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In many application areas in industrial production, industrial robots are utilised for performing various tasks. Frequently a predefined geometric path exists, such that the robot should track this path with its tool centre point. The tracking is often to be performed with certain criteria specified, such as minimisation of time or energy. Accordingly, path tracking problems can often conveniently
The cerebellum, a fist-sized structure of the brain, plays a crucial part in the execution and coordination of motor control tasks and cognitive activities. It is also remarkably able to adapt itself to new tasks and circumstances whenever errors in motor output are made. Over the years, valuable insight on cerebellar functionality has been gained through the application of concepts traditionally
The ball-and-beam process is one of the most famous control laboratory processes [1]. At the Department of Automatic Control at Lund Institute of Technology a light-weight ballandbeam process has been made portable by implementing the controls on a laptop with a webcam. The main contribution of this master thesis was the testing and implementation of a variety of vision-based algorithms used to lo
As of date, quantitative trading methods are a strong growing niche of trading. More and more sophisticated models are employed to chase investment opportunities. The question is whether this is over-engineering and if it adds value to practitioners. We have found an interesting quantitative pairs trading strategy that belong to the family of relative value strategies. The studied stochastic contr
With global warming and increased uncertainty about future vehicle fuel supply, the need for fuel efficient vehicles is growing. In this Master Thesis, design and implementation of a control strategy for fuel efficient deceleration is presented. The resulting deceleration controller, implemented in Embedded Matlab and Simulink, provides autonomous deceleration functionality to a vehicle cruise con
This thesis evaluates whether it is possible to use conjunctural indices from Statistics Sweden (Statistiska Centralbyrån) in order to improve the sales predictions at a Swedish gas company. For this purpose sales data for three of the main gases are gathered from the year 1995 and forth. In the first step, this data is used to create ARX and State Space models. Sales predictions are made from the
Engine knock is an undesired phenomenon in spark ignited internal combustion engines; such as a gasoline engine running the Otto cycle. Knocking originates from abnormal combustions at timings other than those decided by controlled ignition. Individual abnormal combustions of this type is also referred to as auto-ignition. Knocking is not only a limitation on engine efficiency and thus of environm
This contribution outlines an XML format for representation of differential-algebraic equations (DAE) models obtained from continuous time Modelica models and possibly also from other equation-based modeling languages. The purpose is to offer a standardized model exchange format which is based on the DAE formalism and which is neutral with respect to model usage. Many usages of models go beyond wh
This Master Thesis presents the necessary steps to manufacture a piece, starting from the draw in the software Pro/ENGINEER and then processing the generated G-code to create a RAPID program understandable for the robot. Some additions required to make the code work on the Teach Pendant of the IRB 2400-16 are explained in detail. Apart from the RAPID program, the robot is also controlled with the
The purpose of this Diploma thesis is to develop and implement an interactive simulator for a surgical robot in a Telepresence application. The focus is on an incision procedure of a scalpel during an operation. The geometric deformation of the simulation is based on a Finite Element Method (FEM) model which has to cope with discontinuity due to the incision through the body. The FEM modelling can
Wind power is subject to intensive research in the development of using more renewable energy. With a growing number of countries aiming at reducing carbon dioxide emissions, increasing investments are being made in wind turbines and wind farms. An intriguing option is to build large wind farms at sea. There are many challenges with building large offshore wind farms. This Master's thesis addr
A monochromator is a part of a spectrometer in which the grating scans the different wavelengths over the exit slit. A full spectrum is generated as the grating scans over a predefined interval. The grating must accelerate to a set speed very fast, then keep the speed constant over a predefined interval, and break to reverse the scan. On top of this come disturbances from an optical filter, causin
New products on the market are likely to be simulated in a computer sometime during the development process. The environment for which the physical model of the product is developed may not always be the optimal for control simulations of the model. To be able to export models from one environment to another a common model definition must be defined. The Functional Mock-up Interface, FMI, provides
Gas leaks are an important safety issue in oil and gas production. For example, natural gas often contains large portions of hydrogen sulfide, a gas that is lethal to humans in concentrations as low as 0.1%. In addition natural gas itself is explosive. During the past fifteen years, a considerable number of studies have been made into how to detect and localize gas leaks. Equipped with sensors mea
The efficiency in an internal combustion engine ranges from 25% to 45%. About 50% - 85% of the overall energy losses in a combustion engine is heat which is either cooled away by the vehicle's radiator or blown out with the exhaust gases. The heat has to be cooled off by the vehicle's cooler and this energy is never put into use again and is therefore called 'waste heat'. Even if a
As more functionality and complex systems are combined in limited settings the need for resource management is becoming increasingly important. Resources such as computing capacity, battery power and communication channels need to be divided between different applications and hardware to achieve the highest global performance. Traditionally the computing capacity has been handled by the system sch
In an industrial plant availability is an important factor since increased availability often gives an increase of final production which in many cases means an increased profit for the company. It has been shown that good strategies for buffer management could increase the availability of an entire plant which motivates further research in this area. To be able to compute the optimal solution to
This Master Thesis describes the mathematical modeling of a Delta-3 robot actuated by motors and drive units developed by ELAU GmbH. A given model of the ELAU GmbH drive unit and motor is used when building the Delta-3 robot model including three drive units, one for each motor to be able to actuate the three upper arms. The Delta-3 robot model is divided into kinematics and dynamics parts. The ki
A project at ABB CRC in Västerås aims at investigating the use of an MPC algorithm as a control module in 800xA. For users to interact with such a controller, faceplates need to be designed. This report describes the process, and results of designing such faceplates using among other the ABB Graphics Builder application. The challenge with the design work was mainly to create new and unique compon
Linear models were identified from glucose-insulin data of a type 1 diabetic patient. The models were used for simulation and prediction with 10, 30, 60, 90 and 120 min prediction horizon. The predictions were able to track the measured blood glucose, at least for the lower prediction horizons, so that hypo-and hyperglycemic events can be prognosed. The best predictions were achieved with ARX and
