When controlling a wheeled mobile robot with four independently steerable driving wheels, the control of the wheel coordination must be handled. Both the direction and velocity of the wheels must be coordinated to allow for proper operation of the robot. The focus of this work is on the coordination of the wheel directions. Such coordination is mostly done by solving constraint equations of the sy

The objective of this thesis is to reduce the alarms in the control rooms of the processing industry and to investigate a strategy for working with the alarms. The problem with the alarms in the automation system is a result of the highly automated production and failure to design the alarms for the operator. The situation analysis showed problems with badly tuned alarms and cascade of alarms. The

Heavy-duty vehicles of today consist of much electronics and many sensors. One of these sensors is a longitudinal accelerometer. This Master's thesis investigates the possibilities to determine the road slope angle with a longitudinal accelerometer. With the knowledge of current road slope angle, many other control systems in the trucks can be improved. The optimization of these control system

Every car has its own cornering dynamics, some are oversteered, meaning that they respond more to a steering input, and some are understeered, responding less to a steering input. These dynamics depend on a wide range of parameters, the size and weight of a car and the distribution of the weight to name a few. The main part of this thesis is aimed at controlling the cornering dynamics. More specif

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