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Dissertations / Theses on the topic 'Mechatronics engineering'
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Grimheden, Martin. "Mechatronics Engineering Education." Doctoral thesis, Stockholm, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-569.
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Morris, David T. "Mechatronics for sophomore-level mechanical engineering students." Morgantown, W. Va. : [West Virginia University Libraries], 2000. http://etd.wvu.edu/templates/showETD.cfm?recnum=1525.
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Thesis (M.S.)--West Virginia University, 2000.Title from document title page. Document formatted into pages; contains ix, 147 p. : ill. (some col.) Includes abstract. Includes bibliographical references (p. 130-133).
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Adamsson, Niklas. "Mechatronics engineering : New requirements on cross-functional integration." Licentiate thesis, Stockholm, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-152.
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Bačkys, Gediminas. "Mechatroninių sistemų modelių sudarymas ir tyrimas." Master's thesis, Lithuanian Academic Libraries Network (LABT), 2004. http://vddb.library.lt/obj/LT-eLABa-0001:E.02~2004~D_20040909_142812-53796.
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Modeling process of mechatronics systems. Software used with PLC and simulate real equipment. System has few samples of models with pneumatics elements and model with analog device. There are education materials for students too. Software has been used for education goal at university and kolege.
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Vento, T. (Teemu). "NX Mechatronics Concept Designer -ohjelman käyttöönotto." Bachelor's thesis, University of Oulu, 2018. http://urn.fi/URN:NBN:fi:oulu-201809142793.
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Mekatronisen laitteen suunnitteluprojektin alku on kriittinen vaihe. Siinä määritellään laitteen vaatimukset ja suunnitellaan toiminnallisuudet. Seuraava vaihe on käyttöönotto, jossa testataan laitteen todellinen toiminta. Käyttöönotossa ilmenevät odottamattomat virheet johtavat suuriin kustannuksiin ja muutokseen lopullisessa toteutuksessa. Näin ollen mekaniikka-, elektroniikka- ja ohjelmistosuunnittelun vaatimukset ja rajoitteet tulee ottaa huomioon jo varhaisessa suunnitteluvaiheessa. Virtuaalisella käyttöönotolla ja simuloinnilla voidaan vähentää epäselvyyksiä ja ennaltaehkäistä virheitä ja niiden aiheuttamia kustannuksia. Siemens NX Mechatronics Concept Designer -ohjelmisto (MCD) tuo sähkö, mekaniikka- ja automaattisuunnittelun yhdelle yhteiselle alustalle. Tällöin eri osastojen insinöörit pääsevät kommunikoimaan keskenään ja näkemään ratkaisujen toimivuuden normaalia aiemmin. MCD vähentää suunnitteluprosessiin kuluvaa aikaa sekä mahdollistaa monitieteellisen yhteistyön, että virtaviivaistaa päätöksentekoa suunnittelun konseptivaiheessa. Ohjelmistolla on mahdollista simuloida mekatronisen laitteen todellista toimintaa ja suorittaa virtuaalinen käyttöönotto. Tässä työssä esitellään mainittu MCD-ohjelmisto ja kerrotaan sen yleisimmät toiminnallisuudet. Tutkintotyön sisältöä käytetään mahdollisesti koulutusmateriaalinaThe beginning phase of a mechatronics design project is critical. All requirements and functionalities for the product are defined and a prototype design is built. Next phase is commissioning, where the actual operations and functionalities of the product are found. This is where unexpected errors are often detected, and the costs are multiplied compared to an earlier detection of errors. It is cost-effective and crucial to emphasize the importance of earlier phases and virtual commissioning in the mechatronics design project. This way all errors can be found as early as possible. Siemens NX Mechatronics Concept Designer (MCD) software enables multi-discipline collaboration for electrical, mechanical and automation design. This way different disciplines can deliver faster designing with fewer integration issues in the process. The software reduces product’s time-to-market and provides better decision making through concept evaluation. It’s also possible to implement a virtual commissioning of a functional model. The objective of this thesis was to present basic functionalities of the MCD software. The document presents all basic functions and can also be used as educational material in the future
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How, Peter H. J. (Peter Hsiang Jen) 1978. "Development of a portable educational mechatronics toolkit." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/89375.
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Plante, Jean-Sébastien Ph D. Massachusetts Institute of Technology. "Dielectric elastomer actuators for binary robotics and mechatronics." Thesis, Massachusetts Institute of Technology, 2006. http://hdl.handle.net/1721.1/35305.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2006.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
"February 2006."
Includes bibliographical references (p. 145-153).
Future robotics and mechatronics applications will require systems that are simple, robust, lightweight and inexpensive. A suggested solution for future systems is binary actuation. Binary actuation is the mechanical analogy to digital electronics, where actuators "flip" between two discrete states. Systems can be simple since low-level feedback control, sensors, wiring and electronics are virtually eliminated. However, conventional actuators, such as DC motors and gearbox are not appropriate for binary robotics because they are complex, heavy, and expensive. This thesis proposes a new actuation technology for binary robotics and mechatronics based on dielectric elastomer (DE) technology. DE actuators are a novel class of polymer actuators that have shown promising low-cost performance. These actuators were not well understood and, as a result, faced major reliability problems. Fundamental studies conducted in this thesis reveal that reliable, high performance DE actuation based on highly viscoelastic polymers can be obtained at high deformation rates, when used under fast, intermittent motion.
(cont.) Also, analytical models revealed that viscoelasticity and current leakage through the film govern performance. These results are verified by an in-depth experimental characterizion of DE actuation. A new DE actuator concept using multi-layered diamond-shaped films is proposed. Essential design tools such as reliability/performance trade-offs maps, scaling laws, and design optimization metrics are proposed. A unit binary module is created by combining DE actuators with bistable structures to provide intermittent motion in applications requiring long-duration stateholding. An application example of binary robots for medical interventions inside Magnetic Resonance Imaging (MRI) systems illustrates the technology's potential.
by Jean-Sébastien Plante.
Ph.D.
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Grimheden, Martin. "Learning Mechatronics : In Collaborative, Experimental and International settings." Licentiate thesis, KTH, Machine Design, 2002. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-1515.
