Finished Master's Thesis Projects

(the latest first)

Robot Force Control with Dual Sensors

Force Controlled Grinding - The Cutting Edge

Temperaturreglering

Simulation and Analysis of a Power Supply Circuit for Frequency Inverter Controlled AC-Induction Motors 

Distributed Kalman Filters for Vehicle Positioning

Implementation and Evaluation of Accurate and Stiff Position Control for a Parallel Kinematic Robot

Optimal Control and Path Following for Industrial Robots

Dual motor control for backlash reduction

Simulering av ett vattenkraftsystem

Developing graphical user interface for a model predicative controller in an ABB software environment

Model-Based Friction Compensation

Predictive Models for Type 1 Diabetes. A Case Study

Haptic Interface for a Contact Force Controlled Robot

Reglering av en isotherm calorimeter

Configuration Management for Industrial Automation

Modeling and control of a Delta-3 robot

Buffer Management Strategies for improving Plant Availability

ESP for Suppression of Jackknifing in an Articulated Bus

Object Tracking with a Mobile Robot using Embedded Linux

Embedded Controller Design for Energy and Climate Systems

Estimation of Vehicle Lateral Velocity

Testing and implementation of a backlash detection algorithm

Model Predictive Based Energy Management Algorithm for a Hybud Excavator

Viualization of task execution in ABB 800xA

Modelling, Identification and Control of a Quadrotor Helicopter

Control of an Autonomous Wheel Loader

 A Biocriteria Simulated Annealing Algorithm for Scheduling Jobs on Parallel Machines with Sequence Dependent Setup Times

Vision Based Tracker for Dart Catching Robot

Using Structure-borne Sound Analysis to Predict Bearing Damages in High-speed Ventilators

Stochastic Sensitivity Analysis of Genetic Regulatory Networks

Controlling a Robot with Two Force Sensors in a Lead-Through Programming Scenario

A Home Automation Prototype

Intuitive Lead-Through-Programming of Steel Grinding Robots

Digital Power Detector for WCDMA Transmitter

System Identification of Parallel Kinemetic Manipulator Dynamics

Modeling and Control of Reaction Calorimeter System

Interference Cancellation in a Full Duplex System

The Application of Agent Based Technolgy to Packaging Line

Investigation of Standard Asynchronous Motors and Synchronous Servo Motors

ModeGraph - A Mode-Automata Based Modelica Library for Embedded Control

Evaluation of Latency and Jitter for LQG and PID Controllers

Batch Production of Biological Substances: Terminology, Methods and Tools for Improved Batch Strategy at Novozymes Biopharma AB 

Distributed System Control with FlexRay-nodes in Commercial Vehicles

Lab-data Based Process Control-Comparing SPC and Automatic Control

Obstacle Avoidance for Mobile Robots

See document on
http://www.control.lth.se/database/publications/article.pike?artkey=5803

The work was finished in October 2007

Improved Methods for GPS Navigation

See document on
http://www.control.lth.se/database/publications/article.pike?artkey=5802

The work was finished in October 2007

Safe Programming Languages for ABB Automation System 800A

See document on
http://www.control.lth.se/database/publications/article.pike?artkey=5801

The work was finished in August 2007

Implementation of an Autotunable Decoupling TITO Controller

See document on
http://www.control.lth.se/database/publications/article.pike?artkey=5800

The work was finished in July 2007

TrueTime in Scicos

HCCI Engine Modeling and Control using Conservation  Principles

Vehicle Path Optimisation

Preparing the Apache HTTP Server for Feedback Control Application

Implementation of IS Security Standards in Pharmaceutical Manufacturing

Automatic Calibration of Vehicle Models

Evaluation of Automatic Code Generation Tools

Modeling and Balancing of Spherical Pendulum using a Parallel Kinematic Manipulator

New Web Based HMI Portal for Tetra Pak Equipment

Tyre Pressure Monitoring using Sensors

Ultrasound-based Navigation for Mobile Robots

Trailer Stabilization with AFS

Towards and Understanding of the Dynamics and Energy Efficiency of the Human Heart by Mathematical Modelling

Integrating Exception Handling in Machine Development

Object Oriented Automation Systems

Modelling of an EGR System

Safety-Critical Communication in Avionics

Bucket and Vehicle Oscillation for a Wheel Loader

Solving a Dead-lock Problem of NFO Sinus

Utveckling av reglerstrategier för förarhjälpmedel

Estimation of Side Wind Disturbances in Automotive Vehicles

Control of a Gantry-Tau Structure

Radio Frequency Identification in Library (RFID)

