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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
A graphical editor for Statecharts has been implemented. The editor is integrated in the ABB Control IT framework. The editor is written in Java/Swing and uses the graphical class package JGo.
The developed Statecharts models are stored on file using XML. The editor can also generate executable code, in the form of IEC 61131-3 Structured Text (ST) code. The code is represented in an XML-doc
The detailed dynamic modelling, simulation and optimisation of a batch distillation process at Bayer AG is presented. The model considers a mixture of 10 components separated in a 40 tray column. Simulations performed in the process modelling tool gPROMS proved that the model gives a very accurate description of the process behaviour. To increase the profit of the process an optimisation of the op
In this thesis, some methods for efficient paging for mobile systems have been investigated. Compared to the conventional method, the methods proposed here increase the mobile stations discovery rate while decreasing the signaling load between the mobile switching centers and the mobile stations. As the cell sizes shrinks, the probability that the mobile stations moves between the cells during the
Heavy traffic loads on the California highways have given birth to the development of automated highways. With vehicles traveling without human interaction, tighter spacing between cars canbeachieved without jeopardizng safety, leading to improved highway throughput. Since no human driver is present to make judgements about velocity and spacing, knowing the road condition is important in order to
This mastert hesis has been done as a joint project between the Department of Automatic Control in Lund and Volvo Technological Development in Gothenburg. The thesis treats methods to handle nonlinearities in a throttle unit. Theapproach has been to first design a linear controller based on the results from system identification, and then to develop an adaptive updating law estimating uncertain pa
Possibilities to simulate control systems can be very useful. During the development of a control system, simulations can verify that the implemented algorithms work as expected. Smaller parts of the implementation can be tested before they are put together to a complete control system. In an existing plant simulation can be used for optimization of the control system and control parameters ca
This report is exploring the advantages and disadvantages with some common sensors needed when positioning a mobile robot with Ackerman steering. Both absolute and relative methods are explored. Odometry based on measuring traveled distance and steering angle is tested and adjusted to obtain the best performance. A Kalman filter is constructed to improve steering angle measurements. The tests are
This work deals with the issue of implementing a UML-RT standard, one of the latest notations for object oriented specification and design, in the developing-process of new real-time software for Radio Base Stations in the 2000 series at Ericsson. UML-RT is the real-time extension of the Unified Modeling Language (UML). The thesis investigates the design-, implementation- and verification-problems
More often than not one would encounter a problem, know that the solution has to meet some requirements, but do not how to start or how to progress towards solving it. Motivation for a computer that can solve the problem automatically without explicitly programming it is apparent, i.e. a computer that \programs itself", is greatly desired. The method of genetic programming has demonstrated it
The variety of different controllers is today very big. Much research is done in the field of neural network control and more well established technologies are sometimes looked at as old fashioned. The work is much based on the identification of a process model. In this report some different controllers have been built to see if neural networks are a good alternative to classic controllers. The cl
The goal of the Master Thesis is to upgrade the control of a power supply for a radar system. A controller based on Kalman filtering and state feedback has been developed for this two inputs two outputs system.
This paper describes tuning procedures for dead-time compensating controllers (DTC). Both stable and integrating processes are considered. Simple experiments are performed to obtain process models as well as bounds on the allowable bandwidth for stability. The DTC's used have few parameters with clear physical interpretation so that manual tuning is possible. Furthermore, it is shown how t
This thesis deals with manual control of unstable systems, subject to control signal constraints. Allocation of control authority is critical in this situation. The manual control, or reference following, must not be performed at the risk of loosing stability. The conflicting objective is to achieve acceptable reference following performance. Design of control systems under such circumstances is c
This master thesis has been done in Berlin at Daimler Chrysler. It is concerned with technological research and development for electrical engine. This thesis treats to evaluate what margins can be achieved by using energy storage system on rail vehicle. Energy storage devices, like accumulator, flywheels or capacitors are currently under consideration by the rail vehicle industry. The expected be
This report describes the usage of the SDL development tool Telelogic Tau SDL Suite with the LEGO Mindstorms Robotics Invention System. The purpose of the project was to produce an alternative to the custom built platform currently used by Telelogic for demonstration and education. The report focuses on the adaption of the C code that is generated by Telelogic Tau SDL Suite to the robot environmen