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The academic subject of mechatronics has been definedpreviously in numerous publications. This study aims atanalyzing mechatronics by using categories developed within theeducational science of Didactics. The result of the analysis,that relies on data from mechatronics education at KTH andother universities, shows that the identity of mechatronics canbe described as thematic, and the legitimacy as functional,which gives implications for the questions of communication andselection: what should be taught, and how. This is combinedwith a study of the evolution of the subject of mechatronics,where it is possible to see the gradually changing identity,from a combination of a number of disciplinary subjects to onethematic subject.
The first part of the thesis concludes that mechatronics isautonomous, thematic and functional. Teaching and learningmechatronics according to the identity and legitimacy of thesubject benefits from collaborative, experimental andinternational settings. The functional legitimacy todayrequires the collaborative and the international setting,meaning that the mechatronics employer requires these skillswhen employing a mechatronic engineer. Further, an exemplifyingselection requires the experimental setting, in particular whencomparing a representative selection with the reproduction ofknowledge, and an exemplifying selection with the creation ofknowledge.
To conclude, there are a number of important aspects to takeinto account when teaching and learning mechatronics. Three ofthese aspects, collaborative, experimental and internationalare suggested as important, and also a direct consequence ofthe identity of mechatronics. This thesis shows that thesethree aspects are indeed possible to integrate intomechatronics education, which will benefit greatly fromthis.
QC 20100609
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Xie, Yi 1980. "Mechatronics examples for teaching modeling, dynamics, and control." Thesis, Massachusetts Institute of Technology, 2003. http://hdl.handle.net/1721.1/29730.
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Thesis (M.Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2003.Includes bibliographical references (leaves 109-110).
This thesis presents the development of a single-axis magnetic suspension. The intention is to use this system as a classroom demo for an introductory course on modeling, dynamics, and control. We solve this classic nonlinear controls problem with feedback linearization; the main advantage with this technique is operating point independency. However, it is highly sensitive to modeling errors and unpredicted plant behavior. We overcome these barriers by using a model based on both theory and experimentally determined behavior. This paper details the theory, modeling, and implementation, concluding with performance analysis.
by Yi Xie.
M.Eng.
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Bleakley, Graham John. "A methodology for the design of safety critical mechatronics." Thesis, City University London, 1999. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.310448.
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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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GAUFFIN, HENRIK, and LUNDQVIST ISIDOR SÖDERMAN. "Claw Machine : Bachelors thesis in mechatronics." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279793.
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A simple idea can have many different construction solutions and a claw machine is a good machine to try different solutions on. The goal of this thesis was to find out how a claw machine could be created as simple as possible and finding out which parts that were essential in constructing the machine. The claw machine’s shell was built using a laser cutter and details were 3D-printed. With 4 metal rods and two stepper motors the claw machine gantry worked properly. Finally a 3D-printed claw was made and attached to a servo motor and a stepper motor, a functional claw machine had been constructed. The conclusions of this thesis was that stop-sensors were not necessary in the making of the machine as the motors can’t move the claw further than to the edges and risk damaging the machine, step counting with proper belts is an alternative. Further conclusions was that 3D-printed bearings creates too much friction and therefore the gantry can’t operate, and using a fixed timing belt instead of a movable one is to prefer.En enkel idé kan ha många olika konstruktionslösningar, en klomaskin är ett exempel på en sådan idé som kan fungera som ett exempel att pröva olika konstruktionslösningar på. Målet med det här kandidatexamensarbetet var att undersöka hur en klomaskin kan uppnå sin funktion genom att ta reda på vilka komponenter som är viktigast för att konstruera maskinen. Klomaskinens skal laserskärdes och detaljdelar 3D-printades. Med 4 metallstänger och stegmotorer så fungerade klomaskinens ställning. Slutligen så var klomaskinen konstruerad. Slutsatser av det här kandidatexamensarbetet var att stoppsensorer inte var nödvändiga eftersom motorerna inte kunde föra klon längre än i det begränsade området och riskera att skada maskinen, stegräkning är ett alternativ med kuggremmar som inte slirar. Andra slutsatser var att 3D-utskrivna lager resulterade i mycket friktion och därmed en mekanism som inte fungerade och att använda en fix kuggrem är att föredra över en rörlig.
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El-Khoury, Jad. "A Model Management and Integration Platform for Mechatronics Product Development." Doctoral thesis, Stockholm, 2006. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-3859.
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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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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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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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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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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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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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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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Van, der Merwe Dirk (Dirk Jacobus). "Computer control of a metal bar bending press." Thesis, Stellenbosch : Stellenbosch University, 2000. http://hdl.handle.net/10019.1/51661.
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Thesis (MEng)--University of Stellenbosch, 2000.ENGLISH ABSTRACT: Mechatronics is an exciting research area that stemmed from huge progress in computer technology from the 1970s onwards. In such systems, computer controlled electronic and mechanical devices interact so intimately that it is impossible to tell where the one ends and the other begins. A mechatronic project aimed at automated manufacturing was undertaken by the Department of Industrial Engineering at the University of Stellenbosch as part of their programme in mechatronics. ROYIC was the industrial partner in the joint venture. ROYIC manufactures a front loader that is used on tractors. The front loader fits on a tractor by means of a kit that has to be manufactured specially for each type of tractor. The design of the kit needed many welding joints, which lead to a difficult and expensive manufacturing process. A bending press that was capable of bending pre-cut steel into a predefined shape was identified as a viable solution. The mechanical design for the project was done by ROYIC, while the University was responsible for the electronic control. Bending is carried out by pushing a flat bar over a Y-block into the bending position which can be read from a position encoder. The bending blade then bends the metal until the appropriate angle is reached. It is impossible to predict the resulting angle by means of analytical techniques. This is due to non-linear behaviour caused by spring-back. The position of the bending blade is read with an incremental encoder. An empirical equation is used to convert the distance read by the sensor into the appropriate angle. The parameters are deduced by means of non-linear regression methods. A mean square error of 0.069 was obtained for the equation when operating in the linear area of the plastic region of bending. A software application was written to enable ROYIC to deduce the needed parameters of the equation for all types of steel. Pulse control was used to control the bending blade. The blade moves continuously until a pulse band is reached. The blade is pulsed from there into a dead band. Consequently the accuracy of the machine is determined by the width of the dead band. The control program is capable of executing bend sequence files to enable the operator to perform a sequence of bends on a metal bar. Safety was of great importance in the design. The control system was designed to give priority to safety signals over other control signals. Dangerous situations owing to computer failure are thus prevented.
