Det har blivit mer och mer vanligt med ny, datoriserad teknik i hemmen. Fler människor har ett allt stressigare liv och inte längre samma tid att ta hand om det egna hemmet. Behovet av en hjälpande hand med hushållsarbete har blivit allt större. Tänk själv att komma hem från jobbet eller skolan och så har golvet blivit skinande rent utan att Ni knappt har behövt göra någonting! Det finns idag flera olika robotar på marknaden för detta ändamål. En av dessa är den autonoma dammsugaren, som är det vi inriktat vår uppsats på.

Det har blivit mer och mer vanligt med ny, datoriserad teknik i hemmen. Fler människor har ett allt stressigare liv och inte längre samma tid att ta hand om det egna hemmet. Behovet av en hjälpande hand med hushållsarbete har blivit allt större. Tänk själv att komma hem från jobbet eller skolan och så har golvet blivit skinande rent utan att Ni knappt har behövt göra någonting! Det finns idag flera olika robotar på marknaden för detta ändamål. En av dessa är den autonoma dammsugaren, som är det vi inriktat vår uppsats på.

In this report we describe an adaptive simulated annealing method for sizing the devices in analog circuits. The motivation for use an adaptive simulated annealing method for analog circuit design are to increase the efficiency of the design circuit. To demonstrate the functionality and the performance of the approach, an operational transconductance amplifier is simulated. The circuit is modeled with symbolic equations that are derived automatically by a simulator..

This report describes the manufacture and control of a flying platform. The report describes the basic and fundamental theories required to get the platform flying. It touches on subjects such as A/D-conversion. PWM-control and PID-control. The sensors used in the platform are a gyro and an accelerometer.

The work describes the development of an adjustment Algorithm that will replace today?s manual adjustment of Lead- and Lag-filters at ABB Robotics industrial robots. The adjustment is mainly for the filter parameters in the control system.Three different Algorithms have been created to replace the manual adjustment. One of them is based on the criterion from the manual adjustment and another one on optimization of the sensitivity function. The last one is a combination of the two.The report describe the development of the Algorithms and how they behave during simulations and tests on real robots.

This Masters Thesis considers tracking of ground targets. Since ground targets often are difficult to detect with sensors a track is easily lost in ground target tracking. The main question in this thesis is whether information on close targets and observations of them can be used to make the tracking more reliable. An Algorithm using Kalman filters and JPDA-association to create a group track for vehicles travelling together has been implemented in Matlab. Using the state of the centre of the group the state of a vehicle in the group can be updated.

The first part of the thesis consists of a brief introduction to the general principles of target detection and the sensor-systems used. In the following part there is a theoretical description of the Algorithms this thesis focuses on. The detection Algorithms described in this paper are called Cell Average, Ordered Statistics, 2parameter and Gammadetector. Two different discriminators called Extended Fractal Features and Quadratic Gamma Discriminator are also described. The Algorithms are tested on three different types of data, simulated SAR-pictures, authentic SAR-targets and IR-pictures.

This report describes the manufacture and control of a flying platform. The report describes the basic and fundamental theories required to get the platform flying. It touches on subjects such as A/D-conversion. PWM-control and PID-control. The sensors used in the platform are a gyro and an accelerometer.

Denna rapport kommer att redogöra för NK-cellers (Naturliga mördarceller) beteende vid odopat tillstånd. Det vi kallar dopning är när NK-celler aktiveras genom interleukin-2, detta är en signalerande molekyl i vårt immunsystem som reglerar aktiviteten hos vita blodkroppar vilka utgör en del av immunförsvaret.Med hjälp av ett par mikroskopfilmer har vi kunnat följa varje enskild NK-cells migration(rörelse) och interaktion med våra målceller i ett prov under en 8-timmars period. De målceller vi använder är en sorts tumörceller, HEK 293T(Human embryonic kidney 293T cells. Vi har valt att spåra cellerna manuellt med ett program kallat ImageJ och automatiskt med ett matlabprogram, Baxter Algorithm. Anledningen till att vi dessutom valt att spåra automatiskt är för att kunna avgöra hur väl detta program kan spåra celler.

I detta 10-poängsarbete går jag igenom hur min egenhändigt producerade kvadratrotsalgoritm fungerar praktiskt och teoretiskt. Med denna algoritm kan man för hand räkna ut kvadratrötter som innehåller 50-60 värdesiffror. Med de tidigare kända algoritmerna för kvadratrötter kan man räkna ut 5-6 värdesiffror. Min algoritm fungerar inte på samma sätt som de tidigare använda kvadratrotsalgoritmerna men den är lika korrekt. Stor tyngdvikt i arbetet har därför lagts på att visa på att det finns flera olika korrekta algoritmer för våra vanliga räknesätt.

When a helicopter is flying, the dynamics vary depending on, for example, speed and position. Hence, a time-invariant linear model cannot describe its properties under all flight conditions. It is therefore desirable to update the linear helicopter model continuously during the flight. In this thesis, two different recursive estimation methods are presented, LMS (Least Mean Square) and adaptation with a Kalman filter. The main purpose of the system estimation is to get a model which can be used for feedback control.

This master thesis has been done at Enea Epact AB. The purpose of this thesis is to develop and implement a Link Quality Control Algorithm for GPRS/EPGRS in the current testing tool. A Link Quality Control (LQC) shall take quality values from mobile stations and base stations and decide a codingsscheme that opimizes the throughput of data. The Advantage with LQC is that it adapts the used coding scheme to the channel quality. If the channel quality is too bad for the used coding scheme, a slower coding scheme with more redundancy should be selected.

Sweden?s energy consumption is divided into three major sectors. One of them is the industry sector. One third of Sweden?s energy consumption is converted in the industries.

Sparse matrices are often used in numerical Algorithms that solve linear equation systems. Many methods for storing sparse matrices have been proposed and implemented during the years. These methods focus primarily on minimizing the total memory consumption and the time that it takes to store a sparse matrix. This report researches the available storage methods for sparse unstructured matrices. The formats that are researched and implemented are COO, CRS and ELL.

AbstractThis report is about the creation of a test system for development of a control system for a off the shelf RC-helicopter, which can be bought for about two thousand SEK. The test system consists of both electronics for controlling the helicopter and mechanical constrainer. The constrainer is used for mounting the helicopter so that it won´t crash.A circuit board including processor and sensors was manufactured. This was used for doing test of the different control Algorithms. In this way were we able to analyze the quality of the sensors chosen, and what other sensors that could contribute to the control of the system.Basic helicopter control have been studied and presented in the report.