> <br /> Experiments using the generated torque are made for comparison with the model and to improve it. The model is improved by measuring the friction torque and the torque caused by the inertia of the motor, a gear and one robot arm.<br /> <br /> Because of the parallel structure of the robot the generated dynamic equation consists of complex differential equations which can overload the PLC during solving. To ensure stability of the dynamic model a second dynamic model with constraint stabilization is generated for use during slower movements. Despite the risk of starvation of the PLC the robot is moved at 10 g acceleration with good result comparing calculated and actual torque. Without using the desired feedforward from the dynamic equations, but instead using a simpler less dynamic feedforward method, the robot is accelerated at 16 g. http://lup.lub.lu.se/student-papers/record/4332966/file/4332967.pdf application/pdf 1941576 no 2013 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5929--SE http://lup.lub.lu.se/student-papers/record/4332966/file/4332969.pdf application/pdf no 4332966 2014-02-26T15:38:37+01:00 2014-03-03T11:28:32+01:00 2014-03-03T11:28:32+01:00 5 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Riccard Andersson author John Weisend supervisor Rolf Johansson supervisor Department of Automatic Control v1000253 department The European Spallation Source, ESS, is a joint collaboration of 17 European countries, where the world’s most powerful neutron source will be built for future research within a vast variety of fields. In order to deliver the highly energetic neutrons, protons are accelerated to energies in the GeV range and then collided with a spallation target. This acceleration process requires superconducting cavities cooled down to slightly over 2 K, and this cooling is done through the cryogenic system using helium.<br /> <br /> In this project, the cryogenic system at ESS has been modeled in Dymola. Simulations have been made of the cool-down and warm-up of the superconducting part of the accelerator. This was done in separate simulations for the cryogenic distribution line and for an individual cryomodule. Additionally, a model was created for the helium discharge system, in order to size the vent line leading rapidly expanded<br /> helium from the cold masses back to the cryoplant. The mathematical tools and structure of the modeling are described in a separate chapter. http://lup.lub.lu.se/student-papers/record/4392724/file/4392725.pdf application/pdf 2870337 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5939--SE http://lup.lub.lu.se/student-papers/record/4392724/file/4392727.pdf application/pdf no 4392724 2014-04-11T11:35:24+02:00 2014-04-28T12:04:47+02:00 2014-04-28T12:04:47+02:00 6 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Johan Larsson author Jan Sternby supervisor Professor Tore Hägglund supervisor Department of Automatic Control v1000253 department When treating patients suffering from renal failure with hemodialysis, an obvious point of interest is the actual blood cleaning efficiency of the dialyzer (artificial kidney). This efficiency is called clearance or dialysance.<br /> The method currently used for estimating clearance is based on doing a step-change on the process. Due to the nature of the process, this method is slow and has a relatively large output spread.<br /> This master thesis investigates a new method of finding clearance by means of system identification. The dialyzer is modelled as a discrete-time system, and perturbed by use of a pseudo-binary random sequence. The input/output-data is then fed into an optimal Kalman filter for parameter estimation. The gain and offset of the identified system is directly related to the dialyzer clearance of the treatment.<br /> The method shows promising results, usually converging to good parameters within 15 minutes, and then tracking changes continuously for the rest of the treatment. It also provides better accuracy, with a considerable reduction in spread compared to the old method. Main obstacles stem from variable time-delays in the system and measurement offsets. http://lup.lub.lu.se/student-papers/record/4394033/file/4394043.pdf application/pdf 8117661 no 2014 eng System identification pseudo-random binary sequence PRBS Kalman filter hemodialysis dialyzer modelling Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5934--SE http://lup.lub.lu.se/student-papers/record/4394033/file/4394045.pdf application/pdf no 4394033 2014-04-17T09:37:38+02:00 2014-04-28T11:53:54+02:00 2014-04-28T11:53:54+02:00 7 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Thomas Daun author Anders Robertsson supervisor Björn Olofsson supervisor Rolf Johansson supervisor Department of Automatic Control v1000253 department The demand of today for advanced manufactured parts with high precision is due to the increasing complexity of technologies. The parts are typically made by CNC (Computer Numerical Control) machines, which are expensive and comparably big. By using industrial robots that are significantly cheaper, reduced costs can be achieved, which is particularly beneficial for small and medium enterprises. Robots are, however, less stiff and strong and are less accurate compared to the CNC machines.