AFRIKAANSE OPSOMMING: Megatronika is 'n opwindende navorsingsarea wat ontstaan het uit groot vooruitgang in rekenaartegnologie vanaf 1970. In megatroniese sisteme werk rekenaar beheerde elektroniese en meganiese toestelle so nou saam dat dit onmoontlik is om agter te kom waar die een begin en die ander eindig. 'n Megatronika projek gerig op vervaardigings outomatisasie is onlangs onderneem deur die Departement van Bedryfsingenieurswese van die Universiteit van Stellenbosch as deel van hul program in megatronika. ROVle was die industriële vennoot in die projek. ROVle vervaardig implemente vir gebruik op plase. Een van hul produkte is 'n laaigraaf wat met 'n hegstuk op 'n trekker pas. Die hegstuk moet spesifiek vir elke tipe trekker ontwerp word wat gelei het tot 'n ontwerp met baie sweislaste wat 'n tydrowende vervaardigingsproses vereis. 'n Staal buigmasjien wat vooraf gesnyde staal in 'n spesifieke vorm kan buig sou hierdie probleem kon oorbrug. Die meganiese ontwerp vir die masjien is gedoen deur ROVle terwyl die Universiteit verantwoordelik was vir die elektroniese beheer. Staal word gebruik deur 'n staalbalk te skuif oor die buigbed tot in die buigposisie wat afgelees word vanaf' n posisie enkodeerder. Die buiglem buig dan die staal in die benodigde hoek. Geen analitiese metodes bestaan om die buighoek te voorspel nie weens terugspringing. Die posisie van die buiglem word ingelees met behulp van 'n inkrementeie enkodeerder. 'n Empiriese vergelyking word gebruik om die afstand beweeg om te skakel in 'n buighoek. Die verskillende parameters word afgelei deur middel van regressie metodes. Die gemiddelde foute kwadraat was 0.069 wat getoets is vir slegs die lineêre area van die plastiese gebied. 'n Program is geskryf wat ROVle instaat stelom die benodigde parameters self af te lei. Puls beheer is gebruik op die beheer van die buiglem. Die lem beweeg kontinu tot binne die puls band en word daarvandaan gepuls tot by die stopband. Die grootte van die stopband bepaal dus die akkuraatheid van die masjien. Die beheerprogram kan ook buig sekwensie lêers uitvoer wat die operateur instaat stelom 'n reeks van buigings op 'n staal balk uit te voer. Veiligheid het deurgaans 'n belangrike rol gespeel in die ontwerp van die masjien. Die stelsel is ontwerp om prioriteit te gee aan veiligheidseine bo enige ander beheersein. Gevaarlike situasies wat mag ontstaan as die rekenaar sou faal, word dus voorkom.
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Gu, Jie. "Development of a 6-degree-of-freedom magnetically levitated instrument with nanometer precision." Thesis, Texas A&M University, 2003. http://hdl.handle.net/1969/118.
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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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Hardell, Felix, and Jonas Tjomsland. "Motorized tensioner systemfor prosthetic hands." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230144.
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Modern research in prosthetic devices and other assistivetechnologies are constantly pushing boundaries. Whilethe technology is impressive, it is still inaccessible for thegreater part of the people in need of it. Advanced devicesare often extremely expensive and require regularly maintenancefrom professionals. Enabling the Future is a globalnetwork of volunteers and was founded to face these problems.They design and 3D-print mechanical prosthetics forpeople in need all over the world.Most of the designs used by Enabling the Future are purelymechanical and do not implement motors. The purposeof this thesis was to take a new approach to the designand construction of low-cost motorized prosthetic hands.By distancing all the electronic components from the hand,including the motor, the project aimed to create a devicecompatible with all current designs of the Enabling the Futurecommunity.To conceptualize this approach a demonstrator was constructedand tested. It utilized a muscle sensor which allowedusers to control the hand by tightening their muscles.The distance between the electronic components andthe prosthetic hand measured approximately one and a halfmeters and still transfered enough force, from the motor tothe hand, to deliver an adequate grip strength.Modern forskning inom protestillverkning och andrahandikapphjälpmedel gör kontinuerligt stora framsteg. Trotsatt tekniken är imponerade är den fortfarande otillgängligför den största del människor som behöver den. Avanceradehjälpmedel är ofta extremt dyra och kräver kontinuerligtunderhåll från yrkesverksamma. Enabling the Future,ett globalt nätverk av volontärer, grundades för att utmanadessa problem. De konstruerar och tillverkar 3D-skrivnamekaniska proteser för människor med behov över hela världen.De flesta konstruktioner som används av Enabling the Futureär helt mekaniska och använder inga motorer. Syftetmed detta kandidatexamensarbete var att med nya tillvägagångssättkonstruera en billig motoriserad handprotes.Genom att placera all elektronik på en distans från handen,inklusive motorn själv, var tanken att skapa ett systemsom är kompatibelt med de konstruktioner som Enablingthe Future använder.För att förverkliga detta konstruerades en prototyp somtestats. Prototypen använde sig av en muskelsensor somlät användaren kontrollera proteshanden genom att spännasin arm. Distansen mellan de elektriska komponenternaoch protesen var ungefär en och en halv meter, samtidigtsom tillräckligt stor kraft kunde transporteras för att stängahanden med ett tillräckligt grepp.
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Issa, Alan, and Christos Andreanidis. "Wireless Control of a Robotic Arm." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295847.
