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Dissertations / Theses on the topic 'Mechatronics and systems engineering'
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Lasa, Morán J. Mikel. "A systems engineering approach for computer based design in mechatronics : a common rail application /." Düssdeldorf : VDI-Verl, 2002. http://www.gbv.de/dms/bs/toc/353099538.pdf.
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Proesser, Malte. "A new approach to systems integration in the mechatronic engineering design process of manufacturing systems." Thesis, De Montfort University, 2014. http://hdl.handle.net/2086/10492.
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Creating flexible and automated production facilities is a complex process that requires high levels of cooperation involving all mechatronics disciplines, where software tools being utilised have to work as closely as their users. Some of these tools are well-integrated but others can hardly exchange any data. This research aims to integrate the software systems applied by the mechatronic engineering disciplines to enable an enhanced design process characterised by a more parallel and iterative work flow. This thesis approaches systems integration from a data modelling point of view because it sees information transfer between heterogeneous data models as a key element of systems integration. A new approach has been developed which is called middle-in data modelling strategy since it is a combination of currently applied top-down and bottom-up approaches. It includes the separation of data into core design data which is modelled top-down and detailed design data modules which are modelled bottom-up. The effectiveness of the integration approach has been demonstrated in a case study undertaken for the mechatronic engineering design process of body shop production lines in the automotive industry. However, the application of the middle-in data modelling strategy is not limited to this use case: it can be used to enhance a variety of system integration tasks. The middle-in data modelling strategy is tested and evaluated in comparison with present top-down and bottom-up data modelling strategies on the basis of three test cases. These test cases simulated how the systems integration solutions based on the different data modelling strategies react to certain disturbances in the data exchange process as they would likely occur during industrial engineering design work. The result is that the top-down data modelling strategy is best in maintaining data integrity and consistency while the bottom-up strategy is most flexibly adaptable to further developments of systems integration solutions. The middle-in strategy combines the advantages of top-down and bottom-up approaches while their weaknesses and disadvantages are kept at a minimum. Hence, it enables the maintenance of data modelling consistency while being responsive to multidisciplinary requirements and adaptive during its step-by-step introduction into an industrial engineering process.
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Kanjanapas, Kan. "Human Mechatronics Considerations of Sensing and Actuation Systems for Rehabilitation Application." Thesis, University of California, Berkeley, 2014. http://pqdtopen.proquest.com/#viewpdf?dispub=3640496.
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With the predicted increase in worldwide elderly population in the future and already significant populations of disabled people, assistive technologies and rehabilitation devices are demanded significantly. Utilizing a human mechatronic approach results in several advantages, including capability of measuring insightful information for patient's condition and providing proper assistive torque for abnormal movement correction. This dissertation investigates several domains, including (1) human dynamics model, (2) monitoring systems, and (3) design and control of active lower extremity exoskeleton.
The dissertation begins with a study of a human dynamic model and sensing system for diagnosis and evaluation of patient's gait condition as first step of rehabilitation. A 7-DOF exoskeleton equipped with multiple position sensors and smart shoes is developed, so that this system can deliver patient's joint motion and estimated joint torque information. A human walking dynamic model is derived as it consists of multiple sub-dynamic models corresponding to each gait phase. In addition, a 3D human motion capture system is proposed as it utilizes an inertial measurement unit (IMU) sensor for 3D attitude estimation with embedded time varying complementary filter. This sensing system can deliver 3D orientations of upper extremities, and a forward kinematics animation. For the development of a rehabilitation device, an active lower extremity exoskeleton is proposed. A rotary series elastic actuator (RSEA) is utilized as a main actuator of the exoskeleton. The RSEA uses a torsion spring yielding elastic joint characteristics, which is safe for human robot interaction applications. A RSEA controller design is implemented, including a PID controller, a feedforward controller for friction compensation, and a disturbance observer for disturbance rejection. All sensing and actuation systems developed in this dissertation are verified by simulation studies and experiments.
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Erdener, Onur Alper. "Development Of A Mechatronics Education Desk." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1095066/index.pdf.
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In this thesis a mechatronics education desk is developed. The system developed is a low cost, versatile mechatronics education and teaching environment that aims to facilitate hands-on education of undergradutate level mechatronics students. The desk is formed of three main modules that address the needs of mechatronics education: The WorkDesk, Mechatronic Building Blocks and Experimental Setups. These parts are well designed and presented to form a complete and coordinated solution for mechatronics education.
The WorkDesk is a platform devoted to the mechatronics engineering trainee, which provides mechanical, electrical and software prototyping that enables studying, testing and parts integration for mechatronic projects. The components building up the WorkDesk are selected or developed to facilitate mechatronics design and prototyping.
Mechatronic building blocks necessary for mechatronics teaching are identified and selected to be a part of the system. In order to support these modules, low cost custom building blocks are also developed. These include, an autonomous mobile robot kit and a versatile interface board called ready2go. Demonstrative experiments with custom developed building blocks are also presented.
Two experimental setups are developed and presented in the scope of the thesis. The setups, Intelligent Money Selector and Heater/Cooler, address and demonstrate many aspects of mechatronic systems as well as aid introducing systems approach in mechatronics education.
As a consequence, a mechatronics education desk is developed and presented with many hands-on educational case studies. The system developed forms an extensible and flexible software and hardware architecture and platform that enables integration of additional mechatronics education modules.
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Sherman, Matthew. "A Hands-on Method of Instruction for Feedback Control Systems and Mechatronics." Honors in the Major Thesis, University of Central Florida, 2005. http://digital.library.ucf.edu/cdm/ref/collection/ETH/id/805.
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This item is only available in print in the UCF Libraries. If this is your Honors Thesis, you can help us make it available online for use by researchers around the world by following the instructions on the distribution consent form at http://library.ucfBachelors
Engineering and Computer Science
Mechanical Engineering
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Roos, Fredrik. "On design methods for mechatronics : servo motor and gearhead." Licentiate thesis, Stockholm, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-167.
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Roos, Fredrik. "Towards a methodology for integrated design of mechatronic servo systems." Doctoral thesis, Stockholm : Maskinkonstruktion, Kungliga Tekniska högskolan, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-4473.
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Basic, Goran. "Hardware-in-the-loop simulation of mechanical loads for mechatronics system design." Thesis, University of Ottawa (Canada), 2003. http://hdl.handle.net/10393/26323.
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Current research efforts in Hardware-In-The-Loop (HIL) simulations are directed toward testing Electronic Control Units, simulated digitally, in a physical experimental setup. This thesis presents different approach of using HIL simulations. Active and passive mechanical loads can be simulated physically on direct drive motors, under computer control. The work in thesis is based on effort-flow concept, which allows components of the experimental setup to be replaced as needed by physical or digital model. The only requirement that has to be satisfied is that elements of the setup retain their inputs and outputs, in the form of effort and flow pairs.
Based on this theory, the new experimental setup was built, a generic HIL setup containing two DC motors, which are connected by shaft. One of the motors is used to actuate the system, while another motor represents the physical simulator. Based on the sets of derived formulas, physical simulator is able to simulate active and passive loads.
Three different experimental levels are presented in the thesis. The open loop, current control and torque control experiments.
The experimental results prove the concept in whole and show that theory can be applied in real world applications. The focus in this research is on simulation of nonlinear loads, whose models are presented by sets of nonlinear differential equations. Digital simulations require solutions of those equations and it is demanding job. The method of physical simulations presented in this thesis shows simpler way of simulating complex loads.
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Sjöstedt, Carl-Johan. "Modeling and Simulation of Physical Systems in a Mechatronic Context." Doctoral thesis, KTH, Maskinkonstruktion (Avd.), 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-10522.
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This thesis gives different views on the modeling and simulation of physical systems, especially together with embedded systems, forming mechatronic systems. The main considered application domain is automotive. One motivation behind the work is to find suitable representations of physical systems to be used in an architectural description language for automotive embedded systems, EAST-ADL2, which is implemented as a UML2 profile, and uses concepts from both UML and SysML. As a part of the thesis, several languages and tools are investigated, including bond graphs, MATLAB/Simulink, Ptolemy II, Modelica, MATLAB/Simscape and SysML. For SysML, the modeling of continuous-time systems and how it relates to MATLAB/Simulink and Modelica is evaluated. A case study of an electric power assisted steering is modeled to show the differences, the similarities and the usage of the above mentioned languages and tools. To be able to classify the tools and languages, five realization levels were developed: Physical modeling models Constraint models Continuous causal models Discretized models Discretized models with solver and platform implementation By using these realization levels, models, tools and modeling languages can be classified, and transformations between them can be set up and analyzed. As a result, a method to describe the simulation behavior of a MATLAB/Simulink model has been developed using SysML activity diagrams as an approach to achieve integrated system models. Another result is an evaluation of the parametric diagrams of SysML for continuous-time modeling, which shows that they do not enable “physical modeling”, i.e. modeling the topology of the system and getting the underlying equations out of this topology. By including physical ports and physical connectors to SysML internal block diagrams, this could be solved. The comparison also shows many similarities between the languages. The results led to a more detailed investigation on conjugate variables, such as force and velocity, and electric current and voltage, and how these are treated in various languages. The thesis also includes two industrial case studies: one of a twin-screw compressor, and one of a simulation environment for automotive fuel-cell systems. Conclusions are drawn from these models, referring to the realization levels.QC 20100810
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Chen, Kenway. "MCAD - ECAD integration : constraint modeling and propagation /." Thesis, Atlanta, Ga. : Georgia Institute of Technology, 2008. http://hdl.handle.net/1853/26484.
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Thesis (M. S.)--Mechanical Engineering, Georgia Institute of Technology, 2009.Committee Chair: Schaefer, Dirk; Committee Member: Panchal, Jitesh; Committee Member: Paredis, Chris; Committee Member: Rosen, David; Committee Member: Yoder, Douglas. Part of the SMARTech Electronic Thesis and Dissertation Collection.
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Ling, Jonathan, and Gustav Lindstrand. "Optimizable Hydroponic Plant Incubator : Building a hydroponic plant incubator with a highly optimizable environment." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295805.
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This report investigates how to build a compact, optimizable and at the same time user friendly hydroponic systemfor growing plants as efficiently as possible. Hydroponics grows plants using water with dissolved nutrients instead of soil, allowing faster and more efficient growth.The focus has been on the implementation and the usability of such a system, centering around monitoring and to some degree controlling important parameters for growth such as humidity, air temperature, nutrition concentration and light intensity, colour and exposure time. The plant is enclosed in a confined space with artificial lighting which allows thorough control of the light environment. In order to achieve the desired level of control over the growth parameters, several sensors along with a microcontroller were used. A touch screen with a custom built graphical user interface was also connected to allow the user to control and monitor important aspects of growth conditions. The conclusion drawn from this project is that there is ahigh order of optimizability within the boundaries of this project. The measured factors are easily read on an intuitive, easily navigated touch screen for direct feedback. Regarding the lights’ effect on plant growth, the conclusionis drawn that plants grow well with many types of lights, but more time is needed to thoroughly investigate different light exposure times, colour and intensity.I denna rapport undersöks hur man kan bygga ett kompakt, optimerat och samtidigt användarvänligt hydroponiskt system för att odla växter så effektivt som möjligt. Hydroponiska system får plantor att växa genom att användavatten med näring istället för jord, vilket tillåter snabbare och mer effektiv tillväxt. Fokuset i denna rapport har varit på implementeringen och användbarheten av ett sådant system, med tyngpunkt på övervakning och till viss grad styrning av viktiga faktorer i en plantas tillväxt såsom luftfuktighet, temperatur, näringskoncentration och ljusintensitet, färg och exponeringstid. Växten är innesluten i ett begränsat utrymme med artificiellt ljus, vilket tillåter genomgående kontroll av ljusmiljön. För att uppnå önskad kontroll av tillväxtparametrarna, användes ett flertal sensorer tillsammans med en mikrokontroller. Till detta kopplades en pekskärm med ett egen tillverkat användargränssnitt, som tillåter användaren att kontrollera och övervaka viktiga aspekter i tillväxten. Slutsatsen från detta projekt är att det finns en hög grad av optimerbarhet inom denna konstruktion. De uppmätta parametrarna kan enkelt avläsa ljusexponering, ljusintesitet och färg.
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Jensen, Michael T. "The development of new actuation systems for mechatronic toys." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/62990.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 39).
The actuation systems currently used in low-cost mechatronic toys have numerous areas for potential improvement. The development of a new actuation system that is more efficient, produces a more realistic product, or is cheaper has the potential to significantly increase both the quality of the final product and its market viability. Research into potential ways to improve these systems has resulted in three new potential technologies, flexible shafts, output switching, and voice coil actuators using flexural transmission. Each of these products is still in the initial stages of development, but each also has the potential to significantly increase the realism of current and future toys. The most developed of these ideas is use of voice coils with flexural transmissions. This system has the potential to generate significant torque outputs without large, multi-stage transmissions, potentially resulting in significant reductions in unwanted mechanical noise.
by Michael T. Jensen.
S.B.
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Qamar, Ahsan. "An Integrated Approach towards Model-Based Mechatronic Design." Licentiate thesis, KTH, Mekatronik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-35374.