<br /> <br /> In this thesis, the idea was that by designing a controller, this could be compensated for so that the robot could perform machining with high precision. The research made in this thesis was part of the EU co-funded research project COMET.<br /> <br /> The robot task was to repeatedly mill parts with improved results. Iterative Learning Control (ILC) was therefore chosen as a suitable control strategy for this task. It uses the position error from previous iterations and adds it to the control signal to converge the output to successful results. Results showed that when using ILC for tracking paths, the position error could be reduced with approximately 11-20% in x, y, and z directions after one iteration. http://lup.lub.lu.se/student-papers/record/4462212/file/4462448.pdf application/pdf 2579283 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5942--SE http://lup.lub.lu.se/student-papers/record/4462212/file/4462457.pdf application/pdf no 4462212 2014-06-10T14:55:32+02:00 2014-06-13T11:18:16+02:00 2014-06-13T11:18:16+02:00 8 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Taravat Saryan author Rolf Johansson supervisor Nils Lundström supervisor Department of Automatic Control v1000253 department This work presents an observer design for grid current and capacitor voltage of voltage source pulse-width modulation (PWM) converters with LCL filter. Theoretical aspects including the mathematical LCL filter system observability, observer placement strategy and practical discretization implementation. It gives insight to mathematical modelling of the line filters dynamics. By the limitations of how the components in the line filter operates, the Kalman filter is adjusted accordingly.<br /> <br /> The strategy for designing the Kalman filter is presented. A time-varying KF is developed, benchmarked and implemented in simulator. Through an explanation of the magnetic field fundamentals, a nonlinear model of the inductors is modeled and used. An observer scheduling development has been<br /> implemented on the nonlinear system. The effect of sampling frequency is studied for KF and for the observer as well. At last the results are presented and analyzed. http://lup.lub.lu.se/student-papers/record/4464134/file/4464143.pdf application/pdf 685542 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5938--SE http://lup.lub.lu.se/student-papers/record/4464134/file/4464146.pdf application/pdf no 4464134 2014-06-12T13:12:36+02:00 2014-06-13T11:16:41+02:00 2014-06-13T11:16:41+02:00 9 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Samir Alagic author Viktor Nordgren author Josefin Berner supervisor Professor Bo Bernhardsson supervisor Department of Automatic Control v1000253 department Today, the most commonly used energy storage device in embedded systems is batteries. But unfortunately, batteries are associated with short lifetime. By introducing Electrochemical Double-Layer Capacitors (EDLCs) as an alternative power source, the lifetime of the backup energy source can be significantly increased.<br /> <br /> The lifetime is dependent on two predominant factors; temperature and voltage. To evaluate the aging behavior of EDLCs, accelerated lifetime tests where performed. The measurements were carried out on capacitors from two different manufacturers (Cooper Industries and Maxwell Technologies). The results were then used for lifetime estimations.<br /> <br /> To accomplish an increased lifetime, a control system is suggested which monitors the capacitance and controls the applied voltage i.e. ptimizing the amount of stored energy. A complete power back up system with EDLCs as power source and an associated control system, was built and simulated in Simulink. Furthermore, an electrical hardware prototype was implemented to create a proof-of-concept. It is found that the lifetime can be significantly increased when controlling the applied voltage, since the voltage can be held as low as possible at all time. http://lup.lub.lu.se/student-papers/record/4464268/file/4464293.pdf application/pdf 30942634 no 2014 eng Supercapacitor Ultracapacitor Electrochemical Double-Layer Capacitor Energy Storage Power Source MATLAB Simulink Embedded Systems Aging Lifetime Estimation Voltage Control Control System. Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5940--SE http://lup.lub.lu.se/student-papers/record/4464268/file/4464299.pdf application/pdf no 4464268 2014-06-12T14:29:35+02:00 2014-06-13T11:15:14+02:00 2014-06-13T11:15:14+02:00 10 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Elias Palmkvist author Toivo Henningsson supervisor Rolf Johansson supervisor Department of Automatic Control v1000253 department Grey-box identification is a tool to identify and improve nonlinear system models by estimating parameters. The estimation is done by optimizing a cost function using measurement data. The robustness of the estimations can then be analyzed with statistics. JModelica.org is a platform for modeling and optimization of dynamical models. In order to do grey-box identification one need models and be able to optimize. JModelica.org supports modeling and optimization so it has a huge potential to support grey-box identification. So far there is no complete solution for grey-box identification in JModelica.org. This work is focusing on how to implement greybox identification in JModelica.org in order to estimate parameters for nonlinear models. The theory of grey-box identification has been investigated as well as the possibilities with JModelica.org. Finally, an interactive method to estimate model<br /> parameters and a method to calculate the confidence intervals for the estimates have been implemented. The implementation has been tested for nonlinear models and works as expected. http://lup.lub.lu.se/student-papers/record/4465456/file/4465460.pdf application/pdf 6352134 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5941--SE http://lup.lub.lu.se/student-papers/record/4465456/file/4465463.pdf application/pdf no 4465456 2014-06-13T10:59:01+02:00 2014-06-13T11:13:28+02:00 2014-06-13T11:13:28+02:00 11 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Anton Karlsson author Mattias Wozniak supervisor Anders Nilsson supervisor Prof Karl-Erik Årzén supervisor Department of Automatic Control v1000253 department This master thesis investigates the possibilities to perform software validation tests on ECUs with customer-identical software. Instead of using a ”test specific” software which sends ”test specific” information on the CAN-bus this data is to be extracted from the target CPU by a JTAG debugger and integrated in the testing software CANoe. The benefit of this method is that it eliminates the problems that may be encountered during building of the ”test specific” software and that may affect other parts of the software.<br /> <br /> The work has been done at BorgWarner in Landskrona at the TTT-SW (software test) department. http://lup.lub.lu.se/student-papers/record/4469432/file/4469438.pdf application/pdf 1207624 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5945--SE http://lup.lub.lu.se/student-papers/record/4469432/file/4469440.pdf application/pdf no 4469432 2014-06-18T14:50:59+02:00 2014-06-23T09:57:11+02:00 2014-06-23T09:57:11+02:00 12 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Klaudius Werber author Anders Robertsson supervisor Department of Automatic Control v1000253 department This student thesis is part of the ROSETTA project that examines the possibilities of future manufacturing based on close human-robot interaction. <br /> In this report, the capabilities of a robot system that is controlled by the Kinect sensor of the Microsoft XBOX-360 are tested. A setup including two Kinect devices and one robot is presented. Applications for calibration of two Kinect sensors, robot workspace surveillance, face detection and shadowing the user&#39;s arm are introduced and evaluated concerning their effectiveness. Finally, the compatibility of the introduced setup with the objectives of the ROSETTA project is evaluated. It proves that the Kinect can strongly support developing solutions for these objectives. The thesis work was conducted at the Department of Automatic Control at LTH at Lund University, Sweden, in collaboration with the Institute of Integrated Sensor Systems at University of Kaiserslautern, Germany. http://lup.lub.lu.se/student-papers/record/2198971/file/2214422.pdf application/pdf 1459963 no 2011 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5888--SE key=5888 month=August 2198971 2011-10-25T13:19:23+02:00 2011-11-24T16:02:40+01:00 2011-10-25T13:41:07+02:00 13 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Peter Larsson author Anders Robertsson supervisor Peter Valdt supervisor Department of Automatic Control v1000253 department This thesis describes methods for treating servo-induced vibrations in<br /> robotics. The focus lies on portal robots (also called linear robots) that<br /> partially consist of hardware manufactured by Bernecker &amp; Rainer<br /> Industrie-Elektronik Ges.m.b.H. It is of interest in many industrial<br /> applications that there is some kind of vibration treatment in the control<br /> strategy. The main reason for this is that it can be time consuming having<br /> to wait for transient vibrations to fade. Another reason is that<br /> mechanical wear increases if there are vibrations present in the<br /> application. Emphasis lies on how to prevent servo-induced vibrations,<br /> however, active vibration damping through simple model based feedback is<br /> also briefly investigated. A comparison is also conducted between the<br /> derived