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This paper looks at all aspects of developing a robotic arm and hand that consists of five fingers which is able to imitate human movements. The imitation ability, accuracy and factors affecting both points are studied. A project like this requires the interplay of various electrical components to achieve the desired results.The prototype constructed measured the controller’s movements of the fingers with the help of flex sensors. The movements in the elbow and wrist however were measured with the help of potentiometers. The flex sensors and potentiometers were connected to an Arduino Mega which then sent the values with the help of a transmitter. The robotic arm consists of an Arduino Uno, seven servomotors and a receiver that reads the messages sent from the transmitter. All values were converted into degrees that rotated the motor axles accordingly. The prototype produced positive results, showing that it was able to copy all movements done by the controller. Tests were conducted to study the accuracy and imitationability. The conclusion was that the factors affecting imitation and accuracy were mostly connected to the weight of the robot and the design of the hand.Denna uppsats behandlar olika aspekter i utvecklingen av en robotarm vars gripdon är en hand med fem fingrar, med syfte att kunna imitera mänskliga rörelser. Imitationsförmågan, noggrannheten samt vilka faktorer som påverkar dessa studeras. För att uppnå ett önskvärt resultat har det krävts styrning och samverkan mellan olika elektroniska komponenter. I prototypen som presenteras mättes fingrarnas rörelsemed hjälp av flexsensorer samt rörelsen i armbåge och handleden med hjälp av vridpotentiometrar. Flexsensorerna och potentiometrarna var anslutna till en Arduino Mega vars värden skickades med hjälp av en sändare. Elektronikkomponenterna som användes i robotarmen var en ArduinoUno, sju servomotorer och en mottagare, vars funktion var att läsa av meddelanden som skickades från sändaren. Alla värden omvandlades till grader och motoraxlarna roterade i enlighet med dessa. Prototypen uppnådde ett önskvärt betteende då roboten hade förmågan att imitera alla rörelser som utfördes av styrenheten. Noggrannheten och imitationsförmågan undersöktes med olika tester. De mest betydelsefulla faktorer som påverkade imitationen och noggrannheten av prototypen var kopplade till vikten av roboten och designen av handen, enligt slutsatserna som har dragits.
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Lindestam, Algot, and David Lorang. "Design and Stability of a Quadruped Robot." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296171.
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We are currently in a revolution in robotics where more tasks are being handled by machines than ever before. For this reason, the goal of this project was to build a four-legged robot with an implementation of dynamic stability. The developed robot is a dog style robot with reversed knee joints. The robot is controlled by an Arduino UNO microcontroller, that processes information from a gyroscope to drive it’s servo motors. It is capable of maintaining it’s balance while standing on a varying incline. The motion is based upon an inverse kinematic model of the leg geometry and assumes a planar ground surface.I dagsläget ser vi en snabb expansion i användningen av robotar för att utföra alltmer avancerade uppgifter. På grund av detta var målet med detta projekt att utveckla en fyrbent robot med en enkel implementation av självbalansering. Den framtagna prototypen är en robot av hundstil med bakåtgående knän. Styrenheten är en Arduino UNO mikrokontroller. Med information från ett gyroskop styr denna roboten med hjälp av dess servomorer. Prototypen är kapabel att hålla balansen då den står på lutande underlag. Rörelsen är baserad på en kinematisk modell av bengeometrin och förutsätter en plan markyta.
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Refour, Eric Montez. "Design and Integration of a Form-Fitting General Purpose Robotic Hand Exoskeleton." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/89647.
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This thesis explores the field of robotic hand exoskeletons and their applications. These systems have emerged in popularity over the years, due to their potentials to advance the medical field as assistive and rehabilitation devices, and the field of virtual reality as haptic gloves. Although much progress has been made, hand exoskeletons are faced with several design challenges that are hard to overcome without having some tradeoffs. These challenges include: (1) the size and weight of the system, which can affect both the comfort of wearing it and its portability, (2) the ability to impose natural joint angle relationships among the user's fingers and thumb during grasping motions, (3) safety in terms of limiting the range of motions produce by the system to that of the natural human hand and ensuring the mechanical design does not cause harm or injury to the user during usage, (4) designing a device that is user friendly to use, and (5) the ability to effectively perform grasping motions and provide sensory feedback for the system to be applicable in various application fields.
In order to address these common issues of today's state-of-the-art hand exoskeleton systems, this thesis proposes a mechanism design for a novel hand exoskeleton and presents the integration of several prototypes. The proposed hand exoskeleton is designed to assist the user with grasping motions while maintaining a natural coupling relationship among the finger and thumb joints to resemble that of a normal human hand. The mechanism offers the advantage of being small-size and lightweight, making it ideal for prolong usage. Several applications are discussed to highlight the proposed hand exoskeleton functionalities in processing sensory information, such as position and interactive forces.MS
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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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Dandanell, Josefin, and Agnes Henriksson. "Brailled : A Braille translation aid." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296173.
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The purpose of the project was to develop a product that would serve as a support for the learning of Braille. Learning Braille is a time consuming process. People who have recently suffered a visual impairment have a lower sensitivity to touch than those who have been visually impaired for a longer period. According to a study [1], the learning process can lead to depression. At the same time, the technology for support systems for the visually impaired is underdeveloped. The questions examined in the project were partly about the environment’s influence on the accuracy of the instrument’s translation of Braille. Partly, if it was possible to create an instrument that can translate Braille in standard format and at the same time be a suitable aid for a user with a visual impairment. The instrument consisted of four main parts; reading surface, reading head, audio output and keyboard. The purpose of the reading surface was to place the Braille to be translated under the reading head using a stepper motor. The reading head would then interpret the letter, which would then be called out as an audio file using the audio output. All operations of the instrument would be controlled by a keyboard with three push buttons. The resulting product was promising. The analysis showed that it was fully possible to create a functioning Braille translator. However the product requires some further development in order to be used as an effective aidSyftet med projektet var att ta fram en produkt som skulle fungera som ett stöd för inlärning av punktskrift. Personer som nyligen drabbats av en synskada har sämre känslighet för beröring än de som varit synskadade under en längre period. Enligt en studie [1] kan tidskrävande inlärningsprocessen leda till depression, samtidigt som tekniken för stödsystem åt synskadade är underutvecklad. De frågeställningar som undersöktes i projektet handlade dels om omgivningens påverkan av exaktheten av instrumentets översättning. Dels om det var möjligt att skapa ett instrument som kan översätta punktskrift i standardformat och samtidigt vara ett passande hjälpmedel för en användare med en synskada. Instrumentet bestod av fyra huvudsakliga delar; avläsningsyta, avläsningshuvud, ljudutgång samt tangentbord. Avläsningsytans syfte var att placera punktskriften som skulle översättas under anläsningshuvudet med hjälp av en stegmotor. Avläsningshuvudet skulle därefter tolka bokstaven som sedan skulle utropas som en ljudfil med hjälp av ljudutgången. Instrumentets samtliga operationer skulle styras av ett tangentbord med tre tryckknappar. Resultatet av den framtagna produkten var lovande. Undersökningarna påvisade att det var fullt möjligt att skapa en fungerande översättare. Dock krävs det en vidareutveckling för att produkten skall kunna användas som etteffektivt hjälpmedel.
