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We study an image-based visual servoing system implemented on a non-dedicated network with non-deterministic computational nodes. A problem is that time delays are typically non-deterministic and variable and may cause significant degradation of control system performance, stability and robustness if not compensated for. Another problem is the presence of noise due to information loss and measurem
Motivated by the potential of nondiffraction limited, real-time computational image sharpening with neural networks in astronomical telescopes, we studied wavefront sensing with convolutional neural networks based on a pair of in-focus and out-of-focus point spread functions. By simulation, we generated a large dataset for training and validation of neural networks and trained several networks to
We consider the problem of tool position and orientation state estimation for robot manipulators in workspace by sensor fusion of the internal robot joint measurements with inertial measurement unit data. A prerequisite for this to be successful is accurate calibration of the sensors used. Therefore, we discuss a method for calibration of the sensor with respect to the robot end-effector, which is
Fuel level indication is an essential function in a car with the purpose of providing information about the fuel level to the driver at all times. In this thesis, different parameters are tested and evaluated to find the factors that can have an effect on fuel level indication. Tank volume, driving behaviour and fuel sloshing are evaluated as possible parameters. The results presented herein sugge
Liner shipping, which provides transportation by ships operating on a regular schedule between specified ports in accordance with publicly available timetables of sailing dates, is now a mature industry. The various players which are part of the liner shipping industry, namely, ocean carriers, port operators, freight forwarders or consolidators, customs, hinterland haulage carriers, inland navigat
Model-based analysis of in-cylinder pressure sensor signals has been a key component for internal combustion engine research, diagnostics and controller development during the past decades. This analysis is often based on simple thermodynamic models of the in-cylinder processes. In order for the analysis to give accurate results, the models need to be sufficiently calibrated. This paper investigat
Operating lignocellulosic fermentation processes to produce fuels and chemicals is challenging due to the inherent complexity and variability of the fermentation media. Real-time monitoring is necessary to compensate for these challenges, but the traditional process monitoring methods fail to deliver actionable information that can be used to implement advanced control strategies. In this study, a
In modern day industry, robots are indispensable for achieving high production rates and competitiveness. In small and medium scale enterprises, where the production may shift rapidly, it is vital to be able to reprogram robots quickly. Kinesthetic teaching, also known as lead-through programming (LTP), provides a fast approach for teaching a trajectory. In this approach, a trajectory is demonstra
Food and Agriculture Organization (FAO) dual crop coefficient (FAO-2Kc) is one of the widely used formulation to estimate soil evaporation (E) due to its operationality and simplicity. The FAO-2Kc method could explicitly distinguish the contribution of E and plant transpiration, separately. However, systematic and random uncertainty in E observations still exist. In this vein, this paper attempts
The time-difference of arrival techniques are adapted to locate networked enemy radars using a cooperative team of unmanned aerial vehicles. The team is engaged in deceiving the radars, which limits where they can fly and requires accurate radar positions to be known. Two time-differences of radar pulse arrivals at two vehicle pairs are used to localize one of the radars. An explicit solution for
The topic of this paper is linear optimal prediction of hidden Markov models (HMMs) and innovations representations of HMMs. Our interest in these topics primarily arise from subspace estimation methods, which are intrinsically linked to such representations. For HMMs, derivation of innovations representations is complicated by non-minimality of the corresponding state space representations, and r
Vehicles in the future are anticipated to have the ability to communicate and exchange useful information in order to avoid collisions. However, for this cooperation to be possible, all vehicles will have to be equipped with compatible wireless modules, based on, e.g. IEEE 802.11p (used in ITS-G5 or WAVE), which implements intelligent transport systems operating in the 5 GHz frequency band. During
By using a turbo the operating range of the HCCI engine can be increased, but at the expense of increased controller complexity. The dynamics the turbo introduces in the intake and the exhaust manifolds, have a large impact on the in-cylinder mixture temperature, pressure and finally the combustion phasing. To compensate for this and to maintain desired combustion phasing, precise control of the n
Combustion processes serve as important sources of energy for both power generation and for transport, ranging from large scale power stations to micro turbines and aeroplane engines. Lean premixed combustion offers a potential to reduce the emission levels, but suffers from instability problems which can be overcome by the use of active control. This thesis addresses the problem of actively contr
Popular Abstract in Swedish Signalen som registreras under ett arbets EKG prov kan innehålla viktig information rörande hjärtats kondition. De störningar som ofta uppträder i signalen kan dock försvåra en korrekt diagnos. I avhandlingens första del används tidsserie modeller för att skatta profilen, den del av signalen som härrör från hjärtats elektriska aktivitet. Målet med dessa metoder är att The analysis of the recorded electrical activity of the heart during an exercise test is a valuable method for investigating a patient's circulatory and respiratory system. But the disturbances that occurr during a test often make it difficult to interpret the signal in order to detect changes evoked by the increased workload and related to for instance coronary artery diseases. Suppression of dis
The core objective of this project was to design a controller for a drone (or quadcopter) that would allow the drone to keep a target in the center of a video filmed by a camera mounted on the drone. This was done by controlling the pitch of the gimbal, on which the camera was placed, and the yaw of the entire drone combined with using an image recognition program that could identify the target. F
Using antenna arrays for direction of arrival (DoA) estimation and source localization is a well-researched topic. In this paper, we analyze virtual antenna arrays for DoA estimation where the antenna array geometry is acquired using data from a low-cost inertial measurement unit (IMU). Performance evaluation of an unaided inertial navigation system with respect to individual IMU sensor noise para