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Mechatronic design is an enigma. On the one hand, mechatronic products promise enhanced functionality, and better performance at reduced cost. On the other hand, optimizing mechatronic design concepts is a major challenge to overcome during the design process. In the past, less attention has been paid to the life phases of a mechatronic product, and it was assumed that modifications in electronics and software will ensure that the product performs to expectation throughout its life time. However it has been realized that introducing design changes in mechatronics is not easy, since it is difficult to assess the consequences of a design decision, both during the design process of a new product, and during a design modification. It is also realized that there is a strong need to consider the product's life phases during the early phases of product development. Furthermore, it is rather difficult to perform a design optimization since it requires introducing changes across different domains, which is not well supported by the methods and tools available today. This thesis investigates the topic of mechatronic design and attacks some of the major challenges that have been identified regarding the design of mechatronic products. The goal is to provide support to the designers to facilitate better understanding of the consequences of their design choices as early as possible. The work also aims to provide support for assessing alternative design concepts, and for optimizing a design concept based on requirements, constraints and designer preferences at the time of design. The thesis highlights three main challenges related to mechatronic product development: the need for a common language during conceptual design; the inadequate information transfer between engineering domains; and the difficulty in assessing the properties of competing mechatronic concepts. A model-based integration approach is presented, and these key challenges are considered in relation to an integrated modeling and design infrastructure. The approach is illustrated through the design of two mechatronic systems- a two degrees-of-freedom robot, and a hospital bed propulsion system. Initial results provide evidence of good potential for information transfer across mechatronic domains. Although SysML was used for the case studies, some important questions were raised about its suitability as a common language for mechatronics. Suggestions for future work are: to utilize the developed infrastructure and incorporate a capability to model and assess consequences of competing design concepts; provide support for optimizing these concepts; and evaluate the usefulness of the developed infrastructure in a real-world design setting. These efforts should provide ample information to the designer for making adequate decisions during the design process.QC 20110629
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von, Otter Edvin, and William Bruce. "Method for Event Detection in Mechatronic Systems Using Deep Learning." Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-245181.
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Artificial Intelligence and Deep Learning are new drivers for technological change, and finds their way into more and more applications. These technologies have the ability to learn com-plex tasks previously hard to automate. In this thesis, the usage of deep learning is applied and evaluated in the context of product assembly where components are joined together. The specific problem studied is the process of clamping by using threaded fasteners. The thesis evaluates several deep learning models, such as Recurrent Neural Networks (RNN), Long Short-Term Memory Neural Networks (LSTM) and Convolutional Neural Networks (CNN), and presents a new method for estimating the rotational angle at which the fastener mates with the material, also called snug-angle, using a combined detection-by-classification and regression approach with stacked LSTM neural networks. The method can be imple-mented to make precision clamping using angle tightening instead of torque tightening. Thistightening method offers an increase in clamp force accuracy, from ±43% to ±17%. Various estimation methods and inference frequencies are evaluated to offer insight in the lim-itations of the model. The top method achieves a precision of 0.05 2.35¶ when estimating the snug-angle and can classify where the snug-angle occurs wi≠th 99.±26% accuracy. The thesis also takes into account the demanding requirements of an implementation on mechatronic systems and presents advantages and disadvantages of the state-of-the-art model compression methods used to achieve a lightweight and efficient algorithm. Usage of these methods can give compression rates, energy efficiency and speed that are in the order of 10◊ to 100◊ compared to the original model, without loss of performance.Artificiell Intelligens och djupinlärning är nya drivkrafter för teknologisk förändring och förekommer i allt fler applikationer. Dessa teknologier har förmågan att lära sig komplexa uppgifter som tidigare var svåra att automatisera. I detta examensarbete undersöks möjligheten att använda djupinlärning inom åtdragning av gängade fästelement. Examensarbetet utvärderar flera djupinlärningsmodeller, såsom Recurrent Neural Networks(RNN), Long Short-Term Memory Neural Networks (LSTM) och Convolutional Neural Networks (CNN) och presenterar en ny metod för att estimera rotationsvinkeln vid vilken fästelement tar i materialet, även kallat snugangle. Detta uppnås med en kombinerad detektering via-klassificering- och regressionsmetod baserat på staplade LSTM-nätverk. Metoden möjliggör precisionsåtdragningar genom vinkelåtdragning istället för moment åtdragning. Denna typ av åtdragning ger en precisionsförbättring frän ±43% to ±17% på uppnådd klämkraft. Flera estimeringsmetoder och utsignalsfrekvenser utvärderas för att belysa algoritmens begränsningar. Metoden uppnår en noggrannhet på ≠0.05±2.35¶ och klarar att klassificera en händelse med 99.26 % precision. Examensarbetet tar även hänsyn till de höga krav en implementation av maskininlärning ställer på mekatroniska system och presenterar fördelar och nackdelar med de senaste kompression metoderna som används för att få en lättviktig och effektiv algoritm. Användandet av dessa metoder kan ge ökad energieffektivitet, snabbhet och storleksminskning i storleksordningen 10x till 100x jämfört med originalmodellen, utan att förlora prestanda.
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Zheng, Chen. "Design and integration of multi-disciplinary interfaces : method and modelling language for mechatronic systems engineering." Thesis, Compiègne, 2015. http://www.theses.fr/2015COMP2241/document.
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Les systèmes mécatroniques sont caractérisés par la combinaison synergique de la mécanique, de l'électronique et de l'informatique en temps réel. Ils possèdent leur propre cycle de vie et doivent associer des expertises métiers et des technologies très variées, ce qui rend leur conception plus complexe et nécessairement plus intégrée. Afin de mettre en œuvre une approche permettant d’assurer une meilleure intégration fonctionnelle et spatiale des systèmes mécatroniques, et plus particulièrement sur l’axe développement de produit en assurant une meilleure combinaison des expertises métier, deux types de problématiques doivent être surmontés. La première problématique a trait aux données de conception alors que la seconde est relative aux processus. La contribution de nos travaux de thèse s’appuie sur deux concepts complémentaires. Le premier, un modèle d’interfaces multidisciplinaires, est proposé pour répondre à la problématique relative aux données de conception. Ces interfaces s’appuient sur l’architecture du système et précisent quels transferts existent entre les composants conçus par les différentes disciplines. Instanciées dans le modèle de données, les interfaces multidisciplinaires permettent d’échanger et de partager les informations entre les différentes disciplines. Le second concept concerne la méthode de conception basée sur le modèle d’interfaces multidisciplinaires. Cette méthode est définie pour pouvoir établir le processus d’ingénierie et permettre une meilleure intégration des expertises métiers tout au long de la conception des systèmes mécatroniques. Enfin, les deux propositions sont implémentées par l’intermédiaire d’un démonstrateur basé sur 3DEXPERIENCE Platform. Un système de mesure 3D, combinaison synergique de la mécanique, de l'électronique, de l'informatique et l’optique, est utilisé afin de démontrer et de valider les contributions par nos travaux en termes d'intégration multidisciplinaire des expertises métier lors de la conception des systèmes mécatroniquesMechatronic system is considered as a synergetic combination of mechanical engineering, electronic engineering and computer engineering. Such mechatronic system has its own lifecycle and should integrate different disciplines and various technologies. Therefore the design of mechatronic systems becomes increasing complex. In order to propose an approach to achieve a better functional and spatial integration of mechatronic systems, especially to achieve a higher integration of different disciplines during the design process of mechatronic systems, two kinds of problems must be overcome. The first problem is related to design data of mechatronic systems while the second is related to the design process. The contribution of the thesis is based on two complementary concepts. The first contribution, the multi-disciplinary interface model, is proposed to address the issue of design data. These interfaces are based on the system architecture and specify which transfers exist between components designed by the project teams of different disciplines. Instantiated in the data model, multi-disciplinary interfaces enables a better data exchange and sharing among the engineers of different disciplines. The second concept concerns the design method based on the multi-disciplinary interface model. This method is proposed to establish the process for mechatronic engineering in order to achieve a better multi-disciplinary integration for the design of mechatronic systems. Finally, the two propositions are then implemented in a demonstrator developed based on 3DEXPERIENCE Platform. A 3D measurement system, considered as a synergistic combination of mechanical engineering, electronic engineering, computer engineering and optical engineering, is used to demonstrate and validate the propositions of the thesis in terms of multi-disciplinary integration for the design of mechatronic systems
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Morris, Melissa. "Robot Control for Remote Ophthalmology and Pediatric Physical Rehabilitation." FIU Digital Commons, 2017. http://digitalcommons.fiu.edu/etd/3350.
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The development of a robotic slit-lamp for remote ophthalmology is the primary purpose of this work. In addition to novel mechanical designs and implementation, it was also a goal to develop a control system that was flexible enough to be adapted with minimal user adjustment to various styles and configurations of slit-lamps. The system was developed with intentions of commercialization, so common hardware was used for all components to minimize the costs. In order to improve performance using this low-cost hardware, investigations were made to attempt to achieve better performance by applying control theory algorithms in the system software. Ultimately, the controller was to be flexible enough to be applied to other areas of human-robot interaction including pediatric rehabilitation via the use of humanoid robotic aids. This application especially requires a robust controller to facilitate safe interaction. Though all of the prototypes were successfully developed and made to work sufficiently with the control hardware, the application of advanced control did not yield notable gains as was hoped. Further investigations were made attempting to alter the performance of the control system, but the components selected did not have the physical capabilities for improved response above the original software implemented. Despite this disappointment, numerous novel advances were made in the area of teleoperated ophthalmic technology and pediatric physical rehabilitation tools. This includes a system that is used to remote control a slit-lamp and lens for examinations and some laser procedures. Secondly, a series of of humanoid systems suitable for both medical research and therapeutic modeling were developed. This included a robotic face used as an interactive system for ophthalmic testing and training. It can also be used as one component in an interactive humanoid robotic system that includes hands and arms to allow use of teaching sign language, social skills or modeling occupational therapy tasks. Finally, a humanoid system is presented that can serve as a customized surrogate between a therapist and client to model physical therapy tasks in a realistic manner. These systems are all functional, safe and low-cost to allow for feasible implementation with patients in the near future.
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Craig, David. "Modeling and Control of a Magnetically Levitated Microrobotic System." Thesis, University of Waterloo, 2006. http://hdl.handle.net/10012/2844.
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Magnetically levitated microrobotic systems have shown a great deal of promise for micromanipulation tasks. A new large-gap magnetic suspension system has recently been developed at the University of Waterloo in order to develop microrobotic systems for various applications. In order to achieve motion with the system, a model is needed in order to facilitate the design of various aspects of the system, such as the microrobot and the controller. In order to derive equations of motion for the system attempts were made to characterize the force produced by the magnetic drive unit in terms of a simple analytical equation. The force produced by the magnetic drive unit was estimated with the aid of a finite element model. The derived equations were able to predict the general trend of the force curves, and with sufficient parameter tweaking the error between the force estimated by the finite element model and the force estimated by the analytical equation could be minimized. System models describing the motion of the system in the horizontal and vertical directions are identified and compared to the actual system response. The vertical position response is identified through a least squares parameter estimate of the closed loop response combined with a partial reconstruction of the root locus diagram, with the model structure based on the known dynamics of a simplified form of magnetic levitation. This model was able to provide a reasonable prediction of the system response for a variety of PID controllers under a variety of input conditions. The horizontal models are identified using a least-squares parameter estimate of the open loop characteristics of the system. The horizontal models are able to provide a reasonable prediction of the system response under PD and PID control. Full spatial motion of a microrobot prototype is demonstrated over a working range of 20x22x30 mm3, with PID controller parameters and reference trajectories adjusted to minimize disturbances. The RMS error at steady state is on the order of 0. 020 mm for vertical positioning and 0. 008 mm for horizontal positioning. A linear quadratic regulator implemented for vertical position control was able to reduce the vertical position RMS error to 0. 014 mm.
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Chan, Darren Michael. "Telepresence: Design, Implementation and Study of an HMD-controlled Avatar with a Mechatronic Approach." DigitalCommons@CalPoly, 2015. https://digitalcommons.calpoly.edu/theses/1395.
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Telepresence describes technologies that allow users to remotely experience the sensation of being present at an event without being physically present. An avatar exists to represent the user whilst in a remote location and is tasked to collect stimuli from its immediate surroundings to be delivered to the user for consumption. With the advent of recent developments in Virtual Reality technology, viz., head-mounted displays (HMDs), new possibilities have been enabled in the field of Telepresence. The main focus of this thesis is to develop a solution for visual Telepresence, where an HMD is used to control the direction of a camera‟s viewpoint, such that the user‟s head is tracked by the avatar, while providing visual feedback to the user. The design and development of the device follows a mechatronic approach, where a real time operating system (RTOS) is used in conjunction with a microcontroller for mechanical actuator control. The first-generation prototype, HOG-1 (HMD-Operated Gimbal, rev. 1), developed for this thesis serves as a foundation for study; the implementation and analysis of the prototype contributes to the state of the art by providing a clearer glimpse of hardware and software requirements that are necessary to construct an improved model. Additionally, qualitative and quantitative measurements are developed in the process of this research.
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Panjaitan, Seno Darmawan. "Development process for distributed automation systems based on elementary mechatronic functions." Aachen Shaker, 2007.
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GHATTAS, HELEN. "Managing complex product development projects : An analytical framework for complex product development." Thesis, KTH, Industriell Management, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-191093.
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Under de senaste åren har produkterna blivit mer invecklade beträffande anslutningen, prestanda och funktionalitet. Därför är syftet av denna studie att undersöka hur komplexa system utvecklas och leds genom att genomföra fallstudie på olika svenska företag som utvecklar mekatroniska och cyber-fysiska system. Resultatet av denna studie har lett till identifieringen av många utmaningar som de undersökta företagen har och som i sin tur har lett till framställningen av ett analytiskt ramverk som diskuterar hur och vad man bör göra för att utveckla komplexa produkter på ett effektivt sätt, så att onödig komplexitet i produktutvecklingen kan reduceras.In recent years, products have become more complex in terms of connectivity, performance and functionality. Therefore, this study aims at studying how complex products are developed and managed through conducting multiple case studies at different Swedish companies that develop mechatronic or cyberphysical systems. The results of this study is the identification of many challenges that the investigated companies have, which have led to a presentation of an analytical framework that discusses how complex product development projects can and should be managed in order to be efficient, in order to reduce unnecessary complexity in the way companies develop these complex products.
