Filtyp
An adaptive tracking controller is implemented using an industrial robot, the ASEA IRB L6/2. A dynamical model is used to simulate the robot together with the control law. The control law is implemented using two IBM AT compatible computers, and comparison with a PD controller is done.
The purpose of thesis has been to examine the possibility of implementing feeling to a submarine steering gear, by studying how different combinations of feedback factors affected the person who is steering. The study has been made with the help of a yawing simulator that was designed solely for this purpose.
A priori knowledge about the process is often available when designing an adaptive controller. This report describes a method to use this knowledge.
The first step is to design a nominal controller. In the following steps the nominal controller is modified adaptively. The principal advantage of this method over conventional methods is that the calculations are minimized.
In this
Window based interactive software systems can be used to create very user friendly interface e.g. to image processing libraries, and hence to image processing hardware. A system has been implemented, where standard "off the shelf" products that are commercially available from different companies have been used. The use of readily available components greatly simplifies the implementation
The report describes a system, which can be used to determine the position and orientation of items. The system consists of one video-camera, one framegrabber-board making the image digital and a personal computer. The camera is placed above a lightboard, on which the object lies. This involves that only the two-dimensional projection is studied.
A program, written in C, has been develope
Recent high quality printers pose interesting questions on how to reproduce images taken by a video camera. A modern ink jet plotter has typically a resolution four times better than a good video camera. Pixel replication and bilinear interpolation give reasonable results, but have a tendency to blur the image. In contrast to these blurring phenomena, it is well known that the apparent visual qual
The purpose of this thesis has been to examine the possibilities of implementing feeling to a submarine steering gear.
