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Abstract The topic of this master thesis is Portable Robot Control and it has been performed jointly with the thesis Portable Robot Programming. The robots mentioned in the title of the Master thesis are industrial robots. Industrial robots are embedded real-time systems. In the embedded real-time systems the computer is part of the system. As all other real-time systems they have to fulfill real-
This Master Thesis has been done at the Department of Automatic Control, Lund Institute of Technology, and Dynasim AB, in Lund. Dynasim develops the simulation software called Dymola (Dynamic Modeling Laboratory). With the upcoming release 6, they have introduced the opportunity of interfacing their software with an optimization tool called MOPS (Multi-Objective Parameter Synthesis). This work sho
Abstract Customer demands for board adapted for their specific needs make a flexible production with many different qualities advantageous. The board quality changes can include a change in the composition or only a change in grammage. A grade change is a product quality change in a paper or board machine. Grade changes may however cause problems in the production. When changing the production fro
The aim of this thesis was to design and implement a lifetime monitoring system for a GE Energy wind turbine. Monitoring the loads on the main components of a wind turbine makes it possible to keep the lifetime of the components monitored. This information can be used to enable more flexible planning of a wind turbine's maintenance. Knowing the estimated remaining lifetime makes it possible to
The DARPA Grand Challenge (DGC) 2005 was a competition, in form of a desert race for autonomous ground vehicles, arranged by the U.S. Defense Advanced Research Project Agency (DARPA). The purpose was to encourage research and development of related technology. The objective of the race was to track a distance of 131.6 miles in less than 10 hours without any human interaction. Only public GPS signa
The US Department of Defense wants one third of ground military forces to be automated by 2015. By using self-driving military vehicles, American troops can be kept out of harm's way in the battlefield.1 To speed up the development, the US Department of Defense decided to arrange a desert race for autonomous vehicles, DARPA Grand Challenge. Team Caltech is entering the Challenge with the vehic
The 'Spider Crane' is a crane structure that has been developed at the department for automatic control at 'Ecole Polytechnique Fédérale de Lausanne'. This crane structure does not have a moving mechanical structure, which enables it to move the load much faster than a conventional crane. In a previous thesis project a control algorithm for the crane behavior has been developed. Th
Untripped SUV (Sport Utility Vehicle) rollovers are dangerous and possibly lethal accidents. This thesis address some issues in the detection and prevention of untripped SUV rollovers. Before a rollover can occur, the wheels on one side must lose road contact. The wheel lift-off situation is chosen as the critical situation to be avoided. If wheel lift-off is prevented, then rollover is prevented
This master thesis work concerns fault detection and isolation (FDI) of an electro-mechanical servo using analytical redundancy. The purpose is to reduce the number of sensors used in today's fault detection schemes and at the same time keep the level of redundancy in the system. The report will start with a comparison between physical and analytical redundancy. Whichever design method that is
The content of this master thesis regards the implementation of a control system in RTLinux/Free, and the use of this for control of a straight track inverted pendulum. A controller developed on the hypothesis that the system is sampled with the sampling time ts will perform differently than expected if sampled with the sampling time t _= ts. If implemented in a regular operating system, the compu
Thermoacoustic instability is a phenomenom that appears in several technical applications, for instance rocket and jet engines, gas turbines, waste generators and industrial burners where it can cause heavy damage to the systems. As with most instabilities, they are undesired and this thesis' purpose is to identify and control a Rijke tube process (which has been used to stimulate the thermoac
During the production of pharmaceutical products, a central stage is so called fermentation process i.e. cultivation of bacteria in a biological reactor. In the scope of this Master Thesis the product is recombinant protein. The goal for the fermentation process is to keep a high cell growth and a high production of recombinant proteins. For these purposes, an automatic control algorithm has been
This master thesis project has been performed in cooperation with AGA, the well-known gas company which is a part of the German Linde group and the Department of Automatic Control, Lund Institute of Technology. Since summer 2000 AGA has developed and manufactured a fully automated reactor producing bicarbonate solution for stabilizing pH in papermaking processes. The reactor or ACU!22 (alkalinity
Maintenance of stem cell pluripotency and the differentiation of stem cells into specialised cells has been studied extensively. More recently, the possibility for a specialised cell to be transferred into a state of induced pluripotency has been demonstrated and investigated. Critical components of the gene regulatory networks governing these processes have been identified, but a complete model h
The primary concern of this study was to analyze how the Japanese print media portray modern-day public intellectuals, and subsequently treat them as legitimate or illegitimate. Furthermore, I examined the underlying factors that affect this portrayal. After selecting four case studies of present-day public figures/groups (Murakami Haruki, Miyazaki Hayao, Chim↑Pom and Aida Makoto), I collected pri
The aim of this thesis is to investigate the following: − The influence of incident angle and frequency dependency of a ceiling absorber on room acoustic descriptors − How ceiling absorber properties influence room acoustic descriptors such as reverberation time and steady state sound pressure level − Whether steady state sound pressure level is more related to the statistical absorption coeffici
Food insecurity is a major problem for humanity. Especially in developing countries, the proportion of people who go to bed hungry is substantial. A basic reason, among other factors, is the dominant poverty in those regions. Therefore, many development organizations consider Foreign Direct Investment (FDI) as a means, which has the potential to regulate these inequalities in developing countries.
Today’s markets are heavily concentrated on Cloud Computing, where trends project an increasing amount of services living therein. Because these data centers, named Clouds, provide ability to dynamically scale the resources assigned to a service. It is a technology which allows products to remain competitive in a constantly changing market. Consumers profit from this solution, as it is much easier
In the government's report Arkiv för alla –nu och i framtiden from 2002, one of the goals was to increase public understanding and interest of the archives as a source of information and knowledge. To do this, the report concludes that the archives have to become more visible and more accessible to the public. The aim of this master's thesis is to examine how the archive staffs in the Ci
Theoretical perspective: The study is based on previous literature that discusses the main theories of the study; brand architecture, product/brand focus, brand portfolio strategy, underpricing and information asymmetry. Furthermore, it aims to combine the branding and finance theories to advance the understanding of the effects of different branding strategies in IPOs as it is not a common field