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Carlstedt, Arvid. "Modelling of electromechanical motors for turret and barrel control in main battle tanks." Thesis, KTH, Fordonsdynamik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-302277.
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In this master thesis the dynamics of a modern main battle tank's turret traverse and gun elevation have been modelled. The models of dynamic motion have been coupled to two different types of electric motors, namely a direct-current motor and an induction motor. These have been modelled in MATLAB and SIMULINK together with the mechanical systems in the turret traverse and gun elevation. The goal of this project was to develop non-ideal models of the combined mechanical and electrical systems, but the main focus has been the dynamics of the electric motors.I denna examensavhandling har modeller av elektriska motorer som driver tornet samt elevation av eldröret på en stridsvagn tagits fram. De två motorer som undersökts är en likströmsmotor och en induktionsmotor. Dessa har kopplats till mekaniska system som representerar rotation av stridsvagnens torn och elevation av eldröret. Modelleringen har gjorts i MATLAB och SIMULINK. Målet med denna studie var att ta fram icke-ideala modeller av både de elektriska motorerna och de mekaniska systemen för torn- och eldrörsdrift.
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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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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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Gutiérrez, Carvajal Ricardo Enrique. "Sobre técnicas para manutenção e diagnóstico inteligente de sistemas mecatrônicos = estudo de caso utilizando cálculo de ordem fracionária." [s.n.], 2011. http://repositorio.unicamp.br/jspui/handle/REPOSIP/263215.
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Orientadores: João Maurício Rosário, José António Tenreiro MachadoTese (doutorado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecânica
Made available in DSpace on 2018-08-19T05:49:27Z (GMT). No. of bitstreams: 1 GutierrezCarvajal_RicardoEnrique_D.pdf: 5678038 bytes, checksum: 2d6613e04b5a55fb2cf01fb83210ee32 (MD5) Previous issue date: 2011
Resumo: A competitividade no mercado global exige cada vez mais a fabricação de produtos de alta qualidade em curto tempo de fabricação, evitando tempos de parada para manutenção e reparo de máquinas e equipamentos, exigindo assim um eficiente controle de qualidade do processo e dos produtos para evitar a ocorrência de falhas de fabricação e utilização. A integração de novas tecnologias em produtos industriais (ex. tecnologias mecatrônicas) exige a utilização de técnicas avançadas para o diagnóstico de falhas, a partir de análise dos sinais obtidos a partir do sensoriamento dos equipamentos, minimizando assim os custos de utilização de mão de obra especializada para controle de qualidade do produto. Neste trabalho é apresentado inicialmente, um estudo sobre o estado da arte em técnicas de manutenção industrial, com ênfase nas estratégias utilizadas para manutenção corretiva, periódica e baseada no comportamento com ênfase no estudo das técnicas de processamento do sinal e identificação de sistemas, frequentemente utilizadas no diagnóstico de sistemas mecatrônicos, que exigem uma grande quantidade de informações, e forte dependência da análise criteriosa de um técnico especializado. Assim, neste trabalho são utilizados sistemas de ordem fracionária, que permite a aproximação do comportamento real do sistema por meio de modelos com menos coeficientes que o sistema real, simplificando a análise do sistema em estudo. Um estudo experimental de caso para validação do trabalho é realizado a partir de uma bancada experimental de um sistema de transmissão por engrenagens que permitiu introduzir falhas particulares no sistema e sua identificação
Abstract: The global market competitiveness requires to make high quality products in a short time of manufacturing, avoiding stop-times due to maintenance and repairing of machines and devices, therefore, demanding an efficient quality control of the manufacturing process, in order to shun failures in fabrication and utilization. The integration of new technologies into industrial products (e.g. mechatronics technologies) requires the use of advanced techniques to a precise failure diagnosis. They are typically based on signal analyses, which are obtained from the machines' instrumentation, and consequently, reduce the manpower costs associated to quality control of particular products. In this work it is introduced a literature review of industrial maintenance techniques, focusing in the strategies used into corrective, periodic and condition based maintenance, specially using signal processing and system identification. Those paradigms are frequently applied into the mechatronics systems diagnosis, but requires a huge amount of information and it is strongly dependent on the specialist criterion. In this sense, we introduced a fractional order system approach, which results in a better approximation of the actual system through an few parameters architecture, hence simplifying the analysis of the actual system. A real experimental setup was used to validate the strategies studied in this work. It consist in a gear transmission that lets to introduce particular failures for a posterior identification
Doutorado
Mecanica dos Sólidos e Projeto Mecanico
Doutor em Engenharia Mecânica
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Atighechi, Arsham, and Hussein Haidari. "Vision for the Blind." Thesis, KTH, Maskinkonstruktion (Inst.), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-230150.
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How can we improve the living standards of the visuallyimpaired using an Arduino?Living with visual impairment could potentially be oneof the hardest things one could do. Constantly having toworry about obstacles and carrying a stick to feel your wayforward. In order to combat this difficulty, we have designedVision for the Blind.One of the usages of ultrasonic sensors are to measurethe distance from objects using sound waves. These sensors,in combination with Piezo buzzers, have been used inVision for the Blind to warn the user of incoming obstaclesby emitting sound from the buzzers. The volume of thebuzzers is controlled by using a digital potentiometer andvaries depending on the measured distance. All three areconnected to an Arduino which has been coded to performthe given task.Hur kan vi öka levnadsstandarden för visuellt nedsattamänniskor med hjälp av en Arduino?Att leva med visuell nedsättning är självklart ett stortproblem som medför svårigheter, att alltid vara orolig överhinder som kan finnas i vägen eller bära en pinne med sigför att hitta sin väg. För att bekämpa de här svårigheternahar vi konstruerat Vision for the Blind.Ultraljudsbaserade sensorer använder ljudvågor för attmäta avstånd från ett objekt. Dessa sensorer har använtsi Vision for the Blind i kombination med Piezo sumrarför att varna användaren om inkommande hinder genomatt emittera ljud från sumrarna. Ljudvolymen kontrollerasmed hjälp av en digital potentiometer och varierar med detuppmätta avståndet. Alla tre är kopplade till en Arduinosom är kodad för att utföra det givna uppdraget.