Modeling and Control of a 1.45 m deformable mirror

Model-based Friction Compensation for the Furuta Pendelum using the LuGre Model

All Wheele Drive Hardware Dependant Control

Tire-Road Friction Estimation Using Slip-based Observers

Linear Time Periodic Analysis of Dc-Dc Converters

Modeling NOk-formation in Combustion Processes

Modeling and Grey-box Identification of a Robot Manipulator

Engine Cooling & Model Verification

Control of Heating Chamber on Packaging Machine A1 TFA

Error Detection in the Active Front Steering system

Process Estimation with Relay  Feedback Method

Online Terrain Classification for Team Caltech in DARPA Grand Challenge

A model for MES in pharmaceutical production

Measuring the Sensor Health in DARPA Grand Challenge

Lifetime Monitoring of Wind Turbines

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5759
The work was finished in November 2005

Prediction of Radio Channels using OFDM

Greybox Identification and Control Design with Dymola

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5757
The work was finished in September 2005

Portable Robot Control

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5756
The work was finished in June 2005

Experimental Study of Adaptation and Postural Control after Sleep Deprivation

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5755


The work was finished in August 2005

Model-based Grade Change Support

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5754


The work was finished in May 2005

Vision System for Quality of the Weaving Process

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5753

The work was finished in February 2005

EasySee - A Tool for Visualization of Data Obtained During Climate Testing

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5752


The work was finished in June 2005

Stabilization of Vehicle Formations - A Case Study

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5751


The work was finished in June 2005

Controlling the Secondary Mirror Cell of the Euro50 Project using an Interial Measurement Unit

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5750


The work was finished in January 2005

Code Generation from JGrafchart to ATMEL AVR

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5749


The work was finished in January 2005

Dynamic Simulation of the Train Concept Nowait Transit

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5748


The work was finished in May 2005

Logarithmic Concave Observer

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5747

The work was finished in May 2005

Roll-over detection and avoidance for SUV:s and Vans

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5746

The work was finished in May 2005

Control of Bacillus Subtilis Cultivations - Feeding Strategies and the Role of Anti-windup in Mid-ranging Control

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5745

The work was finished in May 2005

Model of Hydro Power Plant - New Algorithm for Turbine Governors

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5744

The work was finished in May 2005

ABS for a Radiocontroled Car

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5743

The work was finished in May 2005

Modeling and Control of a Deformable Telescope Mirror

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5742

The work was finished in May 2005

Cooperative Robots

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5741
The work was finished in March 2005

Mobile Robotics

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5740
The work was finished in March 2005

Hardware Simulation for Testing IEC 61131-3

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5739
The work was finished in March 2005

Controlling an Inverted Pendulum

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5735
The work was finished in January 2005

Controller Design for a Direct Coupled Motor

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5733
The work was finished in December 2004

Control Loop Performance Monitoring

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5732
The work was finished in December 2004

Investigation of Real-Time Operating Systems: OSEK/VDX and Rubus

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5731
The work was finished in December 2004

Memory Protection in a Real-Time Operating System

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5737
The work was finished in November 2004

Arbiter and Simulation for Team Caltech in DARPA Grand Challenge

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5730
The work was finished in November 2004

Friction Compensation by the use of Friction Observer

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5729
The work was finished in October 2004

Autotuning of a PID-controller

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5728
The work was finished in October 2004

Information-Theoretic Approach for Path Planning of a Moving Platform with Bearings-only Sensors

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5727
The work was finished in October 2004

Code Generation from JGrafchart to Modelica

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5726
The work was finished in March 2004

A Flexible Linear Servo with an Inverted Pendulum

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5725
The work was finished in December 2004

Modeling of Force in Robots with Modelica

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5736

Topics in Integrated Control and Scheduling

Optimization of an Alkalinity Control Unit

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5724
The work was finished in May 2004

Probing Control of a Feedbatch Formulation. Simulation and Implementation in ABB Industrial IT

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5723
The work was finished in February 2004

Hard Real-Time Control of an Inverted Pendulum Using RTLinux/Free

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5722
The work was finished in February 2004

Feedback Control of Thermoacoustic Instability Using Actuator

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5721
The work was finished in February 2004

Analysis of Interconnected Systems

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5720
The work was finished in August 2003

Observerbased Faultdetection in an Electromechanical Servo

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5719
The work was finished in January 2004

Untripped SUV Rollover Detection and Prevention

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5718

The work was finished in February 2004

Optimizing Yacht Routes using Dynamic Programming

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5717
The work was finished in December 2003

Improving Wheel Speed Sensing and Estimation

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5716
The work was finished in December 2003

Iterative Feedback Tuning with Application to Robotics

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5715
The work was finished in December 2003

Side Wind Compensation using Active Suspension

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5714
The work was finished in October 2003

Speed Control of a Monochromaatic Lens

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5713
The work was finished in September 2003

Vision-Based Control of the Overhead Crane

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5712
The work was finished in September 2003

Combustion control of the Homogenous Charge Compression Ignition dynamics>

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5711

The work was finished in September 2003

Physics Based Wave Generation for the Shallow Water Equations

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5710

The work was finished in August 2003

Regulator Design for a Flexible Servo

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5709

The work was finished in August 2003

Control of DVD-Player

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5708

The work was finished in August 2003

Dynamic Vision: Shape from Motion

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5707

Subspace Based Identification for Adaptive Control

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5706

The work was finished in June 2003.