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Van, Wyk Peter Arnold. "Thermal management and control of space satellite systems and subsystems in orbit." Thesis, Stellenbosch : Stellenbosch University, 2002. http://hdl.handle.net/10019.1/49738.
Full textAbstract:
Thesis (MScEng)--University of Stellenbosch, 2002.ENGLISH ABSTRACT: The focus of this thesis is on South Africa's first micro space satellite SUNSAT, and the thermal modelling thereof. Background theory with relevance to thermal management and control of satellite systems and subsystems is presented. The mission profile and subsystem makeup of SUNSAT is also briefly discussed, with emphasis placed on the physical structure, possible orbit paths, internal heat generation, and the environmental heating. The environmental heating on the satellite surfaces from the direct and reflected earth solar radiation, as well as the earth emitted infrared radiation, is determined from the developed computer program ORBIT-FLUX. This program was used in tandem with numerical programs (developed in house), as well as an outsourced program TAS (Thermal Analysis Systems) to model SUNSAT for two possible orbit paths. The resistance-capacitance formulation method was used to develop the numerical programs, which served initially to establish the validity ofTAS. The first approximated thermal model of SUNSA T's batteries was the 7 lumped-mass model that focused on the batteries since their overheating is the suspected reason for SUNSA T'S failure to complete its mission. A numerical program as well as a similar TAS model was developed, and the results showed correlation to within 3°C. A lumped-mass model of SUNSAT was also developed, both numerically and using TAS. The models were tested and the results showed that the temperatures of the models were sensitive to changes in internal heating as well as varying emissivity and absorptivity. The numerical and TAS lumped-mass model results did not correlate well, possibly due to the higher number of control volumes used in the TAS lumped-mass model. The TAS SUNSAT 2 model was developed as advancement on the lumped-mass model. The higher number of control volumes and the effect of adding solar panels gave a more realistic model of SUNSA T. The results did not show good correlation with actual SUNSA T temperature data possibly due to the fact that the solar panels were not mounted on the model body as they were on SUNSA T; but the TAS SUNSA T 2 model did set the platform for the more advanced TAS SUNSAT 3 model. This thermal model included the effects of the solar panel mountings, and had a higher number of control volumes, which gave a better physical representation of the SUNSAT subsystems. The model was tested for possible orbit paths of SUNSA T. The results showed excellent correlation to actual SUNSA T data. For the comparison of the TAS SUNSA T 3 model results with data from SUNSAT for July 1999 showed that the SUNSA T battery temperature was modelled to within 8°C. And for June 2000, this same comparison was to within 1°C. A thermal management and control case study was done on a simple system (which included a cubic box and an internal solid block with heat generation) to illustrate the effects of using various passive and active thermal control hardware to regulate temperatures. The results showed that internal surfaces painted black provide for maximum heat sharing, and lowest block temperatures. The block temperatures were found to be very sensitive to changes in the cube external optical surface properties. A slight increase in emissivity lowered the block temperature, while a slight increase in absorptivity increased the block temperature. Heat pipes were also found to lower the temperatures of the block and immediate subsystems by providing a path of low thermal resistance to the flow of heat from the block directly to the radiator. The effect of thermal insulation was also investigated. For the two materials (rubber and plastic) that were tested, it was noticed that although insulation material does give more thermal control and predictability over a subsystem by thermally isolating it from its environment, it can cause a subsystem that has heat generation to become too hot. Recommendations were made relating to future micro satellite thermal management and control with regard to; thermal modelling techniques, acquisition of tried software, positioning of temperature sensors for optimisation of thermal data, and the verification of optical surface properties by physical measurement.
AFRIKAANSE OPSOMMING: Hierdie tesis fokus op Suid-Afrika se eerste mikro ruimte satelliet, SUNSAT, en die termiese ontwikkeling daarvan. Agtergrond teorie met betrekking tot die termiese bestuur en kontrole van die satelliet-sisteme en subsisteme word aangebied. Die missie-profiel en die samestelling van die subsisteme word ook kortliks bespreek met die klem op die fisiese strukture, moontlike wentelbane, interne hitte-opwekking, en die omgewingsverhitting. Die omgewingsverhitting op die oppervlaktes van die satelliet, veroorsaak deur direkte en weerkaatste aardlson bestraling, sowel as deur infrarooi bestraling afkomstig van die aarde, word bepaal deur die ontwikkelde rekenaarprogram ORBIT-FLUX. Hierdie program word gebruik in tandem met numeriese programme (intern ontwikkel), so weI as 'n uitgekontrakteerde program TAS (Termiese Analiese Sisteme) om SUNS AT vir twee moontlike wentelbane te modelleer. Die weerstandskapasitansie formuleringsmetode is gebruik om die numeriese programme te ontwikkel. Hierdie programme is oorspronklik gebruik om die validiteit van TAS vas te stel. Die eerste benaderde termiese model van SUNSAT se batterye was die 7 gekonsentreerdemassa model wat gefokus het op die batterye aangesien daar vermoed is dat oorverhitting van die batterye die rede is waarom SUNSAT nie sy missie voltooi het nie. 'n Numeriese program so weI as 'n gelyksoortige TAS model is ontwikkel en die resultate korreleer tot binne 3°C. 'n Gekonsentreerde-massa model van SUNSA T is ook ontwikkel, numeries en met gebruik van TAS. Die modelle is getoets en die resultate toon dat die temperature van die modelle gevoelig is vir veranderinge in interne hitte sowel as vir wissellende uitstralingsvermoe en absorpsievermoe, Die numeriese- en die TAS gekonsentreerde-massa model resultate het nie goed met mekaar korrelleer nie, moontlik weens die hoe aantal kontrole volumes wat in die TAS gekonsentreerde-massa model gebruik is. Die TAS SUNSA T 2 model is 'n verdere ontwikkeling van die gekonsentreerde-massa model. Die hoer aantal kontrole volumes en die byvoeging van solarpanele het tot gevolg gehad dat hierdie 'n meer realistiese model van SUNSA T is. Die resultate het nie goed gekorrelleer met die temperatuurdata van die werklike SUNSAT nie, moontlik weens die feit dat die solarpanele nie op die bakwerk monteer is, soos in die geval van SUNSA T nie. Nietemin het het die TAS SUNSAT 2 model gelei tot die meer gevorderde TAS SUNSAT 3 model. Hierdie termiese model het die solarpaneel montuur ingesluit en het 'n hoer aantal kontrole volumes gehad, wat 'n beter fisiese weergawe van die SUNSAT subsisteme tot gevolg gehad het. Die model is getoets vir moontlike wentelbane van SUNSAT. Die resultate het 'n hoe korrellasie getoon met die data van die werklike SUNSAT. 'n Vergelyking van die TAS SUNSAT 3 model resultate met data van SUNSAT vir Julie 1999 wys dat die SUNSAT battery temperatuur dieselfde is tot binne 8°C. Vergelyk met die resultate vir Junie 2000 was dit binne 1°C. 'n Termiese bestuurs- en kontrolestudie is gedoen op 'n eenvoudige sisteem (insluitende 'n kubieke boks en 'n interne soliede blok met hitte opwekking) om die uitwerking van die gebruik van passiewe en aktiewe termiese kontrole hardeware wat temperature reguleer, te illustreer. Die resultate toon dat interne oppervlaktes wat swart geverf is, lei tot die maksimum hitte-deling, en die laagste bloktemperature. Daar is gevind dat bloktemperature baie gevoelig is vir veranderinge in die eienskappe van die kubus se eksterne optiese oppervlaktes. 'n Effense vermedering van uitstralingsvermoe verlaag die bloktemperatuur, terwyl 'n effense vermedering van absorpsievermoe die bloktemperatuur verhoog. Daar is ook gevind dat hittepype die temperatuur van die blok en onmiddelike subsisteme verlaag deur om 'n pad van lae termiese weerstand teen die vloei van hitte vanaf die blok, direk na die verkoeler te verskaf. Die uitwerking van termiese isolasie is ook ondersoek. In die geval van die twee materiale (rubber en plastiek) wat getoets is, is daar opgemerk dat, alhoewel isolasie materiaal meer termiese beheer oor die subsisteem en voorspelbaarheid tot gevolg gehad het deurdat die subsisteem termies van die omgewing isoleer is, kan dit veroorsaak dat die subsisteem te warm word. Aanbevelings is gemaak met betrekking tot toekomstige mikro satelliet bestuur en kontrole en wel in verband met die volgende: termiese modelleringstegnieke, die aanskaffing van getoetste sagteware, die plasing van temperatuut sensors vir die beste termiese data, en die verifikasie van die eienskappe van optiese oppervlaktes deur fisiese meting.
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Mulubika, Chibaye. "Evaluation of control strategies for reconfigurable manufacturing systems." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/80300.
Full textAbstract:
Thesis (MScEng)--Stellenbosch University, 2013.ENGLISH ABSTRACT: The thesis evaluates control strategies for reconfigurable manufacturing systems by using a welding assembly cell as a case study. The cell consists of a pallet magazine, conveyor, feeder subsystem (comprising an articulated robot and singulation unit), welder subsystem (which uses a modular Cartesian robot), and inspection and removal subsystems. The research focuses on control strategies that enhance reconfigurability in terms of structure, hardware and software using agent-based control and the IEC 61499 standard, based on PC control. Reconfiguration may occur when a new product is introduced, as well as when a new subsystem is introduced or removed from the production cell. The overall control architecture is that the subsystems retain no knowledge of the product, but product information resides in the cell controller, while services offered by the subsystems are registered with the directory facilitator of the Java agent platform. The control strategies are implemented on the modular Cartesian weld robot and the cell controller for assembly cell. A layered architecture with low-level control and high-level control is used to allow separation of concerns and rapid changes in both hardware and software components. The low-level control responds in hard real-time to internal and external events, while the high-level control handles soft real-time actions involving coordination of control related issues. The results showed IEC 61499 function blocks to be better suited to low-level control application in distributed systems, while agents are more suited for high-level control. Modularity in software components enhances hardware and software scalability. Additionally, agents can support online reconfiguration of reconfigurable machines.
AFRIKAANSE OPSOMMING: Die tesis evalueer beheerstrategieë vir herkonfigureerbare vervaardigingstelsels deur gebruik te maak van ’n sweismonteersel as ’n gevallestudie. Die sel bestaan uit ’n palletmagasyn, vervoerbande, voersubstelsel (bestaande uit ’n geartikuleerde robot en singulasie-eenheid), sweissubstelsel (wat gebruik maak van ’n modulêre Cartesiese robot), en inspeksie- en verwyderingsubstelsels. Die navorsing fokus op beheerstrategieë wat herkonfigureerbaarheid verhoog in terme van struktuur, hardeware en sagteware met behulp van agent-gebaseerde beheer en die IEC 61499 standaard, wat gebaseer is op PC-beheer. Herkonfigurasie mag voorkom wanneer ’n nuwe produk in-gestel word, sowel as wanneeer ’n nuwe substelsel bygevoeg of verwyder word van die produksiesel. Die oorhoofse beheerargitektuur is dat die substelsels geen kennis van die produk hou nie, maar die produkinligting in die selbeheerder geberg, terwyl dienste wat aangebied word deur die substelsels wat geregistreer is by die gidsfasiliteerder van die Java agent platform. Die beheerstrategië is geïmplementeer op die modulere Cartesiese sweisrobot en die selbeheerder vir die monteersel. ’n Gelaagde argitektuur met ’n lae-vlak beheer en hoë-vlak beheer word gebruik om skeiding van oorwegings en vinnige veranderinge in beide hardeware en sagteware komponente toe te laat. Die lae-vlak beheer reageer hard intyds op interne en eksterne gebeure, terwyl die hoë-vlak beheer sag intyds die koördinering van beheerverwante kwessies hanteer. Die resultate het getoon dat IEC 61499 funksie-blokke beter geskik is vir lae-vlak beheer toepassing in verspreide stelsels, terwyl agente meer geskik is vir hoë-vlak beheer. Modulariteit in sagteware komponente verhoog hardeware en sagteware skaleerbaarheid. Boonop kan agente ook aanlyn herkonfigurasie van herkonfigureerbare masjiene ondersteun.
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Hopkins, Jonathan B. (Jonathan Brigham). "Design of flexure-based motion stages for mechatronic systems via Freedom, Actuation and Constraint Topologies (FACT)." Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/62511.
Full textAbstract:
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 191-195).
The aim of this thesis is to generate the knowledge required to (i) synthesize serial flexure systems and (ii) optimally place actuators using a comprehensive library of geometric shapes called freedom, actuation, and constraint spaces. These geometric shapes guide designers through the creative process of concept generation without compromising engineering rigor. Each shape rapidly conveys the mathematics of screw theory, projective geometry, and constraint-based design by visually depicting regions where constraints and actuators may be placed for synthesizing optimal flexure concepts. In this way, designers may consider every flexure concept that satisfies the desired functional requirements before selecting the final design. FACT was created to improve the design processes for small-scale flexure systems and precision machines. For instance, there is a need to create multi-axis nanopositioners for emerging three-dimensional nano-scale research/manufacturing. Through this work the following contributions were made: (1) the fifty freedom and constraint space types were found that may be used to synthesize both parallel and serial flexure concepts, (2) intermediate freedom spaces were created that help designers stack conjugated flexure elements to avoid or utilize underconstraint, (3) a twist-wrench stiffness matrix was created to model the elastomechanic behavior of flexure systems, (4) the twenty-six actuation spaces were found that help guide designers in placing actuators that minimize motion errors, and (5) a theory was created that determines the force and displacement actuator outputs for accessing a desired DOF once actuators have been placed. A serially conjugated lead screw flexure was designed using the FACT design process and a parallel flexure system was built to validate the theory of actuation described in this thesis.
by Jonathan Brigham Hopkins.
