This project considers a special class of aero-dynamics of two different underactuated systems. The two systems under consideration are the Pendubot (actuator at the hip) and the Acrobot (actuator at the knee). The main objectives are to show stability and periodicity of the two systems. The next step is to change the zero-dynamics such that resulting periodic orbits produce walking gait patterns.

To use vision in a robotic setting it is important to achieve realtime performance. Real-time vision may be used to directly steer robots using for instance visual servoing techniques. In this thesis, an experimental vision setup using a stereo rig mounted on an industrial robot (ABB Irb-6) was built from ground up and then used to perform two experiments; visual servoing and collection of data fo

This is a report of how the two Telelogic development tools the SCADE Suite, and the SDL Suite can be used together, combining a time-driven language and an event-driven language. Suggestions on how the tools can be integrated are presented. The report also suggests how Telelogic can improve the SDL Suite from a hard real-time aspect. Last part of the report shows how the scheduling algorithm “Ear

Many machines and robots working today in factories are programmed to perform the same task repeatedly. By observing the tracking error in each iteration of the same task it becomes clear that it is actually repetitive, even though disturbances from noise and possibly sligthly changing friction dynamics affect the response. The idea of Iterative learning Control D ILC E is to use the knowledge fro

When designing an automatic brake control system for a car it is important to have a mathematical model of the vehicle to base the design upon. Since careful modeling of the entire car would encompass far too many variables, the most care is usually taken to the wheels and the tyres, as those parts contain most of the dynamics influential to the process. During braking the tyres deform because of

Processes with long dead times are among the most difficult to control. This has urged the development of controllers that cope with this kind of delays. A possible approach is to use a model predictive controller, i.e. a controller with an internal model of the process and its dead time. In ABB’s new control system, Control IT, there exists such a controller, namely the PPI controller. PPI stands

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 project is to

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 ord

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-document a

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 can b

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