Sharpening knives by hand is both time-consuming and exhausting, and may still not always yield perfect results. This thesis investigates the possibility of sharpening knives with the use of a force-controlled industrial robot, regardless of the knifes shape. The procedure is performed by first identifying the shape of the knife, using Matlab Simulink to simulate the identifiation; two different t

This thesis proposes a solution to the problem of making an autonomous nonholonomic ground vehicle track a special trajectory while following a reference velocity profile. The proposed strategies have been analyzed, simulated and eventually implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous vehicles. The system architectu

A 3G mobile phone must have the ability to control its output power with high precision. A power detector is used to measure the actual power outputted by the power amplifier to the antenna. With higher data rates the traditional implementations with peak detectors have become very difficult to use, which is why true RMS detectors are needed. In this thesis the digital part of a true RMS detector

By measuring structure-borne sound from bearings, a conclusion about their condition can be made. The measurements are done with accelerometers which should be attached as close as possi-ble to the bearing. The signal from the accelerometer may have to be lowpass filtered before being A/D-converted and stored. These steps have to be done in real time. The analysis of the signal is done afterwards.

This is the report of a thesis work about controlling an autonomous wheel loader. The objective of the work was to create a complete prototype of an autonomous wheel loader that can operate without any seated driver and without any kind of remote controlling. Another important objective was that this prototype needs to support future development of the autonomous wheel loader. The work was complet

The Volvo Group has an ambitious plan to efficiencies its construction equipment vehicles with an introduction of a hybrid engine. This Master thesis is based on, as a first approach, to control the energy split in a hybrid construction equipment vehicle (HCEV) with the control strategy Model Predictive Control (MPC). The work is divided into two main parts, where the first one is to create a piec

The study considers the scheduling problem of identical parallel machines subject to minimization of the maximum completion time and the maximum tardiness expressed in a linear convex objective function. The maximum completion time or makespan is the date when the last job to be completed leaves the system. The maximum tardiness is indicated by the job that is completed with the longest delay rela

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

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

Friction is present in all mechanical systems and causes a wide range of problems for control. The development of friction models and methods to account for friction in control has been an active research area for many years. A promising friction model that is capable of describing a wide array of observed friction phenomena is the LuGre model. This thesis deals with the application of friction co

Todays, industrial robots don't correspond to the needs of the Small and Medium sized Enterprises (SME). Indeed, industrial robots are in many cases too hard to program or too expensive to be used by this kind of enterprises. In order to respond to this need, a European project was created, regrouping five major European robot manufacturers and five leading research institute and universities,

I takt med att världens befolkning ökar och allt fler väljer att bosätta sig inne i staden ökar behovet av att hitta smarta och hållbara sätt att förtäta. En stad har sina begränsningar och därför har det genomgående i projektet varit viktigt att undersöka hur vi kan töja på stadens gränser och tillföra nya värden utan att tumma på befintliga kvaliteter. Att förtäta en stad är en möjlighet att höjAs the world population increases and more people choose to settle in the city the need to find smart and sustainable solutions to densify increases. A city has limitations and therefore it has been important to look at how we can stretch the city´s borders and adding new values without compromising the existing qualities. To densify a city is an opportunity to improve existing urban spaces and in

Syftet med den här uppsatsen är att undersöka vi-berättaren i Julie Otsukas The Buddha in the Attic utifrån Mikhail Bakhtins resonemang om heteroglossi. Begreppet heteroglossi beskriver ett språkligt fenomen som innebär att ett nationellt språk innehåller en mängd olika sociala språk. Enligt Bakhtin är förekomsten av heteroglossi även ett av de drag som särskiljer romanen från övriga litterära gen

Järnvägen utgör grunden för pendeltrafiken inom region Stockholm och störningar i järnvägstrafiken påverkar många resenärer. En vanlig orsak till störningar i järnvägstrafiken är att obehöriga personer vistas vid spåren. Mellan 2010-01-01 och 2015-05-18 har närmare 1100 händelser med obehöriga vid spår rapporterats i region Stockholm, varav drygt 80 fall resulterat i personpåkörningar med dödligt The railway constitutes the foundation of commuting in the region of Stockholm and disruptions in the railway traffic hence affects a lot of citizens. A common cause of disruptions is railroad trespassing and between 2010-01-01 and 2015-05-18 more than 1100 cases were reported in the region of Stockholm. The aim of this report is to map the grounds for railroad trespassing and to find measures to

This thesis investigates and numerically solves the Wohlfart-Arloch equations describing the electrical activity in the atrial part of the heart. This is done through operator splitting that is allowing the diffusion of ionic currents, and the local voltage-driven reactions in each cell to be de-coupled. The local reactions can be solved in closed form, and the diffusion part is solved with a spec

In this essay I have studied the video game Mass Effect franchise as an intermedia and transmedia phenomena. For the analysis of the empirical material I have adopted media scholar Henry Jenkins’ concept of transmedia storytelling. The purpose of this paper is to show how transmedia storytelling can appear around the 2010th century. To do so I have mapped out the different Mass Effect products in