Examensarbetet har genomförts med utveckling och undersökning av signalbehandlingsalgoritmer för MEMS-gyron. Idag används många MEMS-gyron i olika elektronikprodukter. Företaget Motion Control utvecklar elektronik och inbyggd programvara och de har bland annat tagit fram MultiPos, som är en huvudmus för rörelsehindrade. MultiPos är en MEMS-gyro-baserad datormus. MEMS-gyron används för att känna av huvudrörelser som användaren gör, men det är önskvärt med en bättre signalbehandling, d.v.s.

This master thesis studies distributed navigation which isa function implemented in a future network based combat information system to improve the accuracy in navigation for combat vehicles in a mechanized battalion, above all in the event of loss of GPS. In the event of loss of the GPS the vehicles obtain dead reckoning performance through the backup system that consists of an odometer and a magnetic compass. Dead reckoning means a drift in the position that makes the accuracy in the navigation worse. The distributed navigation function uses position and navigation data with measurements between the vehicles to estimate the errors and uncertainties in positions, which are used to improve the accuracy in position for the vehicles. To investigate and demonstrate distributed navigation, a simulation environment has been produced in Matlab.

This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

The aim of this study was to investigate whether a direct shift inpostural alignment results in changes in voice source characteristics. Ninemales with untrained voices were recorded standing in ideal posturalalignment and in the deviant postures swayback and kyphosis characterizedby extended hips and a slump back respectively. The voice source wasderived from the audio signal by inverse filtering. The parameters pulseamplitude, maximal flow declination rate, level difference between the firstand second voice source partials, closed quotient and the normalizedamplitude quotient in relation to subglottal pressure were compared betweenideal postural alignment and swayback and kyphosis respectively. Resultsindicate an impact of changed postural alignment on the voice source.Swayback posture gave significantly less pulse amplitude and maximal flowdeclination rate and significantly higher subglottal pressures thus resulting ina less effective phonation.

This study has been carried out in cooperation with Unilever and partly with the EC founded project, Smartdoc IST-2000-28137. In areas of statistics and image processing, both the amount of data and the dimensions are increasing rapidly and an interactive visualization tool that lets the user perform real-time analysis can save valuable time. Real-time cropping and drill-down considerably facilitate the analysis process and yield more accurate decisions. In the Smartdoc project, there has been a request for a component used for smart filtering in multidimensional data sets. As the Smartdoc project aims to develop smart, interactive components to be used on low-end systems, the implementation of the self-organizing map algorithm proposes which dimensions to visualize.

The aim of this master?s thesis is to study librarians? views on children and young people as Internet users in Swedish libraries. It examines what types of problems and possibilities the librarians see with children?s and young people?s use of the Internet, how these problems might be solved, and what they think about regulations and filters. Qualitative interviews were conducted with nine librarians, and their statements were analysed with David Buckingham?s After the death of childhood as a theoretical foundation.

Vid följning av luftmål är det vanligt att man har tillgång till målinformation från flera olika inmätare. Rapporten studerar om målinformationen kan förbättras genom att information från alla inmätare används. Syftet med rapporten är att undersöka om det värdefult att kombinera ihop två specifika inmätare med olika egenskaper. Olika fusionsalgoritmer och olika målföljnigarkitekturer studerades också. Detta undersöktes bland annat genom att två simuleringsfall skapades.

Examensarbetets mål är att hitta möjligheter till förbättring av navigeringsprestandahos en undervattensfarkost med hjälp av bojar utrustade med GPS. Dessabojar skickar positionsdata till farkosten som med hjälp av ett extended kalmanfilter(EKF) integrerar denna information till att förbättra sin navigering.Ett ytterligare mål med examensarbetet har även varit att skapa en simuleringsmiljöför en liten farkost, där eventuella nya algoritmer eller sensorer, vidframtida behov, på ett smidigt sätt skall kunna integreras för utprovning. Dettahar i arbetet inneburit en anpassning av en fysikalisk 6-DOF modell till enliten undervattensfarkost samt en reglerdesign för detta system i form av kaskadkoppladePI-regulatorer och parameterstyrning. Simuleringsmiljön är skapad medhjälp av Matlab och Simulink..

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.

This thesis has been conducted at Saab Bofors Dynamics AB. The purpose was to investigate if a non-linear missile model could be stabilized when the optimal control signal is computed considering constraints on the control input. This is particularly interesting because the missile is controlled with rudders that have physical bounds. This strategy is called Model Predictive Control. Simulations are conducted to compare this strategy with others; firstly simulations with step responses and secondly simulations when the missile is supposed to hit a moving target.

The interest for power and energy measurement has greatly raised with todays increasing electricity prices and enviromental awareness. In the search for energy efficient solutions, the measurements are more complex due to increasing of non linear components. Harmonics and non sinusoidal voltages put high demands on sampling and filtering. Meanwhile, the price must be controlled so the customer still will find it interesting to invest in smaller plants. ITT W&WW asks for a robust, heat resistant power meter with compact dimensions to allow mounting inside the casing of a pump.

This work aims to evaluate the possibility of using a graphical programming language to develop software for a digital signal processor. A fixed-point digital signal processor called Blackfin BF-537 is used for this. Instead of using conventional programming languages, like C or assembler, for software development the possibilities to use a graphical environment to fill the same purpose are examined. The development environment primarily used is NI LabVIEW, but also the use of Mathworks Matlab Simulink is investigated. A variety of programs consisting of various signal processing operations and utilities are developed using these development environments.

AIMS AB is a Swedish company that develops and sells inertial sensor systems. A new product is under research which basically is an aided inertial navigation system where unwanted drift is eliminated. This can be done by integrating a GPS reciever into the system and fuse measurement data from GPS and IMU. Such a product is useful in racing, where engineers always are searching for the optimal performance and the shortest lap times. Today the only feedback the engineers and mechanics get from their work is the driver?s comments and lap times.

In this master thesis, the possibilities of customizing a low-cost microprocessor with the purpose of replacing an existing microprocessor solution are investigated. A brief survey of suitable processors is carried out wherein a replacement is chosen. The replacement processor is then analyzed and extended with accelerators in order to match set requirements.The result is a port of the processor Lattice Mico32 for the FPGA curcuit Xilinx Virtex-5 which replaces an earlier solution using Xilinx MicroBlaze. To reach the set requirements, accelerators for floating point arithmetics and FIR filtering have been developed. The toolchain for the processor has been modified to support the addition of accelerated floating point arithmetics.A final evaluation of the presented solution shows that it fulfills the set requirements and constitutes a functional replacement for the previous solution..

This thesis discusses model based tracking of radar echoes in tanks with liquid content. The errors in the measurements are not always random in these cases, and the interference that occurs when nearby echoes moves in relation to each other makes tracking difficult. The tracking problem can be broken down to four parts; track initiation, track destruction, association of the measured echoes to the tracks and to update the tracks with the associated echoes. The radar measurement is primarily made on the surface. However, additional echoes from the tank floor or other structures and double bounces are normally present.