Ph.D.
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LJUDÉN, ERIK OLOV. "Autonomous Hover Control System for a Radio-Controlled Aerobatic Airplane." Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233143.
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Being able to fly has always been one of humanities greatest dreams, and today anyone can purchase a Radio-Controlled (RC) airplane or helicopter and learn how to fly. Experienced RC pilots perform stunts such as “prop hanging”. This is when an airplane flies vertically while maintaining its position with the propeller being the only motive force. In this thesis, the first steps towards converting a manually controlled hovering airplane to an autonomous one are taken by using one single accelerometer to measure differences in acceleration as input data for a height regulator. A built prototype with the height regulator implemented is tested in a test rig. The finished regulator is able to adjust and keep the airplane stable when exposed to small to medium disturbances. The regulator’s biggest weakness is the lack of input data regarding the velocity. Big disturbances result in a constant velocity, which gives zero acceleration input data, and an airplane flying away from its equilibrium position.Att kunna flyga har alltid varit en av mänsklighetens största drömmar och idag kan vem som helst köpa ett radiostyrt flygplan eller helikopter och lära sig att flyga. Erfarna piloter som flyger radiostyrda flygplan utför konster som att ”hänga i propellern”, vilket innebär att flygplanet flyger vertikalt samtidigt som den behåller sin position där propellern är den enda drivkraften. I den här avhandlingen tas det första steget att konvertera ett manuellt styrt hovrande flygplan till ett autonomt genom att använda en enda accelerometer för att mäta skillnaden i acceleration som indata för en höjdregulator. Ett byggt prototypflygplan med höjdregulatorn implementerad testas i en testställning. Den färdiga regulatorn fungerar och kan justera och hålla flygplanet stabilt när den utsätts för små till medelmåttiga störningar. Regulatorns största svaghet är bristen på indata av hastigheten. Stora störningar resulterar i konstant hastighet, vilket ger noll acceleration som indata och ett flygplan som flyger ifrån sitt jämviktsläge.
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Ljudén, Erik Olov. "Autonomous Hover Control System for a Radio-Controlled Aerobatic Airplane." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230584.
Full textAbstract:
Being able to fly has always been one of humanities greatestdreams, and today anyone can purchase a Radio-Controlled(RC) airplane or helicopter and learn how to fly. ExperiencedRC pilots perform stunts such as “prop hanging”.This is when an airplane flies vertically while maintainingits position with the propeller being the only motive force.In this thesis, the first steps towards converting a manuallycontrolled hovering airplane to an autonomous one aretaken by using one single accelerometer to measure differencesin acceleration as input data for a height regulator.A built prototype with the height regulator implementedis tested in a test rig. The finished regulator is able toadjust and keep the airplane stable when exposed to smallto medium disturbances. The regulator’s biggest weaknessis the lack of input data regarding the velocity. Big disturbancesresult in a constant velocity, which gives zeroacceleration input data, and an airplane flying away fromits equilibrium position.Att kunna flyga har alltid varit en av mänsklighetens störstadrömmar och idag kan vem som helst köpa ett radiostyrtflygplan eller helikopter och lära sig att flyga. Erfarna pilotersom flyger radiostyrda flygplan utför konster som att”hänga i propellern”, vilket innebär att flygplanet flygervertikalt samtidigt som den behåller sin position där propellernär den enda drivkraften. I den här avhandlingen tasdet första steget att konvertera ett manuellt styrt hovrandeflygplan till ett autonomt genom att använda en endaaccelerometer för att mäta skillnaden i acceleration som indataför en höjdregulator. Ett byggt prototypflygplan medhöjdregulatorn implementerad testas i en testställning. Denfärdiga regulatorn fungerar och kan justera och hålla flygplanetstabilt när den utsätts för små till medelmåttigastörningar. Regulatorns största svaghet är bristen på indataav hastigheten. Stora störningar resulterar i konstanthastighet, vilket ger noll acceleration som indata och ettflygplan som flyger ifrån sitt jämviktsläge.
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Alnakar, Raran, and Danilo Catovic. "Rotary parking system." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295808.
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Automatic parking systems are intended to save a lot ofspace and create a more favourable parking experience. In this thesis the main goal was to create a functional and user-friendly rotary parking system. The system consistsof a framework, DC-motor, driveline, ultrasonic distance sensor and platforms. Most of the construction consists of plastic, the remaining parts are made of metal. The system was evaluated using two experiments, one that measured the speed of the system and the other one measuring the level of accuracy. After the first experiment, it was concluded that the system works well for the corresponding speed. The second experiment showed that improvements of the accuracy can be made.Automatiska parkeringssystem är avsedda att spara utrymme och skapa en bättre parkeringsupplevelse. I denna avhandling var huvudmålet att skapa ett funktionellt och användarvänligt roterande parkeringssystem. Systemet består av ett ramverk, likströmsmotor, drivlina, ultraljudssensor och plattformar. Majoriteten av konstruktionen består av plast, de återstående delarna är gjorda av metall. Systemet utvärderades med hjälp av två experiment, ett som mätte systemets hastighet och ett annat som mätte noggrannheten. Efter det första experimentet drogs slutsatsen att systemet fungerar bra för motsvarande hastighet. Det andra experimentet visade att förbättringar av noggrannheten kan göras.
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Alnakar, Rayan, and Danilo Catovic. "Rotary parking system." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295808.
Full textAbstract:
Automatic parking systems are intended to save a lot ofspace and create a more favourable parking experience. In this thesis the main goal was to create a functional and user-friendly rotary parking system. The system consistsof a framework, DC-motor, driveline, ultrasonic distance sensor and platforms. Most of the construction consists of plastic, the remaining parts are made of metal. The system was evaluated using two experiments, one that measured the speed of the system and the other one measuring the level of accuracy. After the first experiment, it was concluded that the system works well for the corresponding speed. The second experiment showed that improvements of the accuracy can be made.Automatiska parkeringssystem är avsedda att spara utrymme och skapa en bättre parkeringsupplevelse. I denna avhandling var huvudmålet att skapa ett funktionellt och användarvänligt roterande parkeringssystem. Systemet består av ett ramverk, likströmsmotor, drivlina, ultraljudssensor och plattformar. Majoriteten av konstruktionen består av plast, de återstående delarna är gjorda av metall. Systemet utvärderades med hjälp av två experiment, ett som mätte systemets hastighet och ett annat som mätte noggrannheten. Efter det första experimentet drogs slutsatsen att systemet fungerar bra för motsvarande hastighet. Det andra experimentet visade att förbättringar av noggrannheten kan göras.
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Ortner, Jens, and Erik Ågren. "Automated Hydroponic system." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264438.
Full textAbstract:
This report includes research into how to automate a small scale system for hydroponics. Hydroponics is a growing technique which features a soil-less environment were the plants roots are exposed to a nutrient-enriched water solution. The research focused mainly on how to regulate the pH and the level of nutrient in the water solvent and finding a system to automate that process. In the research fully grown basil plants were used as test specimens, with the plants roots submerged in a water solvent. The water solvent had sensors that were connected to a micro controller making it possible to monitor the presence of nutrients and pH in the solvent. If the micro controller deemed that the pH and/or the nutrient level was too high or too low, the micro controller would adjust the solvent by activating pumps adding pH down buffer solution and/or nutrient solution to the solvent. The research proved that a way to automate a small scale hydroponics system is by building a computerized system consisting of: • Micro controller. • pH sensor. •EC sensor (to measure nutrient level in solvent). • Temperature sensor. • Fluid pumps connected to pH- and nutrient reservoirsI denna rapport följer en forskning om hur ett system för hydroponics kan automatiseras. Hydroponics är en odlingsteknik som utesluter nyttjandet av jord. Istället får plantorna näring och vatten via en näringsrik vattenlösning som dess rötter är i kontakt med. Forskningen fokuserade huvudsakligen på hur man reglerar pH och nivån av näringsämnen i en vattenlösning och skapa ett system för att automatisera denna processen. I undersökningen användes fullvuxna basilikaväxter som prover med plantornas rötter nedsänkta i en vattenlösning. Vattenlösningen hade sensorer som var anslutna till en mikrostyrenhet som gjorde det möjligt att övervaka nivån av näringsämnen och pH i vattenlösningen. Om mikrokontrollen ansåg att pH- och/eller nivån av näringsämnen var felaktig så skulle mikrostyrenheten justera vattenlösningen. Detta skedde genom att mikrostyrenheten aktiverade vätskepumpar som tilsatte pH-buffer och/eller näringslösning. Forskningen visade att ett sätt att automatisera ett hydroponicsystem är att bygga ett datoriserat system som består utav: mikrostyrenhet. pH mätare. EC mätare (används för att mäta näringsnivån i vattenlösningen). Temperaturmätare. Vätskepumpar anslutna till behållare inehållandes pH- och näringslösning.
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Calminder, Simon, and Chittum Mattew Källström. "Object Tracking andInterception System : Mobile Object Catching Robot using StaticStereo Vision." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230249.
Full textAbstract:
The aim of this project is to examine the feasibility andreliability of the use of a low cost computer vision system totrack and intercept a thrown object. A stereo vision systemtracks the object using color recognition and then guides amobile wheeled robot towards an interception point in orderto capture it. Two different trajectory prediction modelsare compared. One model fits a second degree polynomialto the collected positional measurements of the object andthe other uses the Forward Euler Method to construct theobjects flight path.To accurately guide the robot, the angular position of therobot must also be measured. Two different methods ofmeasuring the angular position are presented and their respectivereliability are measured. A calibrated magnetometeris used as one method while pure computer vision isimplemented as the alternative method.A functional object tracking and interception system thatwas able to intercept the thrown object was constructed usingboth the polynomial fitting trajectory prediction modelas well as the one based on the Forward Euler Method.The magnetometer and pure computer vision are both viablemethods of determining the angular position of therobot with an error of less than 1.5°.I detta projekt behandlas konstruktionen av och pålitligheteni en bollfånganderobot och dess bakomliggande lågbudgetkamerasystem.För att fungera i tre dimensioner användsen stereokameramodul som spårar bollen med hjälpav färgigenkänning och beräknar bollbanan samt förutspårnedslaget för att ge god tid till roboten att genskjuta bollen.Två olika bollbanemodeller testas, där den ena tar hänsyntill luftmotståndet och nedslaget beräknas numeriskt ochden andra anpassar en andragradspolynom till de observeradedatapunkterna.För att styra roboten till den tänkta uppfångningspunktenbehövs både robotens position, vilket bestäms med kameramodulen,och robotens riktning. Riktningen bestäms medbåde en magnetometer och med kameramodulen, för attundersöka vilken metod som passar bäst.Den förslagna konstruktionen för roboten och kamerasystemetkan spåra och fånga objekt med bådadera de testademodellerna för att beräkna bollbana, dock så är tillförlitligheteni den numeriska metoden betydligt känsligare fördåliga mätvärden. Det är även möjligt att använda sig avbåde magnetometern eller endast kameramodulen för attbestämma robotens riktning då båda ger ett fel under 1.5°.
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VALKO, ABEL. "Relay Attack Resistant Passive Keyless Entry : Securing PKE Systems with Immobility Detection." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279839.
Full textAbstract:
A significant security risk of modern vehicles is their vulnerability to relay attacks, due to challenge-response methods, such as those employed in Passive Keyless Entry (PKE) used by most commercial cars, being inherently exposed. This class of attacks are where communication between a vehicle and its key is relayed by an attacker over long range - thereby bypassing any encryption and unlocking the vehicle without requiring direct access to the key. While a multitude of defenses have been proposed in recent years, many lack either robustness or practicality. Any viable system will likely have to rely on an environmental parameter which is not easily manipulated. Moreover, the system has to be: cost effective; easily implementable; and take user comfort, such as the key’s battery life, into account. This thesis implements and evaluates a PKE system resistant to relay attacks, analyses a multitude of proposed strategies in literature for feasibility, as well as suggests a novel method: Approach Curve Matching. It is concluded that the most promising strategies are: Immobility Detection, Distance Bounding Protocols, and Approach Curve Matching - the first of which is chosen to be implemented in the prototype PKE system. The project develops a PKE system and implements the communication protocol using Bluetooth, as opposed to the conventional RFID. Immobility Detection, using an accelerometer, is then implemented. The final system is then tested and evaluated. It is concluded that while Immobility Detection is not comprehensively effective, it is easily implementable, cost-effective, and can greatly increase the security of PKE systems. Finally, it is proposed that Immobility Detection should be employed promptly by manufacturers while investigating potentially more effective, albeit uncertain, strategies.En betydande säkerhetsbrist av moderna fordon är deras sårbarhet mot så kallade ’relay attacker’. Dessa typer av attacker, där signaler mellan bilen och nyckeln vidarebefordras, kringgår all kryptering och låser upp bilen utan att ha direkt tillgång till nyckeln. En stor del av kommersiella fordon tillämpar ’Passive Keyless Entry’ (PKE) som bygger på ’challenge-response’ metoder som visats vara särskilt utsatta för dessa attacker. En mängd olika skyddssystem har föreslagits på senare år, men många saknar erforderlig robusthet eller genomförbarhet. Ett lämpligt system bör uppfylla en rad olika kriterier. Strategin måste grundas på en omgivningsparameter som är både oföränderlig och tillräckligt rymdberoende att två nära positoner kan skiljas åt. Dessutom ska systemet vara kostnadseffektivt, implementerbart, och ta hänsyn till användarkomfort såsom batteritid. Projektets huvudsyfte är konstruktionen och analysen av ett ’relay attack’ resistent PKE system. I detta projekt ingår också en analys av ett antal föreslagna försvar och ett förslag om en ny metod: ’Approach Curve Matching’. Slutsatsen dras att de mest lovande taktikerna är: analys av Jaccard indexet av Wi-Fi hotspots, ’Distance Bounding Protocols’, ’Approach Curve Matching’ och ’Immobility Detection’ som också implementeras i prototyp PKE systemet. Projektet utvecklar först ett PKE system med två Raspberry Pis som agerar som bilens och nyckelns mikrodatorer och implementerar kommunikationsprotokollet med hjälp av Bluetooth. ’Immobility Detection’ är sedan implementerad genom en inbyggd accelerometer i nyckeln. Slutligen testas och utvärderas systemet. Det konkluderas att trots att ’Immobility Detection’s effektivitet inte är helt omfattande är den lätt att implementera, kostnadseffektiv, och kan bidra till en betydlig ökning av säkerheten hos PKE system. Vidare observerade projektet att Bluetooths ’Received Signal Strength Indicator’ (RSSI) mätningar är utsatta för avsevärd ostadighet och är allmänt omgivningsberoende. Därför anses Bluetooth RSSI inte lämplig för PKE tillämpningar även om andra metoder för avståndsmätning med Bluetooth kan ha högre prestanda. Det föreslås att ’Immobility Detection’ tillämpas av tillverkare omgående medans andra potentiellt mer effektiva strategier utreds.
