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Force sensing provides robots the capability to accomplish tasks where physical interaction with the environment is required, such as assembly. Small position uncertainties can then be corrected for by sensing the contact forces. This thesis considers the problem of force-controlled assembly, including how tasks can be specified in a simple and intuitive way and how robust task execution under unc
The current control design development process in automotive industry and elsewhere involves many expensive experiments and hand-tuning of control parameters. Model based control design is a promising approach to reduce costs and development time. In this process low complexity models are essential and model reduction methods are very useful tools. This thesis combines the areas of modeling and mo
What's the difference between a department and a faculty? What is Ladok? On this page, you will find descriptions of a selection of terms that you may encounter during your studies at Lund University (Swedish terms in brackets). Below, you can find common words and phrases related to: Studies Student life Roles Studies Academic quarter (akademisk kvart) The academic quarter is a concept of time us
https://www.lunduniversity.lu.se/current-students/new-students/common-words-and-phrases - 2026-06-05
During the last decade the variation in the human genome has been mapped in fine detail. Next generation sequencing has made it possible to cheaply and rapidly aquire vast amounts of biomolecular information on large cohorts of people. This have enabled large-scale epidemiological studies to investigate the relationships between environmental and genetic factors and human biomolecular traits. It i
This thesis presents methods for improving the accuracy and efficiency of tasks performed using different kinds of industrial manipulators, with a focus on the application of machining. Industrial robots offer a flexible and cost-efficient alternative to machine tools for machining, but cannot achieve as high accuracy out of the box. This is mainly caused by non-ideal properties in the robot joint
This thesis investigates the topic of joint positioning and radio channel estimation and prediction. Both positioning and radio channel estimation have a long history of research with many publications but the combination of the two has so far at large been left unexplored. The reason for studying this topic is twofold: improvement of positioning and improvement of radio channel prediction. Positi
Popular Abstract in Swedish Avhandlingen behandlar reglering av Homogeneous Charge Compression Ignition (HCCI) motor dynamik. HCCI erbjuder möjligheten att kombinera hög effektivitet med väldigt låga emissioner. Återkopplad reglering är ett sätt att uppnå dessa mål. Avhandlingen diskuterar sensorer, återkopplingsvariabler och aktuatorer för sluten-loop reglering av HCCI förbränningen. Det är demoThe topic of the thesis is control of Homogeneous Charge Compression Ignition (HCCI) engine dynamics. HCCI offers a potential to combine high efficiency with very low emissions. In order to fulfill the potential benefits, closed-loop control is needed. The thesis discusses sensors, feedback signals and actuators for closed-loop control of the HCCI combustion. Closed-loop control of the HCCI combu
This thesis aims to find algorithms for optimal control of hybrid systems and explore them in sufficient detail to be able to implement the ideas in computational tools. By hybrid systems is meant systems with interacting continuous and discrete dynamics. Code for computations has been developed in parallel to the theory. The optimal control methods studied in this thesis are global, i.e. the ent
The topic of the thesis is codesign of flexible real-time control systems. Integrating control theory and real-time scheduling theory, it is possible to achieve higher resource utilization and better control performance. The integration requires new tools for analysis, design, and implementation. The problem of scheduling the individual parts of a control algorithm is studied. It is shown how sub
This thesis treats different aspects of automotive control-systems and consists of four papers covering different areas in this large field. The first paper presents a 9-degrees-of-freedom dynamic model of a tractor-semitrailer vehicle, aimed at simulation and evaluation of active chassis-systems for stability enhancements. Special focus is put on inclusion of the dynamics of load transfer, which
View details of your studies in Ladok Ladok is Sweden’s national system for study records. In Ladok, you can register for courses, check your grades and generate an official transcript of records. Course results are usually available in Ladok within about a month after exams. Remember to share your final official transcript of records with your home university for verification and credit transfer.
This is a translation of the course syllabus approved in Swedish School of Economics and Management EHEH001, Designing a PhD project, 7.5 credits Forskningsdesign, doktorsavhandling, 7,5 högskolepoäng Third Cycle / Doktorandnivå Details of approval Approved by the Board of the Department of Economic History, Lund University School of Economics and Management 2013-10-08. General Information This is
https://www.lusem.lu.se/sites/lusem.lu.se/files/2024-05/Designing%20a%20PhD%20project_EHEH001_Syllabus%20(pdf).pdf - 2026-06-06
Having multiple control tasks concurrently running on a single computing platform increases the processor utilization but degrades the control performance due to delay and jitter. In scheduling and control codesign, the objective is to optimize the combined performance of all the controllers, subject to a schedulability constraint. The codesign procedure consists of selecting task parameters, e.g.
This thesis presents models and methods for feedback-based resource management for cyber-physical systems. Common for the scenarios considered are severe resource constraints, uncertain and time-varying conditions and the goal of enabling flexibility in systems design rather than restricting it. A brief survey on reservation-based scheduling, an important enabling technology for this thesis, is pr