Kinematic Analysis of Rapid Eye Movements for Vestibular Disorders

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5705

The work was finished in June 2003.

Experimental Analysis of Virtual Reality as a Stimulus in Posturography

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5704

The work was finished in June 2003

Diabetes Mellitus Modelling Based on Blood Glucose Measurements

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5703

The work was finished in April 2003.

Distributed Real Time Robot Vision in Java

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5702

The work was finished in March 2003

Steam Net Simulation with Real Control System

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5701

The work was finished in January 2003

Implementation and design of an intelligent and dynamic remote

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5700

The work was finished in December 2002

Modelling of Crankcase Behaviour in a Heavy-Duty Diesel Engine

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5699

The work was finished in January 2002

Controller Synthesis by Linear Programming

The work was finished in November 2002

Optimal Vehicle Dynamics - Yaw Rate and Side Slip Angle Control Using 4-Wheel Steering

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5697

The work was finished in October 2002

Control of a Submarine Vehicle

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5696

The work was finished in November 2002

Modelbased Visual Servoing Grasping of Objects Moving by Newtonian Dynamics

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5695

The work was finished in October 2002

Simulation of Visual Servoing in Grasping Objects Moving by Newtonian Dynamics

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5694

The work was finished in October 2002

Force Estimation and Control in Vehicles and robots

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5693

The work was finished in October 2002

Rapid Prototyping with Matlab/Simulink-A Case Study

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5692

The work was finished in August 2002

Automatic Gain Control in High Speed WCDMA Terminals

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5691

The work was finished in September 2002

6-DOF Visual Servoing Using the Lie Group of Affine Transformation

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5690

The work was finished in June 2002

Estimation of Inertial Parameters

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5689

The work was finished in June 2002

Distributed Brake-By-Wire Based on TTP/C

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5688

The work was finished in June 2002

Modelling of Microturbine Systems

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5687

The work was finished in May 2002

Virtual Environment for Development of Visual Servoing Control Algorithms

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5686

The work was finished in May 2002

Observer-Based Adaptive Control

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5685

Porting the Ericsson Bluetooth Stack -- A Real-Time Analysis

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5684

The work was finished in April 2002

Scheduling of Real-Time Traffic in a Switched Ethernet Network

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5683

The work was finished in March 2002

A Graphical Programmable Control Language for Hubit

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5682

The work was finished in February 2002

Statecharts in ABB Control

See Document on
http:///www.control.lth.se/articles/article.pike?artkey=5681

The work was finished in December 2001

Optimizing Operation Times in a Storage Control System

http:///www.control.lth.se/articles/article.pike?artkey=5680

The work was finished in November 2001

Construction and Control of an Inverted Pendulum

http:///www.control.lth.se/articles/article.pike?artkey=5679

The work was finished in July 2000

Generic Web Server in Embedded Control Systems

http:///www.control.lth.se/articles/article.pike?artkey=5678

The work was finished in November 2001

Analysis of Body Kinematics and Force Modulation

http:///www.control.lth.se/articles/article.pike?artkey=5677

The work was finished in September 2001

Vision Guided Force Control in Robotics

http:///www.control.lth.se/articles/article.pike?artkey=5676

The work was finished in October 2001

Vision Based Robotic Grasping Tracking of a Moving Object

http:///www.control.lth.se/articles/article.pike?artkey=5675

The work was finished in September 2001

An Adaptive PPI Controller

http:///www.control.lth.se/articles/article.pike?artkey=5674

The work was finished in September 2001

Dynamic Tyre Models in Adaptive Slip Control

http:///www.control.lth.se/articles/article.pike?artkey=5673

The work was finished in March 2001

Iterative Learning Control with Application to Robotics

http:///www.control.lth.se/articles/article.pike?artkey=5672

The work was finished in June 2001

Hard Real-Time and Synchronous Programming with SDL

http:///www.control.lth.se/articles/article.pike?artkey=5671

The work was finished in April 2001

Computer Vision and Kinematic Sensing in Robotics

http:///www.control.lth.se/articles/article.pike?artkey=5670

The work was finished in June 2001

Producing Periodic Motion for Underactuated Systems

http:///www.control.lth.se/articles/article.pike?artkey=5669

The work was finished in April 2001

Modeling of a Gas Turbine in Modelica

http:///www.control.lth.se/articles/article.pike?artkey=5668

The work was finished in May 2001

Investigation of a Closed Loop Modulator for Bluetooth Radios

http:///www.control.lth.se/articles/article.pike?artkey=5667

The work was finished in April 2001

System Identification applied to Cardiac Activation

http:///www.control.lth.se/articles/article.pike?artkey=5666

The work was finished in April 2201

Implementation of a PID Controller for Building Automation

http:///www.control.lth.se/articles/article.pike?artkey=5665

The work was finished in March 2001

Adaptive Control of Combustion Instabilities

http:///www.control.lth.se/articles/article.pike?artkey=5664

The work was finished in February 2001

Automatic Test System for Network Servers

http:///www.control.lth.se/articles/article.pike?artkey=5663

The work was finished in March 2001

Medical Image Registration

http:///www.control.lth.se/articles/article.pike?artkey=5662

The work was finished in February 2001

Predictive Control of Irrigation Channels

http:///www.control.lth.se/articles/article.pike?artkey=5661

The work was finished in February 2001

Probing Control of Glucose in Cultivation of 'Saccharomyces cervisiae'

