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The current control strategy in the degassing system in a Gambro AK200S dialysis machine leads to a rather noisy flow upstream in the machine. This is where different concentrates are added to the dialysis fluid and as the control of this adding is rather slow the unsteady flow leads to an unsteady conductivity of the dialysis fluid, which makes it difficult to evaluate the effect of the dialysis
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 is divided into two parts. The first part analyzes the asynchronous standard and the synchronous servo motor. Different experiments test the two motors differences to where they would fit the best according to application prerequisites. The second part presents the theory for interpolating two asynchronous standard motors, driving two vertically set linear units, connected by two brace
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
In the last couple of years it has become more and more common to use control theory in computing systems, for instance operating systems, web servers and databases. The reason for this is to make these systems more robust and stable. This is of interest because we today are more dependent on computing systems in our everyday life, and therefore put higher demands on them. A lot of focus has been
Control systems used by manufacturing companies today are often centralized. In such a system, the controller is concentrated to one location. As the production lines in Tetra Pak becomes more and more complex with growing costumer demand, a centralized approach becomes more and more inadequate. Agent-based technology provides a way to implement a desirable, robust and decentralized manufacturing
This thesis deals with the identification of the dynamics of a Parallel Kinematic Manipulator, namely the Gantry-Tau patented by ABB located in the Robotics lav at LTH, Lund. The approach considered for modelling is subspace-based identification of linear models, where measurements from the robot motion are used to estimate the unknown parameters in the models. Rigid body dynamics and flexible bod
In dealing with calorimetry, safety aspects are very important. It is therefore very useful to be able to study a process before carrying out experiments on it. A computer model can then be very useful to save time and money. The purpose of this thesis was to construct a computer model of the Chemisens reaction calorimeter, in the modeling software Dymola. For the purpose of the modeling, a new Dy
The SMErobot$^\texttrademark$ is an EU project aiming at giving small and medium enterprises the benefits of robotic automation. This thesis tries to solve the problem of teaching a robot how to grind a surface. The algorithm presented in this thesis reconstructs a surface by triangulating a point cloud. From this surface a path, covering the whole surface, is computed and translated into a RAPID
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
Genetic regulatory networks are biochemical reaction systems, consisting of a network of interacting genes and associated proteins. The dynamics of genetic regulatory networks contain many complex facets that require careful consideration during the modeling process. The classical modeling approach involves studying systems of ordinary differential equations (ODEs) that model biochemical reactions
This master thesis concerns the current and future development in the area of intelligent houses and home automation. It also describes a system for home automation developed for this thesis. Key words in the design are dynamic behaviour, flexibility, transparency and adaptability. The prototype has been built with a central, Java based, server. To this server, modules handling different communica
To simplify the programming of industrial robots a method called lead-through programming has been developed where the programmer basically leads the robot using his/her hands. The objective of this thesis has been to see how a safety system (protecting the tool from large forces) for a lead-through programming controller could be achieved by using an extra force sensor mounted at the tool. A modi
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
This thesis work focused on the study of a quadrotor helicopter. The dynamic system modelling and the control algorithm evaluation were carried out. To test the results, a simulator and a real platform were developed. The Newton-Euler formalism was used to model the dynamic system. Particular attention was given to the group composed of the DC-motor, the gear box and the propeller which needed als
The 1131-tasks that execute within the 800xA controller have been visualized by implementing three components extending the functionality of the 800xA control and automation platform. The components named TaskVisualizerCommServer (TSCS) and TaskVisualizerCommClient (TSCC) have been added to the controller and control builder respectively and are responsible for data collection and networking. The
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
Backlash is a well documented and rather common non-linearity which is present in most mechanical and hydraulic systems. The amount of backlash varies depending on the dynamics of the system, for example a gear box in a car needs some space for heat expansion and consequently some amount of backlash in order to function. It is of interest to detect and estimate the amount of backlash automatically
For the performance of the Haldex Active Yaw Control, accurate information about vehicle's lateral dynamic is important. It is for practical reasons not possible to measure the vehicle's lateral velocity, wherefore this state has to be estimated. Previous work [1] with an observer based on a single track bicycle model show promising results but with limited accuracy at high lateral acceler