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Kruger, Karel. "Control of the feeder for a reconfigurable assembly system." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/80154.
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Thesis (MScEng)--Stellenbosch University, 2013.ENGLISH ABSTRACT: This thesis documents the research conducted into the control of the feeder subsystem of a Reconfigurable Assembly System (RAS). The research was motivated by a new set of modern manufacturing requirements associated with an aggressive and dynamic global market. The motivation can be more specifically attributed to the need for selective automation, through the installation of reconfigurable systems, in the South African manufacturing industry. The objective of the research was to implement and evaluate Multi-Agent Systems (MASs) and IEC 61499 function block systems as potential control strategies for reconfigurable systems. The control strategies were implemented for the control of the feeder subsystem of an experimental RAS at Stellenbosch University. The subsystem's hardware consisted of a singulation unit with a machine vision camera, part magazines and a six DOF pick-'n-place robot. The structure of the control strategies is based on the ADACOR holonic reference architecture. The mapping of the subsystem holons to the structures of the control strategies is explained. The development and implementation of the control strategies, along with the accompanying lower level software, is described in detail. A system reconfigurability assessment was performed and the results are discussed. The assessment was performed at two levels – the Higher Level Control (HLC) (where the control strategies were implemented) and the low level control and hardware. The assessment was done through four reconfiguration experiments. The evaluation of the HLC was done through both quantitative and qualitative performance measures. The implications of the reconfiguration, involved in each of the respective experiments, on the low level software and hardware are discussed. The experimental results show that agent-based control adds more reconfigurability to the feeder subsystem than IEC 61499 function block control, and that agents have more advantages regarding customizability, convertibility and scalability than IEC 61499 function blocks. Also, the ability of agent-based control to implement reconfiguration changes during subsystem operation makes it more suitable to the case study application.
AFRIKAANSE OPSOMMING: Hierdie tesis dokumenteer die navorsing gedoen in die beheer van die voerder sub-stelsel vir 'n herkonfigureerbare monteringstelsel. Die navorsing was gemotiveer deur „n nuwe stel vereistes vir moderne vervaardiging wat met 'n aggresiewe en dinamiese globale mark geassosieer word. Die motivering kan meer spesifiek toegeskryf word aan die behoefte tot selektiewe outomatisasie, deur middel van die implimentering van herkonfigureerbare stelsels, in the Suid-Afrikaanse vervaardigingsnywerheid. Die doel van die navorsing is om multi-agent stelsels en IEC 61499 funksie-blok stelsels, as potensiële beheerstrategiëe vir herkonfigureerbare stelsels, te implementer en evalueer. Die beheerstrategiëe was geïmplementeer vir die voerder sub-stelsel van „n eksperimentele herkonfigureerbare monteringstelsel by Universiteit Stellenbosch. Die hardeware behels „n skeier-eenheid (singulation unit) met „n masjienvisie kamera, onderdeelmagasyne en „n ses-vryheidsgraad gearktikuleerde optel-en-plaas robot. Die struktuur van die beheerstrategiëe is gebaseer op die ADACOR holoniese verwysingsargitektuur. Die afbeelding van die sub-stelsel holons na die struktuur van die beheerstrategiëe word verduidelik. Die ontwikkeling en implementering van die beheerstrategiëe, asook die gepaardgaande laer-vlak programmatuur, word in detail beskryf. Die stelsel se herkonfigureerbaarheid was geassesseer en die resultate daarvan word bespreek. Die assessering was op twee vlakke gedoen – die hoër-vlak beheer (waar die beheerstrategiëe geimplementeer was) en die lae-vlak beheer en hardeware. Die assessering was gedoen deur middel van vier herkonfigurasie eksperimente. Die hoër-vlak beheer was geëvalueer deur beide kwalitatiewe en kwantitatiewe metings. Die implikasies van die herkonfigurasie, betrokke by die onderskeie eksperimente, op die lae-vlak beheer en hardeware word beskryf. Die eksperimentele resultate wys dat agent-baseerde beheer meer herkonfigureerbaarheid tot die voerder sub-stelsel toevoeg as IEC 61499 funksie-blok beheer. Dit is geïdentifiseer dat agente meer voordele inhou ten opsigte van aanpasbaarheid, skakelbaarheid en skaalbaarheid as IEC funksie-blokke. Agent-baseerde beheer laat ook toe dat herkonfigurasieveranderinge tydens sub-stelsel werking geïmplimenteer kan word – dus is dit meer geskik vir aanwending in die gevallestudie.
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Wilmsen, Miriam, Markus Spadinger, Albert Albers, Cong Minh Nguyen, and Jonas Heimicke. "Iterationsarten und deren Auslöser in der Frühen Phase der PGE – Produktgenerationsentwicklung." Thelem Universitätsverlag & Buchhandlung GmbH & Co. KG, 2019. https://tud.qucosa.de/id/qucosa%3A36960.
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Insbesondere die frühen Phasen in Prozessen der Mechatroniksystementwicklung sind durch ein hohes Maß an Unsicherheit gekennzeichnet. Zu diesem Zeitpunkt des Produktentstehungsprozesses liegen lediglich vage und unscharfe Anforderungen an das Produkt vor, welche es zu konkretisieren gilt. Aktuelle Herausforderungen der Produktentwicklung haben einen verstärkenden Effekt auf die Unsicherheiten in frühen Entwicklungsphasen. Diesen begegnen Unternehmen aus dem Bereich der Mechatroniksystementwicklung zunehmend mit der Implementierung agiler Entwicklungsansätze in ihre etablierten Prozesse. Neben der frühen und kontinuierlichen Kundeneinbindung, der klare Ausrichtung der Prozesse auf die Wertsteigerung der Produkte aus Kundensicht, flachen und offenen Hierarchien und dem stetigen Aufbau und Weiterentwicklung von Prototypen verleihen meist geplante Iterationen den jeweiligen Projekten das Adjektiv „agil“. Die Vielfalt der in der Literatur beschriebenen und meist generisch formulierten Arten von Iterationen (geplant oder ungeplant, korrekturbezogen oder progressiv) ist jedoch sehr groß. Zudem werden Iterationen in der Praxis meist intuitiv und unbewusst durchgeführt, was zum einen dazu führt, dass das jeweilige Entwicklungsvorgehen nicht situationsoptimal ausgeführt wird oder gar hinsichtlich der Ergebnissynthese und –Analyse redundante Tätigkeiten erfolgen. Aus diesem Grund verfolgt das vorliegenden Forschungsvorhaben die Zielsetzung, einen Beitrag zur Unterstützung der Produktentwickler in frühen Entwicklungsphasen bei der Identifikation notwendiger Iterationen zu leisten. Durch eine Berücksichtigung dieser in der kurz- und mittelfristigen Projektplanung kann somit die Prozessunsicherheit reduziert werden.
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Zaitouni, Wael K. "Applied Real-Time Integrated Distributed Control Systems: An Industrial Overview and an Implemented Laboratory Case Study." Thesis, University of North Texas, 2016. https://digital.library.unt.edu/ark:/67531/metadc862854/.
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This thesis dissertation mainly compares and investigates laboratory study of different implementation methodologies of applied control systems and how they can be adopted in industrial, as well as commercial, automation applications. Namely the research paper aims to assess or evaluate eventual feedback control loops' performance and robustness over multiple conventional or state-of-the-art technologies in the field of applied industrial automation and instrumentation by implementing a laboratory case study setup: the ball on beam system. Hence, the paper tries to close the gap between industry and academia by: first, conducting a historical study and background information of main evolutional and technological eras in the field of industrial process control automation and instrumentation. Then, some related basic theoretical as well as practical concepts are reviewed in Chapter 2 of the report before displaying the detailed design. After that, the next Chapter, analyses the ball on beam control system problem as the case studied in the context of this research through reviewing previous literature, modeling and simulation. The following Chapter details the proposed design and implementation of the ball on beam case study as if it is under the introduced distributed industrial automation architecture. Finally, Chapter 5 concludes this work by listing several points leaned, remarks, and observations, and stating possible development and the future vision of this research.
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Jandric, Kristian, and Lucas Andersson. "Anti-lock braking system for bicycles." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296316.
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An attempt was made to construct an ABS system that would both lock the wheel and release the brakes. The system would be mounted on a bicycle with v-brakes. It would then be tested if it could decrease the braking distance and if the system would respond fast enough. A literature study was made to learn what was needed for such a project. After many attempts of using re-purposed components an ABS system would eventually be built with a new stepper motor, and it was strong enough to lock the back wheels. Unfortunately the system could not be as thoroughly tested as expected, where only the reaction time of the system could be tested and not the braking distance due to a motor driver failure prior to the tests taking place. Due to shipping times and our budget and time constraints, further testing could not be done.Ett försök att bygga ett ABS system som både låser hjulet samt släpper på bromsen gjordes. Systemet skulle kunna monteras på en cykel med fälgbromsar. Systemet skulle testas genom att mäta skillnaden i bromssträcka samt om reaktionstiden var snabb nog. En litteraturstudie gjordes för att få tillräcklig kunskap om vad som krävdes för ett sådant projekt. Efter många försök med att använda olika återanvända komponenter kunde ett ABS system till slut konstrueras med hjälp av en ny stegmotor, som var stark nog för att låsa bakhjulet. Tyvärr kunde bara systemets reaktionstid testas och inte bromssträckans förändring. Detta berodde på en motordrivare slutade fungera. På grund av frakttider och en fast budget samt en tidsbegränsning, kunde inte ytterligare tester genomföras.
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Heunis, Jacobus Stephanus. "A user interface for a seven degree of freedom surgical robot." Thesis, Stellenbosch : Stellenbosch University, 2012. http://hdl.handle.net/10019.1/71833.
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Thesis (MScEng)--Stellenbosch University, 2012.ENGLISH ABSTRACT: This thesis describes the process of developing a user interface for a seven degree of freedom (DOF), minimally invasive surgical robot. For the first two main stages of the overall project, completed by previous students, a primary slave manipulator (PSM) and a secondary slave manipulator (SSM) were developed. The stage in this thesis concentrates on creating a joystick that can control the combined movement of the PSM and SSM. Background information on the field of robotic surgery, with specific reference to current systems’ user interfaces, is given and the technical aspects of the PSM and SSM are determined. This is followed by the motivation and main objectives of the thesis. Objectives were divided into the main categories of mechanical design, electronic design, control system design and testing. The mechanical design of the joystick progresses through a concept development stage, before a final seven DOF articulated arm design is presented and evaluated based on engineering specifications. Aluminium is used as the construction material; electromagnetic brakes are specified for each joint, leading to the final assembly, which is a constructed joystick fulfilling all requirements. The electronic design implements magnetic rotary encoders for the joystick’s position and orientation tracking as well as designs of the necessary power and control circuitry to enable correct joystick functioning. The interfacing of the PSM and SSM had to enable successful communication capabilities between the master and the slave. Several necessary adjustments were therefore made to the slave system, after which the joystick and robot were electronically interfaced to provide a direct serial communication line. For control system design, the joystick and robot were modelled according to the Denavit-Hartenberg principle, which allows direct relation between the position and orientation of the respective end effectors on the joystick and robot sides. Forward kinematic equations were then applied to the joystick; the desired position and orientation of the robot end effector were determined, and inverse kinematic equations were applied to these data to establish the robot’s joint variables. This stage ended with the development of two operational modes: one where only the SSM motors are controlled in order for the slave to follow the master’s movements, and the other where the PSM’s motors are controlled separately. The simultaneous control of all robot motors could not be demonstrated due to fundamental mechanical flaws in the PSM and SSM designs. Finally, testing was undertaken to demonstrate movement control of the robot by the joystick. The intuitiveness of the product was also tested successfully. The study ends with the presentation of the conclusions, the main conclusions being the successful development and testing of a joystick that controls the movement of a surgical robot, as well as the achievement of all main thesis objectives.