http:///www.control.lth.se/articles/article.pike?artkey=5660

The work was finished in January 2001

Bluetooth in Control

http:///www.control.lth.se/articles/article.pike?artkey=5659

Linearization and nonlinear control in flight-controls and aeroelasticity for civil aircraft using MATRIXx

http:///www.control.lth.se/articles/article.pike?artkey=5658

Observer-based Impedance Control in Robotics

http:///www.control.lth.se/articles/article.pike?artkey=5657

The work was finished in November 2000

Identify a Surface with Robot Force Control

http:///www.control.lth.se/articles/article.pike?artkey=5656

The work was finished in November 2000

Supervision of Computer Equipment in ABB OperateIT Using WMI

http:///www.control.lth.se/articles/article.pike?artkey=5655

The work was finished in October 2000

Feedback control of plasma position in the Extrap T2 fusion experiment

http:///www.control.lth.se/articles/article.pike?artkey=5654

The work was finished in November 2000

Modeling and Control of a Paper Dryer Section Using Modelica-TM

http:///www.control.lth.se/articles/article.pike?artkey=5653

The work was finished in November 2000

Implementing a Wireless I/0 Unit Using Bluetooth

http:///www.control.lth.se/articles/article.pike?artkey=5652

The work was finished in November 2000

Experimental Identification of the Behavior of Glass Fiber Bushing

http:///www.control.lth.se/articles/article.pike?artkey=5651

The work was finished in November 2000

Modeling and Control in Matlab for ABB's Control Builder

http:///www.control.lth.se/articles/article.pike?artkey=5650

The work was finished in October 2000

SDL for Programming of LEGO robots

http:///www.control.lth.se/articles/article.pike?artkey=5648

The work was finished in October 2000

A Matlab Tool for Rapid Process Identification and PID Design

http:///www.control.lth.se/articles/article.pike?artkey=5649

The work was finished in September 2000

Control of Energy Storage Devices for Rail Vehicles

http:///www.control.lth.se/articles/article.pike?artkey=5647

The work was finished in September 2000

Safe Manual Control of Unstable Systems

http:///www.control.lth.se/articles/article.pike?artkey=5646

The work was finished in September 2000

Robust Tuning Procedures of Dead-Time Compensating Controllers

http:///www.control.lth.se/articles/article.pike?artkey=5645

The work was finished in September 2000

Control of a High Voltage Supply for a Traveling Wave Tube Transmitter

http:///www.control.lth.se/articles/article.pike?artkey=5644

The work was finished in August 2000

Linear and Neuro Control Strategies; Some Experimental Results

http:///www.control.lth.se/articles/article.pike?artkey=5643

The work was finished in June 2000

Genetic Programming in Control Theory: On Evolving Programs and Solutions to Control Problems

http:///www.control.lth.se/articles/article.pike?artkey=5642

The work was finished in June 2000

Integrating a simulator in UML for a real-time environment

http:///www.control.lth.se/articles/article.pike?artkey=5641

The work was finished in May 2000

Precise Navigation for an Agricultural Robot

http:///www.control.lth.se/articles/article.pike?artkey=5640

The work was finished in January 2000

Communication between Matlab/Simulink and ABB Advant Control Builder

http:///www.control.lth.se/articles/article.pike?artkey=5639

The work was finished in March 2000

Adaptive Real-time Control of Nonlinear Throttle Unit

http:///www.control.lth.se/articles/article.pike?artkey=5638

The work was finished in February 2000

Experimental Slip-based Road Condition Estimation

http:///www.control.lth.se/articles/article.pike?artkey=5637

The work was finished in February 2000

Sequential Paging for Moving Mobile Users

http:///www.control.lth.se/articles/article.pike?artkey=5636

The work was finished in February 2000

Modelling and Optimization of Batch Distillation

http:///www.control.lth.se/articles/article.pike?artkey=5635

The work was finished in February 2000

Motion Control with Slosh Suppression

http:///www.control.lth.se/articles/article.pike?artkey=5634

The work was finished in December 1999

Robust On-line Estimator Implementation

http:///www.control.lth.se/articles/article.pike?artkey=5633

The work was finished in November 1999

Automatisk övervakning och diagnos av pappersmaskin

http:///www.control.lth.se/articles/article.pike?artkey=5632

H-infty centering controller for single wheel drive equipped bogie

http:///www.control.lth.se/articles/article.pike?artkey=5631

The work was finished in November 1999

System Identification for Modeling of Stock Market Index

http:///www.control.lth.se/articles/article.pike?artkey=5630

The work was finished in November 1999

Modeling of Two-Phase Flows with Modelica

http:///www.control.lth.se/articles/article.pike?artkey=5629

The work was finished in November 1999

Modellering av ett plattvärmeväxlarsystem med reglering på ång- och sekundärsidan

