1.1 1395 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 1 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 2 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 3 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Carolina Lidström author Henrik Jörntell supervisor Department of Automatic Control v1000253 department The cerebellum is important for the control of movements, speech as well as mental activities. In the molecular layer of the cerebellum there exist interneurons which role in the cerebellar neural network is not yet fully understood. In this thesis, these interneurons are simulated by mathematical models in order to investigate their connectivity attern. Further, the input/output behavior of a delimited part of their neural circuit, with and without a biologically elevant feedback loop, is investigated. The interneurons are simulated by the Leaky integrate and Fire model in combination with the Escape Rate model in Spanne’s Simulation Environment.<br /> <br /> Connectivity patterns that recreate the behavior of the molecular layer interneurons in vivo are found, motivated by the comparison tools used in this thesis. In these connectivity patterns, five groups of interneurons are connected to each other as one creates the shape of a star. The delimited network with these connectivity patterns are suggestively non-linear. They delay and flip their input in order to create their output, with some affect on the shape of the signal. Most probably, the function of the feedback loop is to control the strength and length in time of the output of the cerebellum. http://lup.lub.lu.se/student-papers/record/3812555/file/3812561.pdf application/pdf 2355382 no 2013 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5916--SE http://lup.lub.lu.se/student-papers/record/3812555/file/3812563.pdf application/pdf no month=may 3812555 2013-06-13T11:06:25+02:00 2013-06-14T10:57:58+02:00 2013-06-14T10:44:45+02:00 4 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Henrik Knutsson author Michael Pettersson author Tommy Ikonen supervisor Prof Karl-Erik Årzén supervisor Department of Automatic Control v1000253 department The subject of this thesis was to investigate the possibility of a supplemental control algorithm to suppress gear alternation in the ZF ECCOM gearbox series. The acquired solutions were implemented on a dSpace MicroAutoBox II and connected to a Claas Xerion 5000 to evaluate their effect. The different approaches have gone through three steps of validation, first a Simulink model simulation, secondly a tractor simulator test, and finally tests on the real tractor. http://lup.lub.lu.se/student-papers/record/3812605/file/3812618.pdf application/pdf 4523001 no 2013 eng dSpace MicroAutoBox II ECCOM gearbox CVT continuously variable transmission gear hunting gear alternation range shifting CANape CANalyzer droop limit ZF Friedrichshafen AG driveline powertrain VDC ECU TCU vehicle CAN-buses Simulink. Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5917--SE http://lup.lub.lu.se/student-papers/record/3812605/file/3812620.pdf application/pdf no Month=May 3812605 2013-06-13T11:48:31+02:00 2013-06-14T10:45:01+02:00 2013-06-14T10:45:01+02:00 5 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 6 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 7 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 8 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 9 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 10 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 11 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 12 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 13 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 14 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 15 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Måns Engfors author professor Charlotta Johnsson supervisor Rickard Nilsson supervisor Department of Automatic Control v1000253 department As commercial mobile devices grow more powerful their field of application expands. A mobile device that looks more and more like a computer can also be used like one, even in a industrial context. There are many different commercial mobile software and hardware platforms on the market today. Companies in the process of incorporating such mobile platforms in their systems stand before a difficult decision. This thesis evaluates the most popular platforms today from a case companies industrial point of view and shine light on the most important questions that arise in the platform decision process. This entails defining an industrial context, identifying relevant user scenarios and compiling a requirement specification that<br /> evidently leads to a platform recommendation. The first step in doing this is to determine company-specific requirements, gather data by<br /> conducting interviews and examine the existing company specific systems. This is followed by evaluation of the available mobile<br /> platforms on the market today; Android, Symbian, IPhone, Blackberry and Windows Mobile. The purpose of this thesis is primarily to guide<br /> the company in this platform-decision process, but it can also be used as reference in future mobile development processes. Android is<br /> pointed out as the most suitable platform for future development and two prototypes are implemented fulfilling the most relevant user<br /> scenarios. The company is recommended to place as much functionality as possible in web solutions, since they are portable and often<br /> accessible from any platform. http://lup.lub.lu.se/student-papers/record/3024856/file/3024859.pdf application/pdf 650932 no 2011 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5881--SE http://lup.lub.lu.se/student-papers/record/3024856/file/3024861.pdf application/pdf no 3024856 2012-08-22T13:54:23+02:00 2012-08-22T14:21:16+02:00 2012-08-22T14:03:01+02:00 16 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Martin Ericsson author Prof Karl-Erik Årzén supervisor Anders Robertsson supervisor Magnus Linderoth supervisor Vladimeros Vladimerou supervisor Department of Automatic Control v1000253 department The main goal of this master thesis project was to take a manually controlled consumer quality quadrocopter and build the foundations which allows it to be autonomously controlled. This was achieved by introducing a exterior frame of reference through the use of a webcam coupled with image analysis algorithms. The position and rotation of the quadrocopter was identified, and several control structures were implemented and tested, which allowed the quadrocopter to be commanded to move to positions in space. Both the onboard ultrasound sensor, and an altitude estimation through image analysis were used to control the altitude of the quadrocopter. Position control in x, y and orientation (yaw rotation) completely relied on data extracted and analysed from the video stream. Control of velocity along a predefined trajectory was also successfully implemented, which enables future development of an obstacle avoiding path planner. Lastly, the