AFRIKAANSE OPSOMMING: Hierdie tesis beskryf die proses vir die ontwikkeling van ’n gebruikerskoppelvlak vir ’n sewevryheidsgraad-, minimaal indringende chirurgiese robot. In die eerste twee hoofstadia van die algehele projek, voltooi deur ander studente, is ’n primêre slaafmanipuleerder (PSM) en ’n sekondêre slaafmanipuleerder (SSM) ontwikkel. Die stadium in hierdie tesis konsentreer op die skep van ’n stuurstok waarmee die gekombineerde beweging van die PSM en SSM beheer kan word. Agtergrondinligting oor die gebied van robotiese chirurgie word verskaf, met spesifieke verwysing na die gebruikerskoppelvlakke van huidige stelsels, en die spesifikasies van die PSM en SSM word vasgestel. Daarna volg die beweegrede sowel as die belangrikste oogmerke van die projek. Die oogmerke is in die hoofafdelings van meganiese ontwerp, elektroniese ontwerp, beheerstelselontwerp en toetsing verdeel. Die meganiese ontwerp van die stuurstok behels ’n konsepontwikkelingstadium, wat uitloop op ’n finale sewevryheidsgraad-ontwerp, wat dan op grond van ingenieurspesifikasies aangebied en beoordeel word. Aluminium word as boumateriaal gebruik; elektromagnetiese remme word vir elke koppeling gespesifiseer, en die finale samestel is ’n gekonstrueerde stuurstok wat aan alle vereistes voldoen. Die elektroniese ontwerp behels die gebruik van magnetiese draaikodeerders om die stuurstok se posisie en oriëntasie te bepaal, sowel as meganismes met die nodige krag- en beheerstroombaanwerk om die stuurstok reg te laat funksioneer. ’n Koppelvlak tussen die PSM en die SSM moes suksesvolle kommunikasie tussen die meester en die slaaf bewerkstellig. Verskeie nodige aanpassings is dus aan die slaafstelsel aangebring, waarna die stuurstok en robot elektronies gekoppel is om ’n direkte reekskommunikasielyn te skep. Vir beheerstelselontwerp is die stuurstok en robot volgens die Denavit- Hartenberg-beginsel gemodelleer, wat ’n direkte verhouding tussen die posisie en oriëntasie van die onderskeie eindpunt-effektors aan die stuurstok- en robotkant daarstel. Voorwaartse kinematiese vergelykings is daarna op die stuurstok toegepas; die gewenste posisie en oriëntasie van die robotiese eindpunt-effektor is bepaal, waarna terugwaartse kinematiese vergelykings op hierdie data toegepas is om die robot se koppelingveranderlikes te bepaal. Hierdie afdeling word afgesluit met die ontwikkeling van twee bedryfsmodusse: een waar slegs die SSM-motore beheer word sodat die slaaf die meester se bewegings kan navolg, en die ander waar die PSM se motore afsonderlik beheer word. Die gelyktydige beheer van al die robotmotore kon nie getoon word nie weens fundamentele meganiese tekortkominge in die PSM- en SSM-ontwerp. Laastens is ’n toets uitgevoer om die bewegingsbeheer van die robot deur die stuurstok te toon. Die intuïtiwiteit van die produk is ook suksesvol getoets. Die studie sluit af met die projekgevolgtrekkings, waarvan die belangrikste die suksesvolle ontwikkeling en toetsing van ’n stuurstok is wat daarin slaag om die beweging van ’n chirurgiese robot te beheer, sowel as die verwesenliking van alle hoofprojekoogmerke.
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Hermansson, Hanna, and Louise Lundblad. "Automatic irrigation system for plants." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264445.
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The purpose of this project was to develop an automatic irrigation system for plants. It is beneficial to have plants indoors. In addition to their air-purifying qualities, they have been proven to increase the productivity of employees at workplaces, as well as decrease the amount of sick leave. Three research question were investigated: how much energy the system requires and if it is possible to replace the energy source with an alternative energy source, how well the system stabilises and how a wireless regulation can be implemented. The final design consisted of a mictrocontroller which controlled the system, a water pump, a moisture level sensor and a plant on which everything was tested. The system was left during a four week period to see how well it managed. The project resulted in a system that managed to keep the plant alive. The energy demand of the system could be covered by solar cells instead of batteries.Syftet med detta projekt var att utveckla ett automatiskt bevattningssystem för växter. Det är fördelaktigt att ha växter inomhus. Bland annat har det bevisats att växter i kontorslandskap ökar produktiviteten hos de personer som arbetar där, samt att antalet uttagna sjukdagar minskar. Fortsättningsvis var det tre stycken forskningsfrågor som undersöktes, hur mycket energi kräver systemet och är det möjligt att ersätta energikällan med en alternativ energikälla, hur väl stabiliserar sig systemet samt hur kan en trådlös reglering implementeras. Den slutliga designen bestod av en mikrokontroller som styrde systemet, en vattenpump, en fuktighetssensor och en planta på vilken testerna utfördes. Systemet lämnades i fyra veckor för att se hur väl det klarade sin uppgift. Resultatet blev att växten överlevde vilket innebär att systemet fungerade. Möjligheten att byta ut batterierna mor solceller studerades och slutsatsen är att detta byte är möjligt.
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Hasp, Frank Alexander, and Morgan Tjernström. "Construction and theoretical study of a ball balancing platform : Limitations when stabilizing dynamic systems through implementation of automatic control theory." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264486.
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Control theory and its applications are crucial when operating within the area of dynamic systems. Compensating for disturbances and external actions imposed on a given system being inherently unstable or semi-stable. Through the physical construction of a apparatus as a demonstrator of the theory further comparing the factual physical and computer simulated results derived from Newtonian mechanics. To enable comparison, designing a satisfactory controller capable of fulfilling the requirements set for the system is necessary. With regards to apparatus and control, the introduction of a proportional-integralderivative controller for a system balancing a ball on a platform. Further allowing for analysis to determine the limitations when stabilizing a naturally unstable or semi-stable system. Also, examine how these dier from the theoretical expectations. The control applied throughout the thesis is of the type linear, exclusively being able to operate properly within the linear spectrum of control. Using standard components and a microcontroller, a apparatus is constructed to maintain a ball on a platform. This is executed through programming with Arduino libraries and open source code. Hence, for research purposes, to see if the apparatus can operate satisfactory within the linear domain of control. With the aforementioned stated, this thesis will first cover the theoretical model of the ball on platform scenario through computer aided programs. Then compare the theoretical results with the results acquired from a physical construction. Further examine why dierences occur considering control theory and system implementation.Reglertekniken och dess applikationer är centrala för att kontrollera dynamiska system och möjliggör för kompensering av störningar i system som är naturligt instabila eller semistabila. Genom konstruktion av en apparat som demonstrerar reglerteknisk teori kan vidare jämförelser mellan resultat från apparaten och datorsimuleringar, erhållna från Newtonsk mekanik, tillhandahållas. Syftet är vidare att utveckla en regulator som uppfyller de krav som sätts upp för systemet. Med hänsyn till apparaten och regulatorn, introduceras en proportionell-integrerande-deriverande regulator för en bollbalanserande plattform. På så sätt kan begränsningarna vid stabilisering av ett naturligt instabilt eller semistabilt system bestämmas. Vidare studeras hur dessa skiljer sig från de teoretiska förväntningarna. Endast linjär kontroll kommer att användas i detta projekt, därav en apparat som enbart är välfungerande inom ett linjärt domän. Genom användning av standardkomponenter och en mikrokontroll konstrueras en apparat för att bibehålla en boll på en plattform. Detta möjliggörs genom programmering med Arduinos bibliotek och öppen källkod. Således är, ur forskningssynpunkt, anordningens förmåga att fungera väl inom den linjära domänen av intresse. Utifrån detta kommer examensarbetet först att redogöra för den teoretiska modellen av en boll balanserande på en plattform genom användandet av datorprogram. För att sedan jämföra de teoretiska resultaten med de resultat som erhålls från den fysiska bollbalanserande konstruktionen. Vidare undersöks varför skillnader uppstår med hänsyn till reglerteknik och systemimplementering
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CALMINDER, SIMON, and CHITTUM MATTHEW KÄLLSTRÖM. "Object Tracking and Interception System : Mobile Object Catching Robot using Static Stereo Vision." Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233135.
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The aim of this project is to examine the feasibility and reliability of the use of a low cost computer vision system to track and intercept a thrown object. A stereo vision system tracks the object using color recognition and then guides a mobile wheeled robot towards an interception point in order to capture it. Two different trajectory prediction models are compared. One model fits a second degree polynomial to the collected positional measurements of the object and the other uses the Forward Euler Method to construct the objects flight path. To accurately guide the robot, the angular position of the robot must also be measured. Two different methods of measuring the angular position are presented and their respective reliability are measured. A calibrated magnetometer is used as one method while pure computer vision is implemented as the alternative method. A functional object tracking and interception system that was able to intercept the thrown object was constructed using both the polynomial fitting trajectory prediction model as well as the one based on the Forward Euler Method. The magnetometer and pure computer vision are both viable methods of determining the angular position of the robot with an error of less than 1.5°.I detta projekt behandlas konstruktionen av och pålitligheten i en bollfånganderobot och dess bakomliggande lågbudgetkamerasystem. För att fungera i tre dimensioner används en stereokameramodul som spårar bollen med hjälp av färgigenkänning och beräknar bollbanan samt förutspår nedslaget för att ge god tid till roboten att genskjuta bollen. Två olika bollbanemodeller testas, där den ena tar hänsyn till luftmotståndet och nedslaget beräknas numeriskt och den andra anpassar en andragradspolynom till de observerade datapunkterna. För att styra roboten till den tänkta uppfångningspunkten behövs både robotens position, vilket bestäms med kameramodulen, och robotens riktning.Riktningen bestäms medbåde en magnetometer och med kameramodulen, för att undersöka vilken metod som passar bäst. Den förslagna konstruktionen för roboten och kamerasystemet kan spåra och fånga objekt med bådadera de testade modellerna för att beräkna bollbana, dock så är tillförlitligheten i den numeriska metoden betydligt känsligare för dåliga mätvärden. Det är även möjligt att använda sig av både magnetometern eller endast kameramodulen för att bestämma robotens riktning då båda ger ett fel under 1.5°.
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Nordqvist, Mathias, and Olle Svensson. "Electrification of valve system." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264516.
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This report is going to investigate the possibility to save energy by converting a valve opening mechanism in a waste disposal system from a pneumatic system to an electric system. To power the system, which mainly consists of an electric actuator and a valve control module, a solar panel system was designed. The valve system was controlled by the lightweight messaging protocol MQTT. To be able to choose an electric actuator the needed force was measured and data regarding maximal stroke was taken from the data sheet of the existing setup. For developing an optimal solar panel system a program was written in Google Spreadsheet. The program takes input regarding power, cycles, solar panel system specifications and environmental factors. The output from the program is energy consumption for the system, specification for solar charger, solar panel setup and charge data. The result was that the solar panel system needed to consists of four 12 V VRLA batteries with a capacity of 90 Ah each and four solar panels with a rated power of 300 W each. The solar charger must be able to handle 900 W and provide an output current of 25,5 A to fulfil the demands. The new electric actuator will consume four times less energy than the old pneumatic actuator. Most of the energy savings are consequences of reduced energy consumption at idle of the system. A demonstarator was built to test the system.Den här rapporten kommer att undersöka möjligheten att spara energi genom att konvertera ett ventilöppningsmekanism i ett avfallshanteringssystem från ett pneumatiskt system till ett elektriskt system. För att driva systemet, som främst består av en elektrisk aktuator och en ventil styrenhet, ska ett solcellssystem designas. Ventilsystemet ska styras med hjälp lättviktsmeddelandeprotokollet MQTT. För att kunna välja en aktuator mättes den behövda kraften och data angående maximal slaglängd togs från databladet på den nuvarande konstruktionen. För att utveckla ett optimalt solcellssystem skrevs ett program i Google Kalkylark. Programmet använder energi, cykler, solcellssystem och miljöfaktorer som indata. Som utdata ges energiförbrukning hos systemet, specifikation för solcellsregulator, solpaneler och laddningsdata. Resultatet var att det solcellssystem som behövs bestå av fyra 12 V VRLA batterier med en kapacitet på 90 Ah var och fyra solpaneler med en nominell effekt på 300 W vardera. Solcellssregulatorn behöver kunna hantera 900 W och generera en ström på 25,5 A. Den nya elektriska aktuatorn kommer förbruka fyra gånger så lite energi jämfört med den gamla pneumatiska aktuatorn. Den största delen av energibesparingarna är en konsekvens av minskad energiförbrukning av systemet i vila. En prototyp byggdes för att testa systemet.
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Omerdic, Edin. "Thruster fault diagnosis and accommodation for overactuated open-frame underwater vehicles." Thesis, University of South Wales, 2004. https://pure.southwales.ac.uk/en/studentthesis/thruster-fault-diagnosis-and-accommodation-for-overactuated-openframe-underwater-vehicles(d010b243-e2ee-4a12-9ff0-037c9e1af958).html.