http:///www.control.lth.se/articles/article.pike?artkey=5628

The work was finished in August 1999

Product test bench based on real-time simulation

http:///www.control.lth.se/articles/article.pike?artkey=5627

The work was finished in September 1999

Control of Substrate Feeding in E. coli. cultures

http:///www.control.lth.se/articles/article.pike?artkey=5626

The work was finished in June 1999

Nonlinear Modeling of Locomotive Propulsion System and Control

http:///www.control.lth.se/articles/article.pike?artkey=5625

The work was finished in August 1999

Pressure Control of Haldex Limited Slip Coupling

http:///www.control.lth.se/articles/article.pike?artkey=5624

The work was finished in August 1999.

Analog and Digital Signal Processing in an Optical Application

Advisor: Per Hagander
Advisor: Anders Rosenqvist, CellAvision AB
Date begun: October 1998
Document Number: TFRT-5623
See Document on

http:///www.control.lth.se/articles/article.pike?artkey=5623

The work was finished in August 1999.

Nonlinear Control of a Bouncing Ball.

http:///www.control.lth.se/articles/article.pike?artkey=5622

The work was finished in August 1999.

Kappa Tuning - Improved Relay Auto-tuning for PID-controllers.

http:///www.control.lth.se/articles/article.pike?artkey=5621

The work was finished in June 1999

Identification of Respiratory Mechanics during Mechanical Ventilation

http:///www.control.lth.se/articles/article.pike?artkey=5620

The work was finished in June 1999

Adaptive Rejection of Multiple Sinusoids in Measurement Signals.

http:///www.control.lth.se/articles/article.pike?artkey=5619

The work was finished in May 1999

Digital Loudspeaker Equalization

http:///www.control.lth.se/articles/article.pike?artkey=5618

The work was finished in May 1999

Robust Control of a Flexible Servo with parametric Uncertainty

http:///www.control.lth.se/articles/article.pike?artkey=5617

The work was finished in May 1999

A Robot Playing Scrabble Using Visual Feedback

http:///www.control.lth.se/articles/article.pike?artkey=5616

The work was finished in April 1999

Neural Networks in Extremal Seeking Control

http:///www.control.lth.se/articles/article.pike?artkey=5615

The work was finished in April 1999

Modeling and Conrol of an Hydraulic Actuator

http:///www.control.lth.se/articles/article.pike?artkey=5614

The work was finished in March 1999

Modellering av glukos- och acetat-metabolism i Escherichia coli. (Modeling of glucose and acetate metabolism in Escherichia coli.)

http:///www.control.lth.se/articles/article.pike?artkey=5613

The work was finished in September 1999

Syncronization in ADSL Modems

http:///www.control.lth.se/articles/article.pike?artkey=5612

The work was finished in December 1998

New Control Concept for Haldex Limited Slip Coupling

http:///www.control.lth.se/articles/article.pike?artkey=5611

The work was finished in February 1999

Equalization of Co-Channel Interference in Future Mobile Communication Systems

http:///www.control.lth.se/articles/article.pike?artkey=5610

The work was finished in January 1999.

Stop and Go Controller for Adaptive Cruise Control

http:///www.control.lth.se/articles/article.pike?artkey=5609

The work was finished in December 1998.

Object-Oriented Modeling of an HVAC System

http:///www.control.lth.se/articles/article.pike?artkey=5608

The work was finished in December 1998.

Tools for configuration of control loops

http:///www.control.lth.se/articles/article.pike?artkey=5607

The work was finished in December 1998.

Termohydraulisk modell av Heleneholmsverket.

http:///www.control.lth.se/articles/article.pike?artkey=5606

The work was finished in December 1998.

Reglering av gyroplatform med asynkronmotor

http:///www.control.lth.se/articles/article.pike?artkey=5605

The work was finished in November 1998.

Remote Control of a Mobile Robot Using Petri Nets

http:///www.control.lth.se/articles/article.pike?artkey=5604

The work was finished in December 1998.

Adaptive Eccentricity Compensation -- An Experimental Study

http:///www.control.lth.se/articles/article.pike?artkey=5603

The work was finished in October 1998

Methods for Tone-Suppression in Delta/Sigma Converters (joint project with Ericsson Lund)

http:///www.control.lth.se/articles/article.pike?artkey=5602

The work was finished in September 1998.