master thesis also covers work carried out at ABB’s Strategic R&amp;D department for oil, gas and petrochemicals i Oslo, Norway. Here the focus was on using a quadrocopter to track and follow the motion of an industrial robot by analysing the video stream of the onboard camera. http://lup.lub.lu.se/student-papers/record/5385302/file/5432307.pdf application/pdf 537462 no 2015 eng Technology and Engineering 0280-5316 TFRT-5965 http://lup.lub.lu.se/student-papers/record/5385302/file/5385322.pdf application/pdf no 5385302 2015-05-13T16:13:44+02:00 2023-02-13T12:50:28+01:00 2023-02-13T12:50:28+01:00 17 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Ragnar Wernersson author Magnus Midholt supervisor Anders Robertsson supervisor Rolf Johansson supervisor Department of Automatic Control v1000253 department The goal of this master thesis is to set up a low cost automated robotic test system which can later be reproduced to greatly increase test coverage. Mostly through experimental research this thesis will find good components to use and evaluate these from a performance and cost perspective. It will also develop computer vision algorithms needed and automation software for the final set up. The performance of the robotics will be investigated by comparing with an industrial robot.<br /> A modified 6000 SEK 3D-printer was selected and proved to work. The computer vision was developed using OpenCV and a fully automated system with appropriate resulting plots was created. Comparing with the industrial robot the setup using a 3D-printer proved to work better because it allowed for better positioning of the camera. It was also concluded that the selected robot system based on a 3Dprinter<br /> was capable enough and would drastically lower the space and cost from a system using an industrial robot. http://lup.lub.lu.se/student-papers/record/5426211/file/5426221.pdf application/pdf 3949662 no 2015 eng Technology and Engineering 0280-5316 ISRN LUTFD2/TFRT--5967--SE http://lup.lub.lu.se/student-papers/record/5426211/file/5426223.pdf application/pdf no 5426211 2015-05-22T09:07:13+02:00 2015-06-01T09:32:20+02:00 2015-06-01T09:32:20+02:00 18 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Sandra Collin author Klas Nilsson supervisor Mathias Haage supervisor Björn Olofsson supervisor Anders Robertsson supervisor Rolf Johansson supervisor Department of Automatic Control v1000253 department Calibration of robots is an essential part of industry today when there is a high accuracy requirement. Several calibration methods have proven to be highly accurate but also expensive and time consuming to use. In this thesis a new calibration method has been developed. The method does not depend on any external measurement systems but instead rely entirely on the robot’s own sensors. The method is based on a closed loop system where a robot is connected to a double ball-bar attached to a rigid point. The ball-bar creates a constraint restraining the robot to a spherical surface. All measured joint positions are fitted to the sphere by altering the geometric representation of the robot. The issues with the method proved to be the process effects as well as dynamic effects influencing the joints and links resulting in incorrectly measured joint positions. Some of these unwanted effects were filtered by applying the clamping method to estimate the joint characteristics. When the new robot geometry was identified, a verification was performed. The verification resulted in an improved positioning of almost 80 % and an improved orientation of 23 % compared to the initial robot geometry. http://lup.lub.lu.se/student-papers/record/8870423/file/8870424.pdf application/pdf 3501422 no 2016 eng Technology and Engineering 0280-5316 TFRT-6000 http://lup.lub.lu.se/student-papers/record/8870423/file/8870426.pdf application/pdf no 8870423 2016-03-30T14:40:15+02:00 2016-03-30T15:02:29+02:00 2016-03-30T15:02:29+02:00 19 info:srw/schema/1/mods-v3.3xml studentPublicationsH3 Maid Delic author David Erol supervisor Rolf Johansson supervisor Prof Karl-Erik Årzén supervisor Department of Automatic Control v1000253 department The Swedish energy policy is guided by two government bills which were approved by the Swedish parliament in 2009 stating that at least 50 percent of the electricity share should be provided by renewable energy sources by 2020. This thesis focuses on the wind power production and it is a part of the Smart Grid Gotland (SGG) project. One of the goals stated by the SGG project is to have an optimal integration of large hosting capacity for wind power on an existing distribution grid.<br /> The main purpose of this thesis is to automate the curtailment of the wind power plants during critical transmission periods on Gotland, and doing so in a fair manner. The critical transmission periods occur on Gotland when one of the two HVDC links are under service. During this period, there can only be a power flow from the mainland to Gotland and this power flow cannot fall below 20 MW due to grid security and Gotland Energy AB (GEAB) are curtailing the wind turbines using a manual workflow from a Distribution Center (DC) where a safety margin for the HVDC link is set to 20 MW. The consequence of using a manual curtailment process is that the power flow from the mainland to Gotland is on an average of 40 MW during the critical transmission periods. This indicates that there is a waste of energy that could be used.<br /> The main goal of the thesis is to reduce the waste of wind power by automating the curtailment process. The approaches that were considered in this thesis were to document the presently used manual workflow for curtailing the wind power. This was done by using different techniques such as; Use Cases, BPMN charts and SGAM models. A solution with minimum set of modification on the present system and environment at GEAB, which automates the present workflow and reduces the waste energy was developed using a PI-controller with feedforward. In addition a generic state-ofthe- art solution taking standardization and performance as the main driver was developed for potential future use. Lastly, a concept for fair curtailment was investigated for distribution of the total wanted power reduction to the wind turbines.<br /> The results indicated that the set-point for the HVDC could be lowered to 23 MW by using the automated process. The approach for the fair curtailment that was considered was based on the contracted power for each wind power plant. Each wind power plant is to be curtailed according to the ratio of the contracted wind power of the wind power plants to the combined contracted power of each wind power plant. http://lup.lub.lu.se/student-papers/record/8870740/file/8870741.pdf application/pdf 3608293 no 2016 eng Technology and Engineering 0280-5316 TFRT-6004 http://lup.lub.lu.se/student-papers/record/8870740/file/8870743.pdf application/pdf no 8870740 2016-04-06T09:11:38+02:00 2016-04-06T12:05:43+02:00 2016-04-06T12:05:43+02:00 20 1.1issn any "1401-9191 0280-5316 0280-5316"issnany1401-9191 0280-5316 0280-5316