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The work presented in the thesis concerns the design and development of a novel thruster fault diagnosis and accommodation system (PDAS) for overactuated, open-frame underwater vehicles. The remotely operated vehicles (ROVs) considered in this thesis have four thrusters for motion in the horizontal plane with three controllable degrees of freedom (DoF). Due to the redundancy resulting from this configuration, for the case of a partial fault or a total fault in a single thruster it is possible to reallocate control among operable thrusters in order that the ROV pilot is able to maintain control of the faulty ROV and to continue with missions. The proposed PDAS consists of two subsystems: a fault diagnosis subsystem (FDS) and a fault accommodation subsystem (FAS). The FDS uses fault detector units to monitor thruster states. Robust and reliable interrogation of thruster states, and subsequent identification of faults, is accomplished using methods based on the integration of selforganising maps and fuzzy logic clustering. The FAS uses information provided by the FDS to perform an appropriate redistribution of thruster demands in order to accommodate faults. The FAS uses a hybrid approach for control allocation, which integrates the pseudoinverse method and the fixed-point iterations method. A control energy cost function is used as the optimisation criteria. In fault-free and faulty cases the FAS finds the optimal solution, which minimises this criteria. The concept of feasible region is developed in order to visualise thruster velocity saturation bounds. The PDAS provides a dynamic update of saturation bounds using a complex three-dimensional visualisation of the feasible region (attainable command set), such that the ROV pilot is informed with the effects of thruster fault accommodation, incorporated in the new shape of the attainable command set. In this way the ROV pilot can easy adapt to newly created changes and continue the mission in the presence of a fault. The prototype of the PDAS was developed in the MATLAB environment as a Simulink model, which includes a nonlinear model of an ROV with 6 DOF, propulsion system and a hand control unit. The hand control unit was simulated in hardware using a joystick as input device to generate command signals. Different fault conditions are simulated in order to investigate the performance of the PDAS. A virtual underwater world was developed, which enabled tuning, testing and evaluation of the PDAS using simulations of two underwater vehicles (FALCON, Seaeye Marine Ltd. and URIS, University of Girona) in a 'realistic' underwater environment. The performance of the PDAS was demonstrated and evaluated via tank trials of the FALCON ROV in QinetiQ Ocean Basin Tank at Haslar, where the existing control software was enhanced with the PDAS algorithm. The results of real-world experiments confirmed the effectiveness of the PDAS in maintaining vehicle manoeuvrability and in preserving the vehicle mission in the presence of thruster faults.
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BASSILI, NICLAS, and ERIK BLOMQVIST. "L.O.S.T Positioning : Line Of Sight Technologies Positioning of RoboRally Robots." Thesis, KTH, Mekatronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233118.
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RoboRally is a board game where the goal is to drive a small robot from a start position to a goal across a dynamic board with different types of obstacles. The robots in this game aren’t real robots, they are small plastic figures which are moved by hand during the game. Our vision is to research a solution for implementing the game with real robots. In order to do this, precise positioning is key. The purpose of this project was therefore to create a local positioning system that allows a robot to find its position in a defined space and change it on a user command with good precision. The built positioning system is based on the time of flight technique using infrared light and ultrasound. The system uses two transmitters and one receiver to calculate two planar distances which can be converted to a coordinate within the board. To assess the system performance in a RoboRally application a small robot was built and multiple tests conducted. The first result was that a one-dimensional distance calculation using the time of flight technique achieved a mean error of 3,2 mm for distances shorter than 1 m. The next result was that the positioning system achieved a 90 x 70 cm rectangle field of view with an accuracy between 1 and 6 cm within this area. The last result was that the robot was able to move a specified distance with a precision of ± 1 mm and then verify its position successfully at a rate of 97 %. The final conclusion of the project is that the positioning system is accurate enough for a RoboRally application but needs improvements on its field of view.RoboRally är ett brädspel som går ut på att köra en robot från en startpunkt till ett mål över en dynamisk spelplan med olika typer av hinder. Robotarna i detta spel är inte riktiga robotar, det är små figurer av plast som flyttas för hand under spelets gång. Vårt mål är att undersöka en lösning för att implementera spelet med riktiga robotar. För att lyckas med detta så är det viktigt med noggrann positionering. Syftet med detta projekt var att skapa ett positioneringssystem som gör att en robot kan hitta sin egen position inom en yta och ändra den på kommando med god precision. Positioneringssystemet som tagits fram är baserat på time of flight teknik med hjälp av infrarött ljus och ultraljud. Systemet använder två sändare och en mottagare för att räkna ut två avstånd som sedan kan omvandlas till en koordinat på spelplanen. För att bedömma systemets prestanda i RoboRally sammanhang så har en liten robot byggts och flera tester utförts. Det första resultatet är att en endimensionell av-ståndsberäkning med time of flight tekniken kunde uppnå ett medelfel på 3,2 mm för avstånd kortare än 1 m. Nästa resultat var att positionssystemet uppnådde ett 90 x 70 cm rektangulärt synfält med en noggrannhet mellan 1 och 6 cm inom detta område. Det sista resultatet var att roboten kan förflytta sig en bestämd sträcka med en noggrannhet p°a ± 1 mm och sedan verifiera sin position korrekt 97 % av försöken. Projektets slutsats är att positionssystemet har tillräckligt bra noggrannhet för att kunna användas för RoboRally men att det behöver förbättrat synfält.
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Sim, Tze Ying [Verfasser]. "Effectiveness of the methods for engineering courses in a large non-homogenous class setting : With regards to the specific disciplines - Computer Science and Mechatronics in learning Embedded System / Tze Ying Sim." Kassel : Kassel University Press, 2010. http://d-nb.info/1016969791/34.
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Chiang, Shun Fan. "The development of a low-cost robotic visual tracking system : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering, Mechatronics at Massey University, Albany, New Zealand." Massey University, 2009. http://hdl.handle.net/10179/996.
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This thesis describes a system which is able to track and imitate human motion. The system is divided into two major parts: computer vision system and robot arm motion control system. Through the use of two real-time video cameras, computer vision system identifies the moving object depending on the colour features, as the object colour is matched within the colour range in the current image frame, a method that employs two vectors is used to calculate the coordinates of the object. After the object is detected and tracked coordinates are saved to a pre-establish database in the purpose of further data processing, a mathematical algorithm is performed to the data in order to give a better robotic motion control. Robot arm manipulator responds with a move within its workspace which corresponds to a consequential human-type motion. Experimental outcomes have shown that the system is reliable and can successfully imitate a human hand motion in most cases.
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Du, Plessis Jacques. "A hydraulic wave energy converter." Thesis, Stellenbosch : Stellenbosch University, 2012. http://hdl.handle.net/10019.1/19950.
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Thesis (MScEng)--Stellenbosch University, 2012.ENGLISH ABSTRACT: As a renewable energy source, wave energy has the potential to contribute to the increasing global demand for power. In South Africa specifically, the country’s energy needs may easily be satisfied by the abundance of wave energy at the South-West coast of the country. Commercially developing and utilizing wave energy devices is not without its challenges, however. The ability of these devices to survive extreme weather conditions and the need to achieve cost-efficacy while achieving high capacity factors are but some of the concerns. Constant changes in wave heights, lengths and directions as well as high energy levels and large forces during storm conditions often lead to difficulties in keeping the complexity of the device down, avoiding over-dimensioning and reaching high capacity factors. The point absorber device developed as part of this research is based on an innovation addressing the abovementioned issues. An approach is followed whereby standard "offthe- shelf" components of a proven hydraulics technology are used. The size of the device is furthermore adaptable to different wave climates, and the need for a control system is not necessary if the design parameters are chosen correctly. These characteristics enable low complexity of the device, excellent survivability and an exceptionally high capacity factor. This may lead to low capital as well as low operationand maintenance costs. In this paper the working principle of this concept is presented to illustrate how it utilises the available wave energy in oceans. The results obtained from theoretical tests correlate well with the experimental results, and it is proven that the device has the ability to achieve high capacity factors. As the device makes use of existing, "off-the-shelf" components, cost-efficient energy conversion is therefore made feasible through this research.
AFRIKAANSE OPSOMMING: As ’n hernubare/ herwinbare energiebron bied golfenergie die potensiaal om by te dra tot die bevrediging van die stygende globale energie-navraag. In spesifiek Suid-Afrika kan die oorvloed van beskikbare golfenergie aan die Suid-Weskus van die land gebruik word om aan die land se energiebehoeftes te voldoen. Betroubaarheid en oorlewing in erge weerstoestande, koste-effektiwiteit en die behaal van hoë kapasiteitsfaktore is beduidende struikelblokke wat oorkom moet word in die poging om ’n golfenergie-omsetter wat kommersieël vervaardig kan word, te ontwikkel. Daarby dra voortdurende veranderings in golfhoogtes, -lengtes en -rigtings sowel as hoë energievlakke en groot kragte tydens storms by to die feit dat dit moeilik is om die kompleksiteit van die stelsel laag te hou. Dit terwyl daar voorkom moet word dat die toestel oorontwerp en verhoed word dat hoë kapsiteitsfaktore bereik word. Die puntabsorbeerder-toestel wat in hierdie navorsing ontwikkel is, bestaan uit ’n ontwerp wat spesifiek ontwikkel is om die bogenoemde probleme aanspreek. ’n Unieke benadering is gevolg waardeur standaard, maklik-bekombare komponente gebruik is en die komponent-groottes ook aangepas kan word volgens golfgroottes. Indien die ontwerpsdimensies akkuraat gekies word, is die moontlikheid verder goed dat ’n beheerstelsel nie geïmplementeer hoef te word nie. Hierdie eienskappe verseker lae stelselkompleksiteit, uitstekende oorlewingsvermoë en ’n uitstaande kapasiteitsfaktor. Lae kapitaal- sowel as onderhoudskostes is dus moontlik. Die doel van hierdie dokument is om die werking van die konsep voor te stel en teoreties sowel as prakties te evalueer. Die resultate van teoretiese toetse stem goed ooreen met eksperimentele resultate, en dit is duidelik dat die toestel hoë kapasiteitsfaktore kan behaal. Aangesien die toestel verder gebruik maak van bestaande komponente wat alledaags beskikbaar is, word die koste-effektiewe omsetting van golfenergie dus moontlik gemaak deur hierdie navorsing.
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Pham, Cao Van. "Signalized fuzzy logic for diamond interchanges incorporating with fuzzy ramp system : a thesis presented in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics at Massey University, Auckland, New Zealand." Massey University, 2009. http://hdl.handle.net/10179/1126.
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New dynamic signal control methods such as fuzzy logic and artificial intelligence developed recently mainly focused on isolated intersection. In this study, a Fuzzy Logic Control for a Diamond Interchange incorporating with Fuzzy Ramp System (FLDI) has been developed. The signalization of two closely spaced intersections in a diamond interchange is a complicated problem that includes both increasing the diamond interchange capacity and reduce delays at the same time. The model comprises of three main modules. The Fuzzy Phase Timing module controls the current phase green time extension, the Phase Selection module select the next phase based on the pre-defined phase sequence or phase logics and the Fuzzy Ramp module determines the cycle time of the ramp meter bases on current traffic volumes and conditions of the interchanges and the motorways. The developed FLDI model has been compared with the traffic actuated simulation with respects to flow rates and the average delays of the vehicles. The model of an actual diamond interchange is described and simulated by using AIMSUN (Advanced Interactive Microscopic Simulator for Urban and Non-Urban Network) software. Simulation results show the FLDI model outperformed the traffic actuated models with lower system total travel time, average delay and improvements in downstream average speed and average delay.
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Röing, Jacob, and Martin Zheng. "Automatic Sound Level System : Constant volume at all times." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264488.
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Studies have shown that music has plenty of positive effects on performances in working environments. The purpose of this project was to reap those benefits by developing a prototype that could automatically adjust the volume of a speaker. The prototype was also able to measure the total sound level in the surrounding environment. It would then regulate the speaker’s sound level in accordance with the measured sound and a desired volume set by the user. The main focus was to measure, filter and calibrate sound and to develop a regulatory system that could control the volume of the sound system. The final prototype had a user interface with an LCDdisplay and buttons. It had the ability to successfully measure the sound and its amplitude. Calibration of the sound sensor was done using two reference microphones. Measurements at eight different sound levels were taken. A model to convert the digital signal into decibels was then calculated through linear regression with a standard error of 2.9 dB. With this model the prototype could automatically adjust the volume of a Marshall Kilburn speaker to the desired level of 90 dB in approximately 40 seconds. It was found that the largest limiting factor was the sensor’s ability to pick up different sound sources at longer distances from the sensor. Further work may include optimizing the microphone and making an integrated product that can be applied to any sound system.Studier har visat att musik har mycket positiv påverkan på effektivitet i arbetsmiljöer. Syftet med detta projekt var att lyfta fram dessa fördelar genom att utveckla en prototyp med förmågan att automatiskt reglera volymen av en högtalare. Tanken var att prototypen skulle kunna reglera högtalarens volym i enlighet med den uppmätta ljudvolymen och en önskad volym angiven av användaren. Huvudfokus var att mäta, filtrera och kalibrera ljud samt att utveckla en regulator med möjlighet att kontrollera volymen av ljudsystemet. Slutprototypen hade ett användargränssnitt med en LCDskärm och knappar. Den hade möjlighet att framgångsrikt mäta ljudet och dess amplitud. Kalibrering av ljudsensorn genomfördes med hjälp av två referensmikrofoner och uppmätning med dessa gjordes vid åtta olika ljudnivåer. En modell för konvertering av digitala signalen till decibel beräknades genom linjär regression med ett standardfel på 2,9 dB. Utifrån denna modell kunde prototypen automatiskt justera volymen på en högtalare av typen Marshall Kilburn. Detta gjordes på 40 sekunder då önskade volymen sattes till 90 dB. Den största begränsningen var ljudsensorns förmåga att uppmäta ljud från ljudkällor som var placerade på längre avstånd från sensorn. Vidareutveckling sker lämpligtvis genom optimering av mikrofonen samt skapa en integrerad produkt som kan tillämpas på godtyckligt ljudsystem.
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Bassili, Niclas, and Erik Blomqvist. "L.O.S.T Positioning : Line Of Sight Technologies Positioning ofRoboRally Robots." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230248.