Modeling and Control of a CSTF with Cell Recycle<

http:///www.control.lth.se/articles/article.pike?artkey=5601

The work was finished in June 1998.

Modeling of a Tetra Pak Deaeration Process

http:///www.control.lth.se/articles/article.pike?artkey=5600

The work was finished in June 1998.

Control of Chromatography Column in Production Scale

http:///www.control.lth.se/articles/article.pike?artkey=5599

The work was finished in May 1998.

Dual Control of an Integrator Using Neuro-Dynamic Programming

http:///www.control.lth.se/articles/article.pike?artkey=5598

The work was finished in April 1998.

Analysis of Time Delays in Synchronous Control Loops

http:///www.control.lth.se/articles/article.pike?artkey=5597

The work was finished in March 1998.

Tuning of Gain Parameters in Commercial Servo Controllers

http:///www.control.lth.se/articles/article.pike?artkey=5596

The work was finished in march 1998.

Controlling a Ball and Plate Process Using Computer Vision

http:///www.control.lth.se/articles/article.pike?artkey=5595

The work was finished in March 1998.

Object Oriented Simulation of a Paper Machine

http:///www.control.lth.se/articles/article.pike?artkey=5594

The work was finished in February 1998.

Effects of Friction on the Furuta Pendulum

http:///www.control.lth.se/articles/article.pike?artkey=5593

The work was finished in January 1998.

Modeling and Control of the Quadruple-Tank Process

http:///www.control.lth.se/articles/article.pike?artkey=5588

The work was finished in March 1998.

Automatic Tuning of Multivariable PID-Controllers

http:///www.control.lth.se/articles/article.pike?artkey=5592

The work was finished in February 1998.

Autofokusreglering

http:///www.control.lth.se/articles/article.pike?artkey=5591

The work was finished in December 1997.

Digital Control of a Gantry Crane with Unconventional Sampling

http:///www.control.lth.se/articles/article.pike?artkey=5590

The work was finished in January 1998.

Underwater Locomotion Using Swimming Cylinders

http:///www.control.lth.se/articles/article.pike?artkey=5589

The work was finished in December 1997.

Control Design for a Solvent Extractor

http:///www.control.lth.se/articles/article.pike?artkey=5587

The work was finished in November 1997.

Förbättrad reglering av kvalitet på pappersmaskin

http:///www.control.lth.se/articles/article.pike?artkey=5586

The work was finished in October 1997.

Robustness Analysis using Omola

http:///www.control.lth.se/articles/article.pike?artkey=5585

The work was finished in October 1997.

Kapacitetsreglering av plattvärmeväxlare

http:///www.control.lth.se/articles/article.pike?artkey=5584

The work was finished in October 1997.

Automatjustering av reglerparametrar för Kamewa Water Jet servo

http:///www.control.lth.se/articles/article.pike?artkey=5582

The work was finished in September 1997.

Automatic Tuning Based on Transfer Function Estimation

Abstract:

The work was finished in August 1997.

Control of Longitudal Vehicle Dynamics

Abstract:

The work was finished in June 1997.

Identifiering av en grävmaskin

Abstract:

The work was finished in May 1997.

A Real Time Control Language for the Pålsjö Environment

Abstract:

The work was finished in May 1997.

Modelling of the Steam Cycle in a Sulphuric Acid Plant.

Abstract:

The work was finished in March 1997.

Manual Control of Unstable Systems

Abstract:

The work was finished in February 1997.

Control of an Oscillatory System

Abstract:

The work was finished in January 1997.

Compensation for jitter in real-time systems

Abstract:

The work was finished in January 1997.

Java-based Picture Editor for Control Systems

Abstract:

The work was finished in December 1996.

Speech Coding Using Orthonormal Basis Functions

Abstract:

Performance Improvement of PI-Control Using Nonlinear Feedforward

Abstract:

The work was finished in December 1996

Identifiering och simulering av pappersmaskin (Identification and Simulation of Paper Machine)

Abstract:

A model of PM2 at Stora Nymölla AB has been brought forward and a simulation tool has been constructed in simulink. The physical part of the machine has been modelled. Concentrations are modelled dynamically and flows are modelled stationary. Identification of the real process has been made to determine the dynamic characteristics.

The model can with good results be used to test and evaluate different strategies of automatic control and with some restrictions be used to evaluate rebuildings.

The work was finished in November 1996

Övervakning av regulatorer via Internet. (Supervision of Controllers Using Internet)

Abstract:

The report describes the system that was developed and its components. The report also contains an introduction to Internet and Java.

The work was finished in October 1996

Modelling and Simulation of Sound Effects in Mechanical Systems

Abstract:

Mathematical models for sound has been developed in Dymola. The model for a string gives good results. However, it is much worse to model a membrane. Sound models must have high bandwidths, which require fine discretizations, which make the models large and complex. Furthermore, sound interacts in complex ways with the environment on its way to our ears. Filters that compensate for the effects that are introduced during the propagation of the sound from the source to the receiver have been developed with good results. Software to output a general variable to a sound-card under Windows has been developed.