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Anderson, Ellen, and Martin Granlöf. "Get a Grip : Dynamic force adjustment in robotic gripper." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264515.
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Autonomous mobile robots are on the rise and are to be expected on the market in about 5-10 years. Several challenges need to be solved for this to happen, and the most crucial ones are to develop versatile and safe robots. The Get a Grip robot is a dynamic force adjustment gripper using inputs from two different sensory systems. The construction of the robot consists of two parallel gripper plates moved by a rack and pinion gear attached to a direct current (DC) motor. Embedded into one of the plates is a Force Sensitive Resistor (FSR) for input of the gripper’s exerted force. Mounted to the other plate is a self constructed Slip sensor used for measuring the occurrence of slip and slip rate. A surrounding crane for mounting of the gripper and lifting was also constructed. The idea of this bachelor’s thesis project is to enable lifting of objects with unknown weight without the gripper exerting more force than necessary. This is something that will be useful in both industrial applications and in household robots in the future. In order to realize the concept two different methods for calculating the gripper’s applied force were tested, one using motor current and the other using a FSR sensor. Through testing it was concluded that the FSR sensor was the method giving better accuracy and consistency. Proportional–Integral–Derivative (PID) controllers were then tested for both setting force references for the gripper using the Slip sensor as input, and controlling the exerted force in the gripper using the FSR as input. The results led to two PID controllers thought to be sufficient as starting points for further testing of the complete system.Mobila autonoma robotar förväntas vara på marknaden inom de närmaste 5-10 åren. För att det här ska ske är det många utmaningar som behöver lösas och de mest kritiska är att utveckla mångsidiga och säkra robotar. Get a Grip-roboten är en dynamisk kraftanpassande robotklo som tar insignaler från två olika sensorsystem. Konstruktionen består av två parallella plattor som förflyttas av kuggstänger och kugghjul drivna av en DC motor. Inbyggt i en av kloplattorna finns en tryckkänslig kraftsensor (FSR) monterad för att registrera kraften som klon genererar. På den andra kloplattan sitter en egenkonstruerad glidsensor som registrerar om glidning sker och själva glidhastighet. En kran för att montera klon och lyfta den konstruerades även. Idén bakom detta kandidatexamens projektet är att klon ska kunna lyfta ett objekt med okänd vikt utan att använda mer kraft än nödvändigt. Det är något som kommer vara användbart både vid industriella tillämpningar och hos husållsrobotar i framtiden. För att realisera konceptet testades två olika metoder för att estimera kraften klon genererar, den första genom motorströmmen och den andra genom en FSR sensor. Tester genomfördes för båda metoderna och slutsatsen blev att FSR sensorn gav bäst noggrannhet och var mest konsekvent. PID-regulatorn, för bestämning av kraftreferens, med insignal från glidsensorn och PID-regulatorn, för genererad klokraft, med insignal från FSR:n testades separat. Resultatet blev två PID-regulatorer som ansågs tillräckliga för fortsätta tester med båda regulatorerna tillsammans.
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Dahlin, Sanna, and Henrik Fagerlund. "Mechanical Mirror." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296234.
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This bachelor thesis aims to present an overview of the performed steps to construct and program a prototype of a mechanical mirror. The idea of a mechanical mirror is that a camera captures an image that is translated into pixels of different brightness values. The brightness values are later displayed by metal plates, acting as pixels, rotated to different angles to reflect a corresponding light from a lamp. The pixels together shape grayscale images based on the frames captured by the camera. A prototype was constructed successfully. Tests showed that its purpose to move according to the captured image was fulfilled although adjustments could be made for the light to reach all the pixels to a greater extent. The angle span for the pixels turned out to be between 32°and 44°, which proved sufficient for their purpose. The reason for a difference in angle spans between the pixels was due to minor construction errors and was not an issue of functionality for the mirror. The refresh rate of the mirror, which could be described as the frequency at which the pixels rotate and shape an image, was set to 25 frames per second. This allowed the mirror to mimic movements in front of it without much delay while not exceeding the frame rate of the camera, which capture at a frame rate of 30 frames per second. The camera was therefore the vital limitation for the refresh rate of the mirror.Detta kanidatexamensarbete har syftet att presentera en översikt av de steg som genomfördes för att konstruera och programmera en prototyp av en mekanisk spegel. Idén med en mekanisk spegel är att en kamera läser in en bild som sedan är översatt till pixlar med olika värden på ljusstyrka. Dessa ljusstyrkor visas sedan av metallplattor, vilka agerar som pixlar, som roterar till olika vinklar för att reflektera motsvarande ljus från en lampa. Pixlarna formar tillsammans gråskalebilder baserat på de bilder som kameran läser in. En prototyp konstruerades framgångsrikt. Test visade att dess syfte att röra sig i enlighet med den inlästa bilden uppfylldes, dock finns plats för justeringar för att ljuset från lampan ska nå pixlarna i större utsträckning. Pixlarnas vinkelomfång visade sig bli mellan 32°och 44°, vilket konstaterades vara tillräckligt för deras syfte. Skillnaden i vinkelomfång mellan pixlarna berodde på mindre konstruktionsfel och påverkade inte spegelns funktionalitet. Spegelns uppdateringsfrekvens, vilket kan beskrivas som frekvensen med vilken pixlarna roterar och formar en bild, sattes till 25 bilder per sekund. Detta tillät spegeln att härma rörelser framför den utan stor fördröjning utan att överstiga kamerans bildhastighet, som läser in med en bildhastighet på 30 bilder per sekund. Kameran var således den begränsade faktorn för pixlarnas uppdateringsfrekvens.
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Zimmerman, Robert A. "On-demand Label Production." DigitalCommons@CalPoly, 2019. https://digitalcommons.calpoly.edu/theses/2001.
