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When treating patients suffering from renal failure with hemodialysis, an obvious point of interest is the actual blood cleaning efficiency of the dialyzer (artificial kidney). This efficiency is called clearance or dialysance. The method currently used for estimating clearance is based on doing a step-change on the process. Due to the nature of the process, this method is slow and has a relativel
This paper studies the effects of stochastic time delays on automatic control systems which uses communication networks. We assume a linear process to be controlled and known delay probability distributions.The contribution of this paper is to extend the theory in(Nilsson 1998) to delays that may be longer than one sample period.Using a quadratic cost we find the optimal full-state-information con
The paper describes an on-line identification algorithm to estimate the steam production of a municipal solid waste incinerator. The algorithm has to learn on-line the system dynamics due to the heavy disturbances acting on the incineration process. The learning algorithm is based on radial basis function networks and combines the growth criterion of the resource allocating network technique with
For linear time-invariant systems with uncertain parameters belonging to a finite set, we present a purely eterministic approach to multiple-model estimation and propose an algorithm based on the minimax criterion using constrained quadratic programming. The estimator tends to learn the dynamics of the system, and once the uncertain parameters have been sufficiently estimated, the estimator behave
We present a framework for measurement dimension reduction in Gaussian filtering, defined in terms of a linear operator acting on the measurement vector. This operator is optimized to minimize the Cramér-Rao bound of the estimate's mean squared error (MSE), yielding a measurement subspace from which elements minimally worsen the filter MSE performance, as compared to filtering with the original me
The aim of this work is that from experimental determined cutting process parameters be able to predict the plasticity input constants to Finite Element Method (FEM) models. In the present study the Johnson-Cook constitutive model constants are determined on the basis of cutting process parameters in orthogonal cutting and by use of inverse analysis. Previously established links between Johnson-Co
Abstract in UndeterminedMarine operations depend on the ability to forecast suddenly appearing storms, and failures often cause great damage. As part of a sea-state alarm study, meteorological forecasts overlaid with satellite observations sent to ships have been found to be a useful too]. In this paper we present a real-time assimilation algorithm that extends this tool using statistical methods.
This thesis deals with feedback control using two different sensor types, force sensors and cameras. In many tasks robotics compliance is required in order to avoid damage to the workpiece. Force and vision are the most useful sensing capabilities for a robot system operating in an unknown or uncalibrated environment. An overview of vision based estimation, control and vision/force control is give
The precise orbit determination problem is to accurately determine the position and velocity vectors of an orbiting satellite. In this paper we review the general contents of the orbit determination process, with particular emphasis on Low Earth Orbit (LEO) satellites. The different orbit determination approaches and the different force models contained within are briefly discussed. The two main e
Unmanned ground vehicles (UGVs) operating in uneven and unstructured terrain are often limited by fixed sensor mounting, which can reduce mapping quality, situational awareness, and sensor performance when the vehicle body experiences pitch, roll, and vertical motion. This thesis presents the development of a compact four-degree-of-freedom (4-DOF) gimbal prototype for a terrain-mapping module on a
The aim of this thesis was to synthesize and evaluate an inertial navigation system (INS) for the Combat Vehicle 90 Platform. The INS that was created utilize sensor fusion in order to combine the different signals coming from the vehicle’s multitude of sensors to estimate the vehicle’s position and heading in some known global reference frame. The CV90 standard INS, the NAV90 system, had performe
Marine operations depend on the ability to forecast suddenly appearing storms and failures often cause great damage. As a part of a sea state alarm study, meteorological forecasts overlaid with satellite measurements sent to ships have been found to be a useful tool. In this paper we present a real-time assimilation algorithm that extends this tool using statistical methods. The algorithm is appli
Camera Calibration and 2D-3D Mapping for Safer Traffic and Saving Lives and Stuff Martin Ahrnbom 31/03/2022 Data driven traffic safety research has previously been difficult due to a lack of an efficient way of collecting large amounts of accurate, non-biased 3D road user statistics. Computer Vision is a promising approach for solving this problem. This seminar will explore how camera calibration
https://www.maths.lu.se/fileadmin/maths/personal_staff/PhD_seminar/martinahrnbom-phdseminar.pdf - 2026-10-08
A new chemical reactor, the Open Plate Reactor, is being developed by Alfa Laval AB. It combines good mixing with high heat transfer capacity into one operation. With the new concept, highly exothermic reactions can be produced using more concentrated reactants. A nonlinear model of the reactor is derived and a control system is developed. For temperature control a cooling system is designed and e