The VRML has shown to be a great tool to model advanced virtual reality scenes including both sound and animation. In combination with Dymola, VRML can be used to present dynamic behavior including both animation and sound.

The work was finished in November 1996.

The report is available from Dynasim

Robustness Analysis of a Wind Power Plant

Abstract

The stability was not found to be a problem, but the specified performance was difficult to prove.

The work was finished in September 1996.

Dynamic Pictures as a Learning Tool in Control

Abstract

All the implementation has been done using Matlab and its graphical user interface. The use of Simulink was avoided in order to make faster animations.

The work was finished in September 1996.

Catalytic Reduction in the Ship Engines

Abstract

ABB Fläkt Marine is one of the very few companies that provides a solution to emissions on nitrogen oxides. This is made with a technique called Selective Catalytic Reduction using a substance, urea, which is injected into the exhausts to react with the nitrogen oxides in the reduction catalyst to form water, nitrogen and carbon oxide. The amount of injected urea into an exhaust pipe is controlled by measuring the momentarily load of the engine. however, the optimal injection rate tends to drift slowly over longer periods of time causing the actual injection rate to be either too low or too high. The adjustments of these trends have so far been made manually by the company's service engineers, but with just a few more plants of this kind installed on ships around the world this would soon become too time consuming.

The purpose of this master thesis project has therefore been to suggest how these trend adjustments could be carried out automatically. The measurements, mainly made on a ferry between Sweden and Denmark, show a very different dynamical behavior of the catalyst depending on whether the actual injection rate is too low or too high. They also show that variations in the engine's load have to be taken into consideration in some way during the adjustments. The suggested method uses time series analysis and prediction while searching for the optimal injection rate.

The work was finished in September 1996.

Control of Roling Missile based on Measurement Information from Accelerometers

Abstract

The report shows that one transverse measuring accelerometer gives enough measure information to make estimation of the states needed for feedback possible. The estimation errors are only slightly lower if two transverse measuring accelerometers, placed perpendicular against one another, are used instead of one. Along the axis of symmetry of the missile there is an interval, in the front of the missile, where accelerometers should not be placed due to poor estimation. Bias errors in the accelerometers are efficiently eliminated by bias estimating states. Turbulent wind must be modeled in the Kalman filter to get good estimation of the angle of attack and the side-slip angle. In the controlled missile the gyro-coupling, due to the roll of the missile, is low. The small effects that are left of the gyro-coupling can be further reduced with suitable controllers. Reference signals can be introduced in the controller by feedforward of the states and control signals from a filtered reference signal. The feedforward can be done static without considerable deterioration of performance.

The work was finished in September 1996.

The Effect of Friction on Stabilization of an Inverted Pendulum.

Abstract

Two friction models are used, one classical with stiction and Coulomb friction, and one advanced and dynamic, the LuGre model. These are identified by comparing limit cycles from the real process with limit cycles obtained through simulations. Since the inverted pendulum is an unstable process with fast dynamics, it is sensitive to parameter changes, and thus it is difficult to get good results. Model-based friction compensation is also tried. This results in reduced limit cycles.

The work was finished in September 1966.

Control of Unstable Systems with Input and Rate Saturations

Abstract

The work was finished in August 1996.

Comparison of two Friction Models

Abstract:

Comparisons are made concerning friction phenomena captured, computational issues, identification of model parameters and behavior at zero-crossing of the velocity. Properties are illustrated by simulations. New results on stability and passivity for the Lugre model are presented. Experiments are carried out to validate the models. Limit cycles are investigated by describing function analysis. The impact of a dynamic friction model on friction induced limit cycles is discussed. Both models give reasonable results in describing function analysis, and it is concluded that dynamic models are superior to static models when it comes to reproducing limit cycles. The Lugre model exhibits a richer behavior in terms of friction phenomena. The Bliman & Sorine model could be problematic to use because of poor damping properties. The damping problems for the Bliman & Sorine model turns out to affect overall model behaviour in a complex way.

This work was in part carried out at Laboratoire d'Automatique de Grenoble, CNRS-INPG-UJF, France.

The work was finished in June 1996.

Modelling and Control of an Electric Arc Furnace

Abstract:

This thesis presents an object-oriented model of the EAF where its main subsystems, namely the electrical system, the electrode positioning dynamics and the disturbances are analyzed separately. Furthermore, a fuzzy P-like impedance controller, based on the model implemented, is also presented.

The work was finished in June 1996.

Improvements of a PID Controller

Abstract:

These improvements are a compensator for static friction in control valves, an interpolation between the PID values when the system is non linear and the creation of a table to save different gain schedules.

The two first improvements have been tested in simulation and in a plant, Danisco Sugar, the third one has just been tested at Alfa Lval.

