Filtyp
The human motor control is both robust and stable, despite large delays and highly complex motor systems with an abundance of actuators, sensors and degrees of freedom. The cerebellum is thought help accomplish this by compensating for external loads and internal limitations and disturbances through adaptation, creating inverse models of the motor system dynamics. The cerebellum does also exhibit
The area of power quality has received more and more attention during the last decade. Poor power quality is a growing problem, especially for the industry because it has a negative effect on production efficiency, power consumption and equipment life-span. Active filters are one of the more widespread solutions to these problems. An active filter is often sized and installed to compensate a speci
The overall objective of this study is to describe, analyse and suggest improvements on existing automatic exposure control systems in selected network video cameras. Since an image sensor has a limited dynamic range compared to a real scene, it is necessary to automatically control the exposure level and thus adapt to the amount of light in the scene. This can be done by adjusting parameters such
A climatisation controller for a car with multiple objectives is developed, implemented and tested in simulations. The design focuses on electric cars and their specific characteristics. In this context the goal has been to fulfil common comfort and safety standards while having a low energy consumption. The main idea of the control in order to achieve this is to use a simplified model predictive
The growing use of wind energy as major energy source, has led to the construction of large wind farms. The control of such wind farms is typically separated into control at wind turbine level and at wind farm level. The wind farm controller assures that the wind farm produces the demanded amount of power, by providing set-points for the turbines in the farm. The local turbine control assures that
The main goal of this project was to use the Modelica features on embedded systems, real-time systems and basic mechanical modeling for the control of a two-wheeled self-balancing personal vehicle. The Elektor Wheelie, a Segway-like vehicle, was selected as the process to control. Modelica is an object-oriented language aimed at modeling of complex systems. The work in the thesis used the Modelica
Robotic science points to integrate the robot in the normal life and operations, with the scope to help humans and improve their performance. Haptic is the field that tries to insert the sense of touch in the computer applications. It is easy to understand the modern interest to mix the robotic with haptic. One possible problem with this configuration could be the delay in the communication betwee
This study is an attempt to take advantage of a cerebellar model to control a biomimetic arm. Aware that a variety of cerebellar models with different levels of details has been developed, we focused on a high-level model called MOSAIC. This model is thought to be able to describe the cerebellar functionality without getting into the details of the neural circuitry. To understand where this model
The motivation behind the thesis lies in some interesting results in the article 'Portfolio Optimization Applications of Stochastic Receding Horizon Control' written by James Primbs, regarding applying control theory to problems in the financial market. The purpose will be to implement a method called Model Predictive Control, MPC, for selecting optimal portfolio weights in two portfolios
The body shows impressive control capabilities in terms of the speed and the precision with which movements can be carried out under a wide variety of circumstances. The cerebellum and brainstem nuclei, including the cuneate nucleus, are believed to play a crucial role in this control. If these control mechanisms can be unveiled, this could yield important insights in not only medicine and neuroph
This master thesis present a simulation environment developed in Matlab/Simulink, which can be used for control design and code generation for real-time control experiments for the Gantry-Tau parallel robot. The Gantry-Tau is a new parallel robot concept which offers great rigidity, high speeds and large workspace. The kinematics library presented in this thesis is developed for the 5 degrees of f
Physical modeling of the driveline is crucial in many areas within the commercial vehicle industries. To have an accurate model helps the understanding of physical phenomena and is important when performing computational tests and when designing, for example, traction controllers. The differential gear is often modeled as simple as possible, neglecting more complex behaviour. The main goal with th
In industrial biotechnical processes in fed-batch mode it is desirable to keep a high feed rate in order to achieve a high production rate, while simultaneously avoiding overflow metabolism. This means that the optimum of the process is close to the point where it risks crashing due to the effects of overflow metabolites. Probing control of feed rate is a control strategy for microbial processes w
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