preventive solution and an already existing one in the servo drive<br /> systems at hand. http://lup.lub.lu.se/student-papers/record/2204788/file/2221658.pdf application/pdf 2787549 no 2011 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5889--SE http://lup.lub.lu.se/student-papers/record/2204788/file/2214421.pdf application/pdf Populärvetenskaplig sammanfattning no key=5889 2204788 2011-11-16T13:47:58+01:00 2011-11-30T13:20:30+01:00 2011-11-16T14:26:39+01:00 14 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Viktor Andersson author Tommi Nylander author Sven Gunnar Tiljander supervisor Prof Karl-Erik Årzén supervisor Department of Automatic Control v1000253 department The majority of industrial control systems today are distributed over networks. These systems tend to be complex, and can be difficult both to configure and to analyze; therefore, there is definitely a gain in being able to simulate the behaviour of such a system prior to the actual implementation.<br /> <br /> This master’s thesis investigates the possibility to simulate the ABB automation system 800xA by expanding the Matlab/Simulink tool TrueTime. Throughout, the work has been focused on modeling the network communications and the internal behaviour of the control system nodes. Furthermore, the developed simulator has been used to examine a proposal to optimize traffic handling of the ABB specific protocol IAC.<br /> <br /> Different performance measures have been investigated, both regarding control and network performance. One measure of particular interest has been the round trip time of a packet. The simulator has proven to be able to reproduce results of round trip times measured in an example system, explaining timing behaviour originating deep down in the control system nodes. Other simulations have involved different system settings, analyzing their impact on system performance. http://lup.lub.lu.se/student-papers/record/4500403/file/4500406.pdf application/pdf 4238779 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5949--SE http://lup.lub.lu.se/student-papers/record/4500403/file/4500408.pdf application/pdf no month=jun 4500403 2014-06-25T15:42:53+02:00 2014-06-30T09:06:14+02:00 2014-06-30T09:06:14+02:00 15 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Christer Engblom author Mirjam Lindberg supervisor Prof Karl-Erik Årzén supervisor Rolf Johansson supervisor Department of Automatic Control v1000253 department Evaluation of the Galil DMC–4080 as a closed-loop controller of a stepper-motor driven Stewart Platform with mm- and mrad- precision and resolution. The project involves a full implementation and optimization of kinematic equations, implementing modes of motion &amp; controller structure, as well the use of MATLAB simulations. The 4080 proves successful in static positioning but have limitations in timeperformances with the kinematics as well as smoothness of motion due to error handling. http://lup.lub.lu.se/student-papers/record/4519481/file/4519487.pdf application/pdf 4064137 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5946--SE http://lup.lub.lu.se/student-papers/record/4519481/file/4519489.pdf application/pdf no month=jun 4519481 2014-06-26T13:02:01+02:00 2014-06-30T09:04:16+02:00 2014-06-30T09:04:16+02:00 16 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Daniel Persson author Fredrik Wadman author PhD Anton Cervin supervisor Alfred Theorin supervisor Prof Karl-Erik Årzén supervisor Department of Automatic Control v1000253 department In this master’s thesis, an industrial control system together with a network camera and servo motors were used to automate a ball and plate labyrinth system. The two servo motors, each with its own servo drive, were connected by joint arms to the plate resting on two interconnected gimbal frames, one for each axis. A background subtraction-based ball position tracking algorithm was developed to measure the ball-position using the camera. The camera acted as a sensor node in a control network with a programmable logical controller used together with the servo drives to implement a cascaded PID control loop to control the ball position. The ball reference position could either be controlled with user input from a tablet device, or automatically to make the labyrinth self-playing.<br /> The resulting system was able to control the ball position through the labyrinth using the camera for position feedback. http://lup.lub.lu.se/student-papers/record/4522749/file/4522762.pdf application/pdf 16388155 no 2014 eng ball and plate computer vision background subtraction PID object tracking Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5948--SE http://lup.lub.lu.se/student-papers/record/4522749/file/4522764.pdf application/pdf no month=jun 4522749 2014-06-27T13:10:45+02:00 2014-06-30T09:01:36+02:00 2014-06-30T09:01:36+02:00 17 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Daniel Blasco Serrano author Gabriel Ingesson supervisor Rolf Johansson supervisor Department of Automatic Control v1000253 department The topic of this thesis is system identification and control of two different internal combustion engines, Partially Premixed Combustion (PPC) engine and a more conventional Combustion Ignited (CI) diesel engine. The control of both engines is aimed to emission reduction and to increase the efficiency. There is an introduction to the internal combustion engine, as well as theory used about system identification and Model Predictive Control (MPC).