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The production and approval process for the various labels used in clinical trials wastes significant time and resources through the need to outsource label production or rely on large reams of pre-cut label stock for each revision throughout the process. An in-house, on-demand label printing and cutting system is a potential remedy to this waste. Previous work by Cheadle et al. resulted in a functional electomechanical prototype of the label cutting aspect of this research, capable of rudimentary linear cuts. In this continued research, emphasis was placed on improved label cutting capabilities and creating PC control software for label design. Cutting operations were enhanced through the development of an algorithm for circular cuts, proportional motor control, and a prototype graphical user interface (GUI) for simple user control. The changes to cutting methods have improved linear cutting precision to an average of 0.00402-in (s = 0.00602-in, n=26) at minimum. The new method for circular cuts has an average precision of 0.04384-in (s = 0.01471-in, n=26). The target precision for cuts is 0.040-in, suggesting that linear cuts are satisfactory, but circular cuts must still be refined. The prototype user interface developed for this research is capable of driving the label cutting system through RS232 communication and exposes all functionality of the system to date. Overall, this research has enhanced the capabilities of the label cutting system significantly, but further work is required to realize a complete label production solution.
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Elander, Filip, and Cecilia Rönnberg. "VelOn - The detachable bicycle motor." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264503.
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Electric bikes have become a popular means of transportation over the years. This report examined whether or not it is plausible to upgrade old bicycles to electrical bikes, thereby, using the already existing bicycles and avoiding the need of unnecessary manufacturing. A prototype of the mountable motor was designed and manufactured. The device consisted of two units, a mounting unit and a motor unit. A controller was connected to the motor and could be placed on the handlebar. The controller both enabled control and monitoring of the power given to the motor. The prototype’s durability, potential velocity and control system were tested to answer the research questions and give recommendation to further developments of the project. No major malfunctions were found in the construction after testing. For a voltage of 12V and a payload of 22kg, the bicycle obtained a top speed about 3m/s. The control system gave a smooth transition between velocities with hardly any noise to the signals.Den elektriska cykeln har under åren blivit ett populärt transportmedel. Denna rapport kommer att undersöka huruvida det är rimligt att uppgradera traditionella cyklar till elcyklar. Istället för att nyproducera elcykelramar kan redan befintliga cyklar användas. En prototyp av en monterbar och avtagbar cykelmotor byggdes. Prototypen bestod av två enheter, en infästningsenhet och en motorenhet. Motorenheten var kopplad till ett kontrollsystem som gick att fästa på styret. Via kontrollsystemet kunde man både kontrollera och övervaka effekten från motorn. Prototypens tålighet, potentiella hastighet och kontrollsystem testades för att besvara forskningsfrågorna och lägga en grund för vidareutveckling av konceptet. Det hittades inga allvarliga brister eller skador av konstruktionen efter testerna. Vid en motorspänning på 12V och en last på 22kg så nåddes en maxhastighet på lite över 3m/s. Kontrollsystemet gav en jämn övergång mellan de olika hastigheterna, utan påverkande brus i signalerna.
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Noble, Frazer K. "Wireless vehicle presence detection using self-harvested energy : a thesis in partial fulfilment of the requirements for the degree of Master of Engineering in Mechatronics, Massey University, Albany, New Zealand." Massey University, 2009. http://hdl.handle.net/10179/1078.
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Rising from the “excess demand” modern societies and economies place on limited road resources, congestion causes increased vehicle emissions, decreases national efficiency, and wastes time (Downs, 2004). In order to minimise congestion’s impacts, traffic management systems gather traffic data and use it to implement efficient management algorithms (Downs, 2004). This dissertation’s purpose has been the development of a distributable vehicle presence detection sensor, which will wirelessly provide vehicle presence information in real time. To address the sensor’s wireless power requirements, the feasibility of self-powering the device via harvested energy has been investigated. Piezoelectric, electrostatic, and electromagnetic energy harvesting devices’ principles of operation and underlying theory has been investigated in detail and an overview presented alongside a literature review of previous vibration energy harvesting research. An electromagnetic energy harvesting device was designed, which consists of: a nylon reinforced rubber bladder, hydraulic piston, neodymium magnets, and wire-wound coil housing. Preliminary testing demonstrated a harvested energy between 100mJ and 205mJ per axle. This amount is able to be transferred to a 100O load when driven over at speeds between 10km/h and 50km/h. Combined with an embedded circuit, the energy harvester facilitated the development of a passive sensor, which is able to wirelessly transmit a vehicle’s presence signal to a host computer. The vehicle detected event is displayed via a graphical user interface. Energy harvesting’s ability to power the embedded circuit’s wireless transmission, demonstrated the feasibility of developing systems capable of harvesting energy from their environment and using it to power discrete electronic components. The ability to wirelessly transmit a vehicle’s presence facilitates the development of distributable traffic monitoring systems, allowing for remote traffic monitoring and management.
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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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Ekman, Felix, and Sofia Hansson. "Pneumatic jumping car." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296101.
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As new challenges presents themselves continuously in today’s society the need for autonomous driving solutions is ever growing and with it: the need for creative solutions. This thesis investigates the pneumatic solution to making a car jump. The analysis of theoretical and testing results have demonstrated a correlation between the weight of the car and height of the jump. With the selected configuration it has been proven unattainable to make the car jump. Further research should look into the optimization of the pneumatic system, specifically the mass flow rate throughout the whole system.I dagens samhälle presenteras nya utmaningar dagligen och behovet av autonoma lösningar i fordon ökar ständigt. I takt med det ökar behovet av kreativa lösningar. Detta examensarbete undersöker pneumatiska lösningen bakom att få en bil att hoppa. Analysen av teoritiska och experimentiella resultat visar en korrelation mellan bilens vikt och den möjliga hopphöjden. Med den valda konfigurationen är det inte möjligt att utföra hoppet och åtgärder tas upp i disskusionen. Vidare forskning bör undersöka optimeringen av det pneumatiska systemet, specifikt på hur det maximala massflödet kan uppnås i systemet.
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Boestad, Albin, and Fabian Rudberg. "Piezoelectric Guitar Tuner." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296320.
