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This master's thesis is about the implementation and evaluation of a small object-oriented automation system. By using a realtime Java VM from Jamaica, a sheet feeding magazine from the machine Tetra Aptiva Aseptic has been controlled. The expectations included to achieve more structured and safer programming, better documentation through UML and to separate application developers from develop
In modern batch plants, alarm floods overwhelming the operator is a common problem of ever increasing severity. As plant hardware increase in complexity and performance, measures such as downtime and meantime between failures, increase in importance and the need for a well-functioning exception handling routine therefore grows critical. In order to minimize downtime and hence boost production effi
This thesis is focused on modelling the pumping of the human heart. The modelling is limited to the left heart. Flows through the left heart were visualized by pathlines, streamlines and curl from 3D-velocity data acquired using 3D-velocity encoded magnetic resonance imaging (MRI). A mathematical model was developed based on control volume analysis, 3D-flow analysis and the latest developments in
People that have driven a car with a trailer at high speed know that the trailer can begin to oscillate. This oscillation is known as snake behavior. How much the car and trailer starts to oscillate depends on how the trailer is loaded. An empty trailer does not tend to oscillate, while a heavy loaded trailer, with the load centered over the trailer axle, oscillates more easily. For a normal perso
This thesis presents an implementation of a positioning and navigation system for a mobile robot using ultrasonic pulses and passive sensors that are part of a sensor network. The system uses the Telos Tmote Sky sensor-boards running Contiki. In addition to the Tmote Sky the mobile robot consists of a number of processors and is equipped with position encoders for the wheels in order to be able to
This thesis presents an implementation of a positioning and navigation system for a mobile robot using ultrasonic pulses and passive sensors that are part of a sensor network. The system uses the Telos Tmote Sky sensor-boards running Contiki. In addition to the Tmote Sky the mobile robot consists of a number of processors and is equipped with position encoders for the wheels in order to be able to
The balancing act of an inverted pendulum with a robotic manipulator is a classical benchmark for testing modern control strategies in conjunction with fast sensor-guided movements. From the control design perspective, it presents a challenging and difficult problem as the system is open-loop unstable and includes nonlinear effects in the actuators, such as friction, backlash, and elasticity. In a
This thesis addresses the issue of Information Systems (IS) security in pharmaceutical manufacturing which is closely related to the ISA 99 standard. The ISA 99 'Security for industrial Automation and Control Systems' standard is focused on the work for securing process automation systems from IS security threats. The main thought behind the ISA 99 standard is that a high level of IS secur
In this thesis simple vehicle models are compared to more advanced models. The parameters in the simple models have to be chosen in such a way, that the model behaviour is as close to the advanced model as possible. This parameter optimisation is done with help of The Optimica Compiler, wich generates AMPL files that solves the problems. To run a successful parameter estimation there is a need for
Optimal paths are useful when testing the performances of vehicles. In this thesis, optimal paths for vehicle models created in Modelica have been obtained. The optimal paths have been obtained by applying the theory of optimal control. The optimal control problem has been formulated with the Optimica language and has been solved with AMPL and IPOPT. Two approaches for finding optimal paths have b
The aim of the thesis is to model engine physics and dynamics and to design controllers based on the physical model. By implementing equations and solving them it's possible to describe the major phenomena in a four stroke engine running in HCCI mode. To describe the cycle-tocycle connection in the model a wall temperature model was introduced. This wall model is used to simulate the engine dy
TrueTime is a MATLAB/Simulink-based simulator for real-time control systems that has been developed at the Department of Automatic Control, LTH. The aim of this thesis is to port the TrueTime kernel block to the open-source Scilab/Scicos simulation environment. The original kernel block is a variable-step, discrete S-function written in C++. In this work, the Scicos engine should replace the Simul
In the process industry general TITO systems, i.e. systems with two inputs and two outputs, are usually assumed to be two separate systems. If the system is strongly coupled, the performance is generally poor, but usually nothing is done about this since there are no automatic means to improve it. The aim of this master's thesis is to develop a module with a completely automated design procedu
More than 90 % of all computers are embedded in different types of systems, for example mobile phones and industrial robots. Some of these systems are real-time systems; they have to produce their output within certain time constraints. They can also be safety critical; if something goes wrong, there is a risk that a great deal of damage is caused. Industrial Extended Automation System 800xA, deve
This Master's Thesis presents the development of methods for improved GPS navigation on Wayfinder Navigator, a mobile phone based navigation system developed by Wayfinder Systems. Focus has been put on off track detection, i.e. to detect a user diverging from the route given by the navigation system, and how the GPS position is presented to the user by the application. Improving off track dete
As a part of the RUNES project a robot has been developed and it has as a part of this theses been improved with an obstacle avoidance component. Work has also been done to make room for additional components on the Tmote sky (one of the micro controllers mounted on the robot) such as a power control component developed at KTH. Attempts has also been made to try to enhance the performance of the r
In many process industries samples are taken and analyzed in laboratories to monitor and ensure proper production conditions. If the analysis result is not within specification limits measures are taken to correct errors. It has proved to be hard to take the appropriate measures. The problem description fits into the confines of control theory and the aim is to make a fairly simple solution to a v
Most vehicles today use some kind of hydraulic brake system in order to stop the vehicle. There are other techniques that will not only decrease the stop length, but also create a more stable vehicle; an example of such system is the Electromechanical braking system. The problem with such a system is that the requirements of data transmission and reliability are different from the system that is u
Digital control theory normally assumes equidistant sampling intervals and a negligible or constant control delay from sampling to actuation, so called input/output latency. However this can seldom be achieved in practice. In the computer tasks interfere with each other through preemption and blocking when waiting for common resources. The execution time for each task may be data-dependant and the
The ModeGraph library offers improved flexibility of hybrid modelling and incorporates powerful properties of the Mode-Automata semantics. Concepts from Finite State Machines (FSM), Sequential Function Charts (SFC)/Grafcet and Statecharts are efficiently utilised to provide a flexible modelling environment that a broad audience can feel familiar with. Being able to guarantee mutual exclusivity of
