I detta examensarbete behandlas numeriska algoritmer för att tranformera systemet S(A,B,C,D) på observerbar och styrbar kanonisk form. Programmen kan även användas för att beräkna koefficienterna i överföringsfunktionen för S(A,B,C,D).

Insulin Dependant Diabetes Mellitus(IDDM) is a chronic disease characterized by the inability of the pancreas to produce sufficient amounts of insulin. To cover the deficiency 4-6 insulin injections have to be taken daily. The aim of this insulin therapy is to maintain normoglycemia, blood glucose level between 4-7 mmol/L. To determine the amount and timing of these injections different approaches

Syftet med uppsatsen är att undersöka hur ekonomistyrningen i ett franchisebolag ser ut samt belysa skillnader i styrningen mellan franchiseenheter samt egenägda enheter. Metoden som används är en fallstudie över Waynes Coffee där empirisk data insamlas med hjälp av kvalitativa, semi-strukturerade intervjuer med franchisetagare. Resultatet utmynnar i att det finns en mycket tydlig skillnad i st

The purpose of this study was to examine how staff at residential care homes for youths reason about issues relating to sexuality and sexual relations of the youths. The purpose was also to examine how staff perceive the availability, or lack thereof, of relevant educational resources and guidelines in this area, such as action plans, brochures, further training about sexuality during employment,

Internet har inneburit en förändring ur många många aspekter. Tekniken har medfört förändringar för hur vi kommunicerar, samlar in och delar med oss information och material m.m. Denna utveckling har medfört ett flertal intressekonflikter. Det kan handla om att skyddat material, till exempel upphovsrättsskyddad musik, kan spridas utan rättighetsinnehavarens medgivande eller att personuppgifter ellInternet has resulted in changes in many aspects. The technology has brought changes in how we communicate, retrieve and share information and material etc. This development has resulted in several conflicts of interests, that encompass protected material such as copyrighted music that can be shared without the consent of the copyright owner or that private information about an individual is circu

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

The use of haptics in teleoperation and robotics can help the human operator to greatly improve the performance. This master thesis presents a haptic interface between a haptic device, a Phantom Premium A, and an industrial robot, an IRB140B, on which a force sensor was mounted. This will enable a human operator controlling the Phantom to get information about the environment surrounding the IRB14

The objective of this thesis has been to develop the foundation for a robot system that catches darts. A dart board is to be mounted on a robot. When a dart is thrown at the board, it is detected by cameras, and an algorithm predicts where the dart will hit the board. The goal is then to move the board in such a way that the dart hits at the desired coordinate, typically the bull's eye. This r

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

In this thesis a control loop asset monitor is developed for ABB's automation system 800xA. The asset monitor developed here is based on ABB's Loop Performance Manager, which also is described here as well as the general properties and functions of an asset monitor. The asset monitor is a prototype for the 800xA system and a detailed description of how to implement asset monitors into the

In this master thesis, it will be shown howto estimate the unknown environmental forces acting on different vehicular and robotic systems. As force sensors are expensive, complex and not suitable to operate in hazardous environments, we present an approach to force estimation using model based observers. Only position measurements are assumed to be available and it will be shown how to use this fo

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

This thesis describes the development of a object tracking mobile robot. The robot is built on an Olympus IV development board, with an Linux operating system. The camera, used to track a moving object, is an Axis 215 PTZ with a built-in motor. The suitability of the Olympus IV development board and Linux operating system in this context are evaluated. The thesis describes the computer vision and

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

Real time information about the current road surface (friction coefficient) would be of great help for most of the vehicle systems of today. Vehicle stability systems like ABS and ESP would perform considerable better with friction knowledge. Dynamic All Wheel Drive torque distributors would, with friction knowledge, substantially enhance the behavior of the vehicle. In this thesis an enhancement

In a wireless communication system, the channel is ever changing due to multipath properties such as excess delays and constructive and destructive interference. In a step to optimize system performance, it would be beneficial to have access to channel state information of both present subchannels' future development and subchannels outside the currently used frequency interval. In this thesis

One of the most difficult problems that an engineer who works with modeling deals with, is the question about how to translate a physical phenomenon into a set of equations. It is usually difficult to capture all dynamics and phenomena, so one usually strives for a set of equations that describes the physical system approximately and adequately with the accuracy for the purpose. In our case, we mo

The purpose of this thesis was to examine the effects of time delay on a visual servoing system. We analyse the effect of time delays on a linear model of a robotic arm joint, as well as an ABB irb2400 robotic arm with 6 degrees of freedom. This master thesis is consequently divided into two separate parts. The first concern of the project is to deal with the design of the visual servoing system.