Ett vattentanksystem och tillhörande styrelektronik utvecklades på Rubico AB i Luleå under sommaren 2011. Detta andra ordningens reglersystem består kortfattat av två vattentankar med individuella nivågivare, en pump och en störflödeskran. I dagsläget används utrustningen vid laborationer på Luleå tekniska universitet i en grundkurs i reglerteknik. Avläsning av nivågivare och styrning av pump i det existerande systemet sker analogt via ett externt DAC-kort kopplat mellan reglersystem och persondator. Regleringen sker på datorn med hjälp av mjukvaran RegSim.

This master thesis covers the development of an automatic tuning process for the existing speed controller for drive systems. The drive systems are resonant two-mass systems where a motor is used to drive a load connected by a shaft. The developed method relies heavily on system identification and the construction of a complete mechanical model of the process. With this approach, the common problem with poor load speed control that derives from measuring only the motor speed can be addressed and solved for a majority of such processes.The automatic tuning method has along with general test functions been implemented in a complete tool for automatic tuning, testing and performance evaluation and reporting for drive systems..

I detta tvärvetenskapliga arbete studeras från den matematiska sidan tre klassiska populationsmodeller: Malthus tillväxtmodell, Verhulsts logistiska modell och Lotka-Volterras jägarebytesmodell. De klassiska modellerna jämförs med stokastiska. De stokastiska modeller som studeras är födelsedödsprocesser och deras diffusionsapproximation. Jämförelse görs med medelvärdesbildade simuleringar.Det krävs många simuleringar för att kunna genomföra jämförelserna. Dessa simuleringar måste utföras i datormiljö och det är här den datalogiska aspekten av arbetet kommer in.

Denna uppsats behandlar en algoritm som löser linjära optimeringsproblem. Algoritmen bygger på en liknande idé som simplexalgoritmen men i denna kan startvärdet även vara en punkt inom tillåtet område eller på randen till detta område. Det behöver inte nödvändigtvis vara en hörnpunkt, vilket simplexalgoritmen kräver. Under algoritmens gång kommer iterationsvärdena att ligga på randen till det tillåtna området för att slutligen hamna i ett hörn. Därefter går iterationsvärdena från hörn till hörn tills slutligen optimum har nåtts.

The purpose of this paper is to investigate the possibility of replacing data from highspeed filming (Qualisys motion capture) with data from Inertial Measurement Units (X-io technologies), when used to run a model of torso and pelvis in OpenSim. Qualisys motion capture data is used as the golden standard to validate the result visually and with Bland-Altman plots.In order to obtain comparable data experiments are conducted where both methods of collecting data are used simultaneously. Data from the IMU's then need to be processed in Matlab before it can be used to run the OpenSim modell. Several Matlab programs rotate the IMU data to a static reference frame, filter and integrate it, then create viritual markers that correspond to Qualisys' optical markers.The conclusion is that using IMU as a method for collecting data can replace Qualisys in some applications, but not in ones that require high precision. However, this paper only begins the examination of IMU's and there are most likely improvements to be made..

This master thesis studies how much the cycle time, i.e. the time it takes for an industrial robot to perform a given task, can be reduced if an extra degree of freedom (DOF) is added to the robot system. The extra DOF consists of a linear track, which is supposed to be used in an optimal way. The problem has been studied using simulations in the robot simulation tool RobotStudio. To be able to run an optimization in Matlab, with the RobotStudio simulation cycle time as the object function, communication between Matlab and RobotStudio has been set up with an interface written in Visual Basic.

Volvo Human Monitoring (VHM) är ett pågående projekt på Volvo Personvagnar där dem bland annat mäter in- och utandning genom en mätutrustning, kallad respiratorisk induktans pletysmograf (RIP), som mäter förändringar av tvärsnittsarean av bröstkorg och buk. När föraren är i rörelse till exempel när hon svänger ändras tvärsnittsarean och en ?störning? i RIP-signalen kan uppkomma.Dessa störningar medför att vid analys av RIP-signalen måste stora manuella justeringar utföras, vilket är mycket tidskrävande, och utrustningens validitet för mätning av in- och utandning ifrågasätts.Syftet med denna studie var att effektivisera analysen av en RIP-signal som registrerats vid bilkörning. Målsättningen var att skapa ett nytt databearbetningsverktyg i Matlab som på ett automatiskt sätt kan detektera in- och utandning från en RIP-signal med högre validitet än det existerande databearbetningsverktyget.I studien utfördes tester på nio förare under bilkörning på landsväg, grusväg, motorväg och i stadstrafik. In- och utandning mättes med en RIP, en pneumotakograf med en tätt sluten ansiktsmask och ett termoelement som var placerad mellan näsa och mun som referensutrustning.Resultatet blev ett databearbetningsverktyg som automatiskt detekterar in- och utandning med högre validitet än det tidigare internutvecklade databearbetningsverktyg.