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This bachelor thesis in Mechatronics account for the process of constructing an automatic guitar tuner by means of a piezo-electric sensor, a stepper motor and Arduinobased control. The E4 - string on an acoustic guitar was used as a proxy for tuning any other possible guitar string. The accuracy and tuning-speed of the construction was examined through physical experimentation. Accuracy was measured in terms of the average distance from a piezo calibrated frequency value. The tuning-speed was appraisedby counting the number of times a guitar string had to be plucked before the motor stopped within an acceptable tuning interval. The automatic guitar tuner were able to reliably get the E4 - string in tune by plucking it once within an interval of ±2 Hz and +3.8 cents and −5.1 cents from the theoretical value. The average error was −3.4 cents from the targeted value.I följande kandidatexamensarbete kontrueras en automatisk gitarrstämmare med hjälp av en piezosensor, en stegmotor och en Arduino-mikrokontroller. E4-strängen på en akustisk gitarr användes som substitut för hur stämningsproceduren skulle kunna fungera för vilken annan gitarrsträng som helst. Noggrannheten samt stämningshastigheten undersöktes genom experiment. Genomsnittet av frekvensskillnaderna mellan de piezo-kalibrerade avläsningsvärdena och E4-strängens värden definierade måttet på noggrannhet. Hastigheten på strängstämningen beräknades i form av hur många gånger en sträng behövdes slås an innan strängen var inom ett godkänt intervall. Den automatiska gitarrstämmaren visade sig pålitiligt kunna stämma E4-strängen på ett försök inom ett noggrannhetsintervall på ±2Hz från det teoretiska värdet. Stämmaren kunde stämma inom +3.4 cents och−5.1 cents samt var var i genomsnitt −3.4 cents i från det teoretiska värdet.
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Griffith, Elias, and Jacob Iljans. "Secure Fish Feeder : Automatic secure fish feeder to make sure you do not overfeed your fish." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296333.
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This project aims to provide fish keepers with a safe and simple way to feed their pets while abroad or in any other situation where they do not have the ability to feed their fish by hand. Overfeeding is an unfortunate albeit common reason for mass death in an otherwise safe and healthy aquarium. While overfeeding to land dwelling pets might have negative health implications, the rapid damage seen in an aquarium is unparalleled in other environments. This is due to the release of ammonia that occurs when excess food (and partially fecal matter) is decomposed. Moderate feedings provide adequate nutrition for the pets, while keeping ammonia production at a level where it can be converted to nitrite and lastly the rather harmless compound nitrate. Most, if not all, feeders on the market today base their feedings solely off of volume, but this can lead to large variations in feeding size, due to variations in air between pellets in the feeding portions. By adding a failsafe with weight, we can fully prevent any chance of overfeeding, and thus ensuring a long and healthy life for our pets. Overall the goals of a safe fish feeder were accomplished, although the weighing was not as accurate as it optimally would have been.Med det här projektet syftar vi på att tillförse akvarieägare med ett tryggt och enkelt sätt att mata sina fiskar när de är utomlands eller av annan anledning inte har möjlighet att mata för hand. Övermatning är en olycklig men dessvärre vanlig anledning till massdöd i ett annars hälsosamt akvarium. Även om övermatning hos landdjur kan ha ohälsosamma konsekvenser, så är det aldrig lika skadligt på kort sikt som det är i ett akvarium. Det här beror på att överbliven mat (och även till viss del avföring) i en vattenmiljö snabbt omvandlas till ammoniak under förmultning. Lagom stora matningar ger all näring fiskar behöver, medan enbart en halt ammoniak som kan omvandlas till nitrit och därefter det relativt harmlösa nitratet uppstår snabbt nog för att vara ofarligt. De flesta - om än inte alla - fiskmatare på marknaden idag baserar sina portioner på enbart volym. På grund av variationer i mängden luft mellan foder så kan då mängden mat ha stor variation. Genom att lägga till en säkring med vikt, så kan vi helt och hållet motverka all risk för övermatning, och på så vis säkerställa ett långt och hälsosamt liv för våra husdjur. Överlag lyckades vi skapa ensäker fiskmatare, men dessvärre var inte vågen lika noggrann som den optimalt hade varit.
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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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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.
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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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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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Kalolia, Maulik Rajendrabhai. "Modeling, simulation and experimental verification of an electric bicycle with regenerative braking." Cleveland State University / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=csu1355936884.
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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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Karlén, Anton. "RC-TMV : Remote Controlled Tracked Multipurpose Vehicle." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295799.
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This project seeks to design and construct a track-driven radio controlled vehicle and controller. The purpose is to research if radio can be effectively used to control the robot remotely, as well as research to what extent a tracked design increases the mobility when compared to a wheel-design. The prototype consists of two parts: Vehicle and controller. The vehicle is track-driven with two DC-engines connected by H-bridge. A receiver is fitted to the vehicle. The controller consists of two joysticks, a linear potentiometer as well as a transmitter. Testing was performed by driving the vehicle on different terrain.The results show that it is possible to control via RC and that the vehicle had increased mobility compared to wheeled designs. Two problems were identified: Firstly, the tracks used lacks friction, causing the vehicle to glide when attempting to climb certain objects. Secondly, due to the design of the chassis, objects contact the chassis body instead of the tracks. Causing the vehicle to stall.Detta projekt menar att designa samt konstruera ett banddrivet radiostyrt fordon och tillhörande kontroll. Syftet med detta är att forska om radiostyrning kan effektivt användas för fjärrstyrning och för att undersöka om band-drift ökar fordonets rörlighet jämfört med hjuldrivna motsvarigheter. Prototypen består av två delar; fordon och kontroll. Fordonet är band-drivet med två DC-motorer med högt drivmoment kopplade till en H-brygga. En mottagare är monterad på fordonet. Kontrollen består av två joysticks, en linjärpotentiometer samt en sändare. Testen genomfördes genom att låta fordonet köra över olika terräng. Resultaten av testerna visade att det är möjligt att fjärrstyra med RC samt att fordonet hade ökad rörlighet jämfört med hjuldrivna motsvarigheter. Två problem identifierades under testen. Banden saknar friktion och glider ibland i stället för att klättra över hinder. På grund av chassits form kolliderade ibland objekt med chassit före banden vilket stoppade fordonet.
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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.