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RoboRally is a board game where the goal is to drive a smallrobot from a start position to a goal across a dynamic boardwith different types of obstacles. The robots in this gamearen’t real robots, they are small plastic figures which aremoved by hand during the game. Our vision is to researcha solution for implementing the game with real robots. Inorder to do this, precise positioning is key. The purposeof this project was therefore to create a local positioningsystem that allows a robot to find its position in a definedspace and change it on a user command with good precision.The built positioning system is based on the time offlight technique using infrared light and ultrasound. Thesystem uses two transmitters and one receiver to calculatetwo planar distances which can be converted to a coordinatewithin the board.To assess the system performance in a RoboRally applicationa small robot was built and multiple tests conducted.The first result was that a one-dimensional distancecalculation using the time of flight technique achieveda mean error of 3,2 mm for distances shorter than 1 m. Thenext result was that the positioning system achieved a 90x 70 cm rectangle field of view with an accuracy between1 and 6 cm within this area. The last result was that therobot was able to move a specified distance with a precisionof ± 1 mm and then verify its position successfully at a rateof 97 %.The final conclusion of the project is that the positioningsystem is accurate enough for a RoboRally applicationbut needs improvements on its field of view.RoboRally är ett brädspel som går ut på att köra en robot från en startpunkt till ett mål över en dynamisk spelplan med olika typer av hinder. Robotarna i detta spel är inte riktiga robotar, det är små figurer av plast som flyttas för hand under spelets gång. Vårt mål är att undersöka en lösning för att implementera spelet med riktiga robotar. För att lyckas med detta så är det viktigt med noggrann positionering. Syftet med detta projekt var att skapa ett positioneringssystem som gör att en robot kan hitta sin egen position inom en yta och ändra den på kommando med god precision. Positioneringssystemet som tagits fram är baserat på time of flight teknik med hjälp av infrarött ljus och ultraljud. Systemet använder två sändare och en mottagare för att räkna ut två avstånd som sedan kan omvandlas till en koordinat på spelplanen. För att bedömma systemets prestanda i RoboRally sammanhang så har en liten robot byggts och flera tester utförts. Det första resultatet är att en endimensionell avståndsberäkning med time of flight tekniken kunde uppnå ett medelfel på 3,2 mm för avstånd kortare än 1 m. Nästa resultat var att positionssystemet uppnådde ett 90 x 70 cm rektangulärt synfält med en noggrannhet mellan 1 och 6 cm inom detta område. Det sista resultatet var att roboten kan förflytta sig en bestämd sträcka med en noggrannhet på ± 1 mm och sedan verifiera sin position korrekt 97 % avförsöken. Projektets slutsats är att positionssystemet har tillräckligtbra noggrannhet för att kunna användas för RoboRally men att det behöver förbättrat synfält.
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Le, Roux Anro. "Control of a conveyor system for a reconfigurable manufacturing cell." Thesis, Stellenbosch : Stellenbosch University, 2013. http://hdl.handle.net/10019.1/85767.
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Thesis (MScEng)-- Stellenbosch University, 2013.ENGLISH ABSTRACT: This work entails a study of the control software of transportation systems for use in recon gurable manufacturing systems (RMSs). Various control approaches are considered, with the focus on enhancing recon gurability. The work is unique in the sense that the RMS is designed to manufacture small parts/products and is meant to be used in developing countries. Manufacturing systems that can ensure product quality and delivery, are a critical need in countries where the bulk of manufacturing systems function with manual labour. RMSs and holonic manufacturing systems (HMSs) are identi ed as concepts that can potentially compete with manual manufacturing systems. The competing system must thus have a low initial adoption risk, be able to adapt to changing product functionality and demands, and have a comparable throughput rate. IEC61311-3, IEC64199 function block and agent-based control architectures are evaluated. The control software is tested on an experimental conveyor system. The thesis shows that IEC61131-3 and IEC64199 architectures are advantageous in lower levels of control. IEC64199 function blocks provide human interface and development tools and simpli es the distribution of control. The human interface and development tools of IEC64199 function blocks may prove bene cial in providing system monitoring and rapid low skilled adaptation of the control system, increasing recon gurability of systems in under-developed countries. Unfortunately, the low maturity of the development environments for IEC64199 function blocks is a limitation. It is shown that an IEC64199 function block controller becomes complex as the actuator/sensor count exceed 10. Agent-based systems o er reliable control and powerful communication tools but requires a higher level of expertise than IEC64199 function blocks. Agent-based systems are proposed for the core high level control. Complex systems can be controlled with agents and intelligence can be added to control systems in a recon gurable way. For the recon gurable control of large manufacturing systems, agent-based control was found to be superior to IEC64199 function blocks.
AFRIKAANSE OPSOMMING: Hierdie werk behels 'n studie in die beheersagteware van vervoerstelsels vir die gebruik in herkon gureerbare vervaardigingstelsels. Verskeie benaderings word oorweeg, met die fokus op die verbetering van herkon gureerbaarheid. Die werk is uniek in die sin dat die herkon gureerbare vervaardigingstelsel ontwerp is vir die vervaardiging van klein onderdele/produkte en is bedoel vir die gebruik in die ontwikkelende lande. Vervaardigingstelsels wat die kwaliteit van die produk en a ewering kan verseker, is 'n kritieke behoefte in die lande waar die grootste deel van die vervaardiging met handearbeid gedoen word. Herkon gureerbare vervaardigingstelsels en holoniese vervaardigingstelsels is geïdenti seer as konsepte wat moontlik kan meeding met die handmatige produksie-stelsels. Die mededingende stelsel moet dus 'n lae aanvanklike aannemingsrisiko hê, in staat wees om te kan aanpas by die veranderende produk funksionaliteit en aanvraag, en 'n vergelykbare deurvloeikoers kan lewer. IEC61311-3, IEC61499 funksie-blok en agent-gebaseerde beheer argitekture word geëvalueer. Die beheer sagteware is getoets op 'n eksperimentele vervoerband stelsel. Die tesis toon dat IEC61131-3 en IEC61499 argitekture voordelig is in die laër vlakke van beheer. IEC61499 funksie-blokke voorsien menslike koppelvlak en ontwikkelings-gereedskap, en vereenvoudig die verspreiding van beheer. Die menslike koppelvlak en ontwikkelings-gereedskap van die IEC61499 funksieblokke is moontlik voordelig in die voorsiening van stelselmonitering en vinnige laag-geskoolde aanpassing van die beheer stelsel. Dit mag dus moontlik die herkon gureerbaarheid van stelsels, in onder-ontwikkelde lande, verhoog. Die lae vlak van volwassenheid van die ontwikkelingsomgewings vir IEC61499 funksie-blokke verlaag hul bruikbaarheid. Daar word aangetoon dat IEC61499 funksie-blok beheerders baie kompleks raak as die hoeveelheid van aktueerders en sensors meer as 10 raak. Agent-gebaseerde stelsels bied betroubare beheer, en kragtige kommunikasie-gereedskap, maar vereis 'n hoër vlak van kundigheid as IEC61499 funksie-blokke. Agent-gebaseerde stelsels word voorgestel vir die hoëvlak beheer. Komplekse stelsels kan beheer word met agente en intelligensie kan bygevoeg word om stelsels te beheer in 'n herkon gureerbare manier. Dit was gevind dat agent-gebaseerde beheer beter is as IEC61499 funksie-blok beheer vir die herkon gureerbare beheer van groot vervaardigings stelsels.
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Mhenni, Faïda. "Vers une approche intégrée d'analyse de sureté de fonctionnement des systèmes mécatroniques." Thesis, Châtenay-Malabry, Ecole centrale de Paris, 2014. http://www.theses.fr/2014ECAP0062/document.
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Les systèmes modernes sont caractérisés par l’intégration de plusieurs composants de technologies diverses interagissant dans le but d’offrir de plus en plus de fonctionnalités aux utilisateurs. La complexité croissante dans ces systèmes pluridisciplinaires dits mécatroniques nécessite la mise en place de nouveaux processus, outils et méthodes pour la conception, l’analyse et la validation de ces derniers en respectant les contraintes de coût et de délais imposés par la concurrence. Ces systèmes doivent également satisfaire des contraintes de fiabilité et surtout de sûreté de fonctionnement. Seule une intégration du processus d’analyse de sûreté de fonctionnement tout au long du processus de développement peut assurer la satisfaction de ces contraintes de manière optimale.Les travaux de cette thèse ont pour objectif de contribuer à l’intégration des analyses de sûreté de fonctionnement dans le processus d’ingénierie système basée sur SysML afin de rendre ces analyses plus rapides et plus efficaces. Pour ce faire, nous avons traité les axes suivants : la formalisation d’une méthodologie de conception basée sur SysML et qui sera le support des analyses de sûreté de fonctionnement ; l’extension du langage SysML afin de pouvoir intégrer des spécificités des systèmes mécatroniques ainsi que des aspects de sûreté de fonctionnement dans le modèle système; l’exploration automatique des modèles SysML afin d’en extraire les données nécessaires pour l’élaboration des artefacts de la SdF et la génération (semi)/automatique de ces derniers (FMEA et FTA). Nous avons également intégré la vérification formelle d’exigences de sûreté de fonctionnement.Cette méthodologie nommée SafeSysE a été appliquée sur des cas d’étude du domaine de l’aéronautique : EMA (Electro-Mechenical Actuator) et WBS (Wheel Brake System)Modern systems are getting more complex due to the integration of several interacting components with different technologies in order to offer more functionality to the final user. The increasing complexity in these multi-disciplinary systems, called mechatronic systems, requires new appropriate processes, tools and methodologies for their design, analysis and validation whilst remaining competitive with regards to cost and time-to-market constraints.The main objective of this thesis is to contribute to the integration of safety analysis in a SysML-based systems engineering approach in order to make it more efficient and faster. To achieve this purpose, we tackled the following axes: formalizing a SysML-based design methodology that will be the support for safety analyses; providing an extension of SysML in order to enable the integration of specific needs for mechatronic systems modeling as well as safety concepts in the system model; allowing the automated exploration of the SysML models in order to extract necessary information to elaborate safety artefacts (such as FMEA and FTA) and the semi-automated generation of the latters. We have also integrated formal verification to verify if the system behaviors satisfy some safety requirements.The proposed methodology named SafeSysE was applied to case studies from the aeronautics domain: EMA (Electro Mechanical Actuator) and WBS (Wheel Brake System)
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Bartle, Samantha. "Establishing a new biofuel crop using System Thinking." Thesis, Stellenbosch : Stellenbosch University, 2014. http://hdl.handle.net/10019.1/86519.
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Thesis (MEng)--Stellenbosch University, 2014.ENGLISH ABSTRACT: The complexity of adopting a new crop-based biodiesel feedstock into South Africa given the prevailing environmental, economic and social concerns facing the country are addressed in this study by utilising a Systems Thinking approach. Solaris is a new variety of Tobacco developed specifically as an energy crop over the last twelve years by Italian companies Plantechno and Sunchem. Small-scale trials have been underway over the last year in the Loskop Valley farming community in the Limpopo Province of South Africa. These trials have been managed by the newly-formed local entity, Toboil (Pty) Ltd. In order to assess the viability of introducing Solaris into Loskop in terms of addressing the current diesel and electricity needs of the community and larger over-arching biofuel goals of South Africa, the full System Dynamic Modelling process was employed. This included significant research, stakeholder engagement, a Systems Thinking workshop as well as model development and simulation using the System Dynamics programming tool, Vensim. Following the simulation of various scenarios, it was determined that in order for Solaris implementation to have the greatest impact on the diesel and electricity independence desires of the community, as well as maximising job creation and avoided greenhouse gas emissions, the first five to ten years of implementation may only achieve low to moderate profitability. It was further concluded that if crop-based biofuels are to help meet the rural development goals of South Africa then significant investment and skills transfer is required. In order to address both of these, a modular development process is advocated and should be aided and mentored by members of the commercial farming industry.
AFRIKAANSE OPSOMMING: Die kompleksiteit van die aanvaarding van ‘n nuwe oes-gebaseerde bio diesel roumateriaal in Suid-Afrika in die heersende omgewings-, ekonomiese- en sosiale kommer wat die land ervaar, word in hierdie studie aangespreek deur gebruik te maak van ‘n Sistemiese Denke Benadering (Systems Thinking approach) Solaris is ‘n nuwe variasie Tabak wat deur twee Italiaanse maatskappye Plantechno en Sunchem oor die afgelope twaalf jaar spesifiek as ‘n bron van energie ontwikkel is. Kleinskaalse proewe is gedurende die afgelope jaar in die Loskop Vallei Landbougemeenskap in die Limpopo-provinsie van Suid-Afrika gedoen. Hierdie proewe word onder die toesig van die nuut gevormde plaaslike entiteit, Toboil (Pty) Ltd uitgevoer. Aansienlike navorsing, die aktiewe deelname van die onderskeie belanghebbende partye, ‘n Sistemiese Denke werkswinkel sowel as die ontwerp van ‘n simulasie model deur die gebruik van Sisteem Dinamieke Programerings program, naamlik Vensim, is ingespan om die lewensvatbaarheid van die moontlike aanplanting van Solaris te beoordeel. Die spesifieke gemeenskap se huidige behoeftes aan diesel en elektrisiteit sowel as Suid-Afrika se breër doelwitte aangaande bio-brandstowwe was as die grondslag gebruik waarop die volle Sistemiese Denke Benadering toegepas is. In Loskop omgewing was verskeie moontlike scenarios beproef en daar is op grond daarvan vasgestel dat ten einde die grootste moontlike inpak te maak op die afhanlikheid van diesel en elektrisiteit behoeftes van die gemeenskap, sowel as om die grootste moontlik werkskepping potensiaal te verwesenlik – terwyl die afskeiding van kweekhuis gasse verhoed word - die eerste vyf tot tien jaar van implementering baie lae winsgrens tot gevolg sal hê. Daar is ook verder afgelei dat afsienbare beleggings en opleiding benodig gaan word indien aangeplante bio-brandstowwe aangewend sou word om die landelike ontwikkelingsdoelwitte in Suid-Afrika te verwesenlik. Ten einde beide hierdie doelwitte aan te spreek, word ‘n modulêre ontwikkelings proses aanbeveel waar gevestigde lede van die kommersiële lanbou industrie, bystand en leierskap voorsien.