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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
Robot control systems and other manufacturing equipment are traditionally closed systems. This circumstance has hampered system integration of manipulators, sensors as well as other equipment, and such system integration has often been made at an unsuitably high hierarchical level. With the aid of vision, visual feedback is used to guide the robot manipulator to the target. This hand-to-target tas
Robot control systems are traditionally closed system. With the aid of vision, visual feedback is used to guide the robot manipulator to the target in a similar manner as humans do. This hand-to-target task is fairly easy if the target is static in Cartesian space. However, if the target is dynamics in motion, a model of this dynamical behaviour is required in order for the robot to predict or tra
The development of steer-by-wire involves an increased amount of possibilities for control in future cars. For example, the experimental vehicle available has both front and rear wheel steering. This enables a simultaneous multivariable control of both the yaw rate and the side slip angle. The today existing control approach is designed in the time domain and it has a decoupled control structure,
This report summarizes a master-thesis project where the goal has been to control a submarine vehicle. The vehicle is used to take video films of the bottom of the sea. For this reason, it is desired to keep the vehicle at a constant distance over the sea bottom. The workconsist of a model-building phase, where a frequency-response experiment is performed on the vehicle. Based on this model, sever
Recent progress in parameterization of linear robust controllers has made it possible to investigate advanced controller specifications numerically using convex optimization. The main focus of this thesis project is to investigate how to design a LTI controller for a LTI plant using convex optimization, particularly Linear Programming technique. The concerned performance specification is defined a
This master's thesis involves design and implementation of an infrared link between an air diffuser and a Palm handheld computer. The diffuser, IDCC (Intelligent Diffuser for Climate Control), is developed by LindinVent AB. The application can download current controller variables and parameters and send new parameters to the diffuser. For adjusting parameters on the Palm an intuitive graphica
This master thesis evaluates control algorithms for control applications using Bluetooth in the loop. It is done in order to investigate whether Bluetooth can be used in hard real-time control loops or not. The control algorithms suggested in this work are evaluated on a real process, the Furuta pendulum, due to the unstable nature of the process. This will assure that the Bluetooth communicati
In order to maximize the biomass yield in fed-batch cultivations of Saccharomyces cerevisiae, a pulse feeding strategy originally developed by Mats Åkesson at the department of automatic con-trol (Åkesson, 1999), was implemented. The controller was intended to keep the specific glucose uptake rate, qs, below the critical specific glucose uptake rate qs crit , to avoid over-flow metabolism. Simulat
The aim of this project is to make a predictive controller of a part of an irrigation channel. The channel is called ``The Haughton Main Channel'' (HMC) and is situated in Queensland. Irrigation channels are used by farmers all around the year and it is important that they deliver water on demand. The project has been made in cooperation with the Department of Electrical and Electronic Eng
To use vision in a robotic setting it is important to achieve realtime performance. Real-time vision may be used to directly steer robots using for instance visual servoing techniques. In this thesis, an experimental vision setup using a stereo rig mounted on an industrial robot (ABB Irb-6) was built from ground up and then used to perform two experiments; visual servoing and collection of data fo
This is a report of how the two Telelogic development tools the SCADE Suite, and the SDL Suite can be used together, combining a time-driven language and an event-driven language. Suggestions on how the tools can be integrated are presented. The report also suggests how Telelogic can improve the SDL Suite from a hard real-time aspect. Last part of the report shows how the scheduling algorithm “Ear
Many machines and robots working today in factories are programmed to perform the same task repeatedly. By observing the tracking error in each iteration of the same task it becomes clear that it is actually repetitive, even though disturbances from noise and possibly sligthly changing friction dynamics affect the response. The idea of Iterative learning Control D ILC E is to use the knowledge fro
When designing an automatic brake control system for a car it is important to have a mathematical model of the vehicle to base the design upon. Since careful modeling of the entire car would encompass far too many variables, the most care is usually taken to the wheels and the tyres, as those parts contain most of the dynamics influential to the process. During braking the tyres deform because of
Processes with long dead times are among the most difficult to control. This has urged the development of controllers that cope with this kind of delays. A possible approach is to use a model predictive controller, i.e. a controller with an internal model of the process and its dead time. In ABB’s new control system, Control IT, there exists such a controller, namely the PPI controller. PPI stands
Real-time vision allows the direct steering of a robotic manipulator. In this thesis we use a stereo rig mounted on an industrial robot (ABB IRB-6/2) which gives us information about the end effector position of a second robot (ABB IRB-2000/3). This second robotic manipulator performs the task of tracking a moving object, which in our case is a rolling ball.
The first concern of this pro
One way to increase the flexibility of industrial robots in manipulation tasks is to integrate additional sensors in the control systems. Cameras are an example of such sensors, and in recent years there has been an increased interest in vision based control. However, it is clear that most manipulation tasks can not be solved using position control alone, because of the risk of excessive contact f
To analyse the connection between kinematics and stabilizing forces related to human postural dynamics, fourteen normal subjects were investigated with posturography. Stimulation signals according to Pseudo-Random- Binary-Sequence patterns were applied to each subject. The stimulation consisted both of calf vibration and of combined calf vibration and galvanic stimulation to the inner ear. The tes
The goal for this master thesis was to investigate the possibility of using an existing web server and modify it so it can be used in ABB controllers. The work has resulted in two different versions of a web server. The basic functionality is the same for both versions. The web servers are able to present a number of controller-related information. For example: hardware, which control programs tha
A storage control system named Astro is developed and sold by MA-system in Lund. This system is used for controlling the flow of material, and a central part is to assign tasks to the different trucks in the system. Every task takes a certain time to execute, and the trucks drive a specific total time in the storage. This total time depends on in which order the tasks are executed. A favorable