The work was finished in May 1996.

An Open System for Robot Programming and Control

Abstract:

This project will refine and evaluate some high level robot programming principles. First, earlier prototype implementations will be merged together to a more complete system. Secondly, the low-level control will be verified for an available ABB IRB-6 robot. Third, the system will be improved to allow robot programming languages and interpretors to be exchanged at run-time. It should also be possible to introduce new control loops based on externals sensors. The goal is to let the robot perform contour following; user-friendly programmed using the developed features.

The work was finished in May 1996.

Konzeption und Realiziering eines Echtzeitbetriebssystems fur Strukturadaptive Regelsysteme. (Design and Implementation of a Real-Time-Operating-System for Structure-Adaptive Control Systems). The Master Thesis is in German.

Abstract:

A structure-adaptive control architecture alters the information- and control-flow in run-time in order to obtain a control-structure which changes depending on the actual mission and states.

The above concept is supported by the real-time-robot-operating-system CAIC (Cooperative Architecture for Intelligent Control). CAIC was implemented and used to control two mobile miniature manipulators (Khepera-robots). The two robots were able to cooperatively grip, raise and transport a rectangular object (the spacing-piece in the Cranfield Assembly Benchmark). They communicated with local IR-communication to send command and acknowledgments.

The work was finished in March 1996.

Accuracy Verification of a Continuous Juice Blending Process using Simulation

Abstract:

The work was finished in March 1996.

Experimental Robot Control and Programming

Abstract:

Another development is the so called Pålsjö system, a DDC package supporting rapid control prototyping. Control blocks are expressed in an imperative block definition language, using a C/C++ style for pure computations. A run-time system supports interactive creation and execution of control blocks.

This project will refine and evaluate some low-level robot control and programming principles, and a GUI to the Pålsjö system will be outlined and possibly implemented. First, the current version of the robot control system (based on an available ABB IRB-2000 robot) will be extended concerning the real-time control, the supervision of the system, and the control engineering tools. That will allow control experiments to be performed in a safe and efficient way. Secondly, the low-level control will be improved and tuned using the tools developed. The goal is to let the robot perform a force control task, or to stabilize an inverted pendulum mounted on the end-effector, using the Pålsjö system.

The work was finished in March 1996.

Application of Subspace-based Methods of System Identification

Abstract:

Subspace-based methods offer an alternative approach but the methods are prone to error for low signal-to-noise ratios. An experimental evaluation of noise sensitivity of subspace-based identification applied to postural dynamics is considered.

The work was finished in March 1996.

Integrated Control and Diagnosis Using 4 DOF Cotrollers

Abstract:

This thesis has investigated the 4 DOF controller in combination with $Hinfty$ and $mu$-design. Two problems have been studied, a literature example and diagnosis of a simulated inverted pendulum. Special focus has been put on the selection of weighting filters.

The work was finished in February 1996.

Speed Control of a Switched Reluctance Motor

The work was finished in February 1996.

Adaptive Control of Systems with backlash

Abstract:

The work was finished in January 1996.

An Experimental Platform for DC-cable Interaction with Ship Steering

Abstract:

The objective of this final master thesis was to build an experimental model. This model should be used to verify simulations of ships passing a HVDC cable. It includes a radio controlled boat, an automatic pilot, a magnetic compass and a position monitoring system. Some full-size exerpiments have been performed, but they were very expensive. This is why an experiment model would be most appreciated.

We want an automatic pilot which controlled the boat heading using a magnetic compass as the input. After having tried different solutions for the automatic pilot we chose a model which consisted of two micro controllers situated on the boat.

The position monitoring system uses pulses of audible sound. Four microphones detect the sound, each with a certain time delay proportional to the distance from the boat. From the differences in time delay the boat position can be calculated.

Experiments show that the model behavior was as expected, the boat deviated from its course and in the worst cases followed the cable.

The work was finished in December 1995.

Prototype Implementation of the PLC Standard IEC 1131-3

Abstract:

This master thesis describes a prototype implementation of the Function Block Diagram language combined with SFC. Different function blocks and SFC elements are implemented as a number of classes and code is written to execute them.

We have spent most of the project on issues of execution order which are not well specified in the standard. The objects are sorted into lists and executed. Algorithms for local or global sort are implemented and evaluated. We have also discussed other execution methods.

The implementation is done using the graphical and object oriented expert system G2 as a prototype tool.

The work was finished in December 1995.

Dynamic Pictures in Sampled Data Systems.

Abstract:

The implementation is done in Matlab and in some cases, the simulations are performed in Simulink. Matlabs Graphical User Interface tools are used for building the user interface.

The work was finished in November 1995.

Simulation of Towed Array Sonar

The work was finished in November 1995.

Submarine Motion Control

The work was finished in November 1995.

Adaptive Fuzzy pH Control for Freshwater Purification

The work was finished in October 1995.

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