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The purpose of this thesis was to examine the effects of time delay on a visual servoing system. We analyse the effect of time delays on a linear model of a robotic arm joint, as well as an ABB irb2400 robotic arm with 6 degrees of freedom. This master thesis is consequently divided into two separate parts. The first concern of the project is to deal with the design of the visual servoing system.
Insulin Dependant Diabetes Mellitus(IDDM) is a chronic disease characterized by the inability of the pancreas to produce sufficient amounts of insulin. To cover the deficiency 4-6 insulin injections have to be taken daily. The aim of this insulin therapy is to maintain normoglycemia, blood glucose level between 4-7 mmol/L. To determine the amount and timing of these injections different approaches
The origin of many environmental and health hazardous emissions from diesel engines are the crankcase gases. Since no regulations of the emission levels from the crankcase have existed in the past, no attention has been paid to cleaning crankcase gases. New regulations are coming up and they will all demand lower emissions from the engine. This has lead to the introduction of the Alfdex separator.
This master thesis has been conducted for Solvina. Solvina is a firm in Gothenburg, which among other things simulates steam nets for the paper process industry. Doing this Solvina has had to simulate not only the steam net itself, but also to simulate the control system. The purpose of this master thesis was to try to build an interface between the controller and the simulated process so that the
The goal of this thesis was to design and implement a distributed real time vision system in Java and to investigate its performance with the aid of some robot experiments. Controlling a process requires reference- and feedback signals which can be sensed by means of digital cameras. The image data coming from the cameras needs to be collected, processed and transmitted through the network without
Dynamic vision is a class of problems in computer vision that calculates properties of the3D world through the dynamics of the system observing by cameras. In this thesis we introduce the issue of motion and shape estimation with the aid of a single camera and for particular objects as points, planar surfaces and polyhedrons. This problem is well known in literature as Shape from Motion. We are in
The system under development provides a means to assess the semi-circular canals of the human vestibular system. The Impulse Test is a simple method to detect disorders within the three sets of semi-circular canals, by stimulating each pair of canals in turn. This report describes the work carried out to develop a simple, non-intrusive system whereby the patient can be assessed in a matter of seco
The aim of this Master Thesis was to measure and quantify the effect of a continuous visual stimulus on postural stability. The visual stimulus was applied using a Head Mounted Display through which the image of a vertically rotating cylinder was projected. It was hoped that the relationship between the speed of rotation of the cylinder and the body sway of the subject would be quantified through
This thesis describes the results of an investigation into the use of Subspace-based System Identification techniques in the field of Adaptive Control. The project aims included adaption of subspace algorithms for online use, proposal of new algorithms of adaptive control based on these algorithms, and analysis of properties of the proposed systems. The thesis includes reviews of various subspace
In this master theses an existing control system of a DVD player has been modified such that it has become more feasible to implement using limited hardware resources. The discrete controller has already been implemented for evaluation purposes using FPGA technology, and is working well. So far however, low resource consuption has not been a major concern. This is gradually changing though, as mor
The purpose of this thesis was to examine the possibilities to control a process containing a resonance frequency. System identification was made on a process containing a resonance frequency. The identification resulted in a model of the process. Different regulators that were capable of dealing with the resonance frequency were designed for the model. Finally one regulator was implemented and us
In this report we study systems governed by the Saint-Venant shallow water equations interacting with boundary conditions including control. We derive closed form formulas for the open-loop behavior. These formulas rely on first, second and third order approximations which are based on a perturbation that we develop. Properties of these solutions are studied and comparisons with existing non-linea
Many control objectives can be expressed in terms of a criterion function. Generally, explicit solutions to such optimization problem require full knowledge of the plant and disturbances and complete freedom in the complexity of the controller. In practice, the plant and the disturbances are seldom known, and it is often desirable to achieve the best possible performance with a controller of presc
The HCCI engine has potential to replace the spark ignition and compression ignition engines of today. One of the main problems in making the engine commercially attractive is that there are no direct means of controlling the ignition phasing. This thesis attempts to describe a method for system identification of the HCCI process, and development of an effective LQG regulator for the combustion pr
Through the years, cranes have been used extensively for many different tasks. For example construction work, shipbuilding and cargo transportation. One of the tedious tasks that cranes perform is loading and unloading containers. This is a process which can be optimized with the aid of control theory. While moving cargo, the crane operator must make sure that crane motion does not cause the cargo
In this master thesis an equipment for measuring the quality on various grains within the agricultural industry is being investigated. The equipment is manufactured by FOSS Tecator a company situated in the beautiful city of Höganäs in Sweden. The food-analyzing is conducted with so called NIR-spectrometry, a method in which the grain is exposed to light with various wavelengths. The different wav
This thesis investigates what mechanisms that contribute to the interaction between lateral and vertical dynamics in a fourwheeled vehicle. For this a vehicle model was derived. To capture all the essential dynamics of the vehicle, both a horizontal model and a vertical model was used. The interaction between the models turned out to be quite evident, making it possible to use the active suspensio
This master thesis project commissioned by Haldex Brake Products AB (in Landskrona, Sweden), and in association with the Department of Automatic Control, Lund Institute of Technology, deals with the problem of correct wheel speed measurements. Investigation into different types of sensors, Inductive-, Hall Effect- and Magneto-Resistive sensors have been carried out, which are sensors that may be u
A method for generating minimum time yacht routes for short distances while avoiding stationary obstacles and taking into account wave and water current disturbances is sought. The method should be feasible for use in an autopilot type construction. A solution is found using an iterative forumulation of the dynamic programming algorithm on a grided state space and an implementation in ANSI C is pr
In this paper analysis of interconnected dynamical systems are considered. A solid framework for the analysis of the stability of interconnection is given. The results from Fax and Murray (2002) that studies the SISO-case for a constant interconnection matrix are generalized to the MIMO-case where arbitrary interconnection is allowed. The analysis show existence of a separation principle that is v