Syftet med examensarbetet var att programmera en viterbiavkodare i VHDL och sedan syntetisera den till en FPGA. Först testades viterbialgoritmen i Matlab och Simulink för att få en förståelse för hur Viterbialgoritmen fungerar. Inom ramen för exjobbet har vi gjort en viterbiavkodare i Matlab samt en VHDL version som vi har simulerat i Modelsim. Avkodaren klarar inte av att avkoda punkterade bitströmmar. Att tillverka själva kodaren för punkterad kodning är enkelt men att sedan avkoda bitströmmen visade sig vara mer komplext.

Simulation of different systems can be done using a graphical model description of the system based on block diagrams. The simulation software Matlab/Simulink offers a lot of possibilities to describe a huge number of systems, which can be linear as well as nonlinear. The simulation using Matlab/Simulink is done by integration based on different kinds of numerical methods.When nonlinear Simulink-models are simulated, it is often interesting to apply a Kalman filter to handle the noise that may occur within the process as well as corrupting the measurement. However, application of such a filter leads to an extensive time-consumption despite using fast computers. The reason is that the existing Matlab functions are not constructed for time optimal evaluation.

Tasmania is a state in Australia, and is also the country?s largest island. It is separated from the main land by a 429 kilometer wide strait. Every year, a large amount of people, cars and goods are transported to the island using a government owned ferry line, which generates approximately 300 million Australian dollars to the state?s economy ,every year. This bachelor thesis investigates the possibility of reducing the fuel consumption for the ferry traffic to and from Tasmania, which would also reduce the overall cost.

Voltage sag indices are a way of quantifying the performance of the power supply, as far as voltage sags are concerned. Indices can be defined for individual events, for individual sites, and for a whole system. A standard method for single-event methods is part of IEC standard 61000-4-30.This thesis emphasizes the importance of voltage sag indices and different methods for calculating three-phase voltage sag characteristics. Three-phase events measured in a medium network voltage over period of one month were analyzed, results examined and statistically evaluated. An algorithm for calculating voltage sag characteristics and indices was created in Matlab.

Voltage sag indices are a way of quantifying the performance of the power supply, as far as voltage sags are concerned. Indices can be defined for individual events, for individual sites, and for a whole system. A standard method for single-event methods is part of IEC standard 61000-4-30.This thesis emphasizes the importance of voltage sag indices and different methods for calculating three-phase voltage sag characteristics. Three-phase events measured in a medium network voltage over period of one month were analyzed, results examined and statistically evaluated. An algorithm for calculating voltage sag characteristics and indices was created in Matlab.

Voltage sag indices are a way of quantifying the performance of the power supply, as far as voltage sags are concerned. Indices can be defined for individual events, for individual sites, and for a whole system. A standard method for single-event methods is part of IEC standard 61000-4-30.This thesis emphasizes the importance of voltage sag indices and different methods for calculating three-phase voltage sag characteristics. Three-phase events measured in a medium network voltage over period of one month were analyzed, results examined and statistically evaluated. An algorithm for calculating voltage sag characteristics and indices was created in Matlab.

Voltage sag indices are a way of quantifying the performance of the power supply, as far as voltage sags are concerned. Indices can be defined for individual events, for individual sites, and for a whole system. A standard method for single-event methods is part of IEC standard 61000-4-30.This thesis emphasizes the importance of voltage sag indices and different methods for calculating three-phase voltage sag characteristics. Three-phase events measured in a medium network voltage over period of one month were analyzed, results examined and statistically evaluated. An algorithm for calculating voltage sag characteristics and indices was created in Matlab.

Voltage sag indices are a way of quantifying the performance of the power supply, as far as voltage sags are concerned. Indices can be defined for individual events, for individual sites, and for a whole system. A standard method for single-event methods is part of IEC standard 61000-4-30.This thesis emphasizes the importance of voltage sag indices and different methods for calculating three-phase voltage sag characteristics. Three-phase events measured in a medium network voltage over period of one month were analyzed, results examined and statistically evaluated. An algorithm for calculating voltage sag characteristics and indices was created in Matlab.