<br /> <br /> A physical model of a PPC engine was designed. With this model, it was possible to perform simulations and to obtain data to design a cycle-to-cycle state space model used subsequently by the MPC controller.<br /> A black box model of the CI engine was designed using data of a real CI engine from another project. After designing the model, a MPC controller was created. The aim of this controller was to reduce emissions and to increase the efficiency of the engine. http://lup.lub.lu.se/student-papers/record/4587321/file/4587322.pdf application/pdf 2421993 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5943--SE http://lup.lub.lu.se/student-papers/record/4587321/file/4587324.pdf application/pdf no 4587321 2014-08-14T09:14:46+02:00 2014-09-03T10:02:04+02:00 2014-09-03T10:02:04+02:00 18 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Fredrik Johnsson author Olle Svensson author Umut Tezduyar-Lindskog supervisor Martina Maggio supervisor Prof Karl-Erik Årzén supervisor Department of Automatic Control v1000253 department This master thesis tackles the problem of limited computing resources on a camera that is executing computing applications together with image acquisition and streaming. The thesis was carried out at Axis Communications in cooperation with the Department of Automatic Control at Lund University.<br /> <br /> The problem of limited resources on an Axis camera is handled by a two part solution where a resource manager (RM) distributes the available resources and services can adapt their service level (SL) in order to finish their jobs on time. The solution is based on game theory, where services are players, varying their service levels in order to get a good match between given resources and their computing requirements. This service level adaptation scheme is implemented for the streaming service on the camera and for some test services, performing mathematical operations. The resource manager is incorporated into systemd, and uses cgroups [16] to distribute the computing capacity. The experimental results show that the resource manager is fully operational and capable of managing and prioritizing resources as intended on the embedded system. http://lup.lub.lu.se/student-papers/record/4587327/file/4587328.pdf application/pdf 2483615 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5952--SE http://lup.lub.lu.se/student-papers/record/4587327/file/4587330.pdf application/pdf no 4587327 2014-08-14T09:23:58+02:00 2014-09-03T09:59:40+02:00 2014-09-03T09:59:40+02:00 19 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Christian Månsson author Daniel Stenberg author Simon Yngve supervisor Rolf Johansson supervisor professor Anders Rantzer supervisor Department of Automatic Control v1000253 department Multirotor UAVs have in recent years become a trend among academics, engineers and hobbyists alike due to their mechanical simplicity and availability. Commercial uses range from surveillance to recreational flight with plenty of research being conducted in regards to design and control.<br /> <br /> With applications towards search and rescue missions in mind, the main objective of this thesis work is the development of a mechanical design and control algorithm aimed at maximizing wind resistance. To these ends, an advanced multirotor simulator, based on helicopter theory, has been developed to give an accurate description of the flight dynamics. Controllers are then designed and tuned to stabilize the attitude and position of the UAV followed by a discussion regarding disturbance attenuation.<br /> <br /> In order to study the impact of different design setups, the UAV model is constructed so that physical properties can be scaled. Parameter influence is then investigated for a specified wind test using a Design of Experiments methodology. These results are combined with a concept generation process and evaluated with a control engineering approach. It was concluded that the proposed final design should incorporate a compact three-armed airframe with six rotors configured coaxially. http://lup.lub.lu.se/student-papers/record/4610294/file/4610295.pdf application/pdf 3743100 no 2014 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5947--SE http://lup.lub.lu.se/student-papers/record/4610294/file/4610297.pdf application/pdf no 4610294 2014-08-22T15:57:04+02:00 2014-09-03T09:57:40+02:00 2014-09-03T09:57:40+02:00 20 1.1issn any "1401-9191 0280-5316 0280-5316"issnany1401-9191 0280-5316 0280-5316