The purpose with this masters thesis was to model the scanner in a system for laser bathymetry. The model was then used to develop a controller for the scanner so a good search pattern was achieved. Two different types of models have been tested, a physical model and a Black Box model of Box Jenkins type. The physical model has been derived from Lagranges equations. Identification experiments have been used to compute the Black Box model and to find the unknown parameters in the physical model.

A power system will inevitably be subjected to transient overvoltages, most often produced by switching operations and lightning strikes. These transient overvoltages may harm sensitive equipment without sufficient protection, but it is not an easy task to predict what transients may occur or how they affect the system. A fault occurred in a low voltage system at Forsmark 2012 and overvoltages from lightning were concluded as the probable cause. The three aims with this thesis are to develop and test a model of the power system at Forsmark 3, analyse the transient behaviour of the system when subjected to lightning surges and identify critical parameters, and lastly to provide a tool for investigating the protection of the system. The modelling and simulations were performed in the freely available simulation program LT Spice.

A cars powertrain consists of everything that is needed for its propulsion. The components in the driveline that transfer the power from the engine to the driven wheels are not absolutely stiff, hence they will wind up due to the torque and act as torsion springs. If you suddenly demand a bigger torque by stepping on the accelerator pedal, a so called tip in manoeuvre, and that torque is acquired from the engine as quickly as possible, the driveline will not be able to transfer that fast torque change due to its weakness and as a result it will start to oscillate. These oscillations will be transferred to the driven wheels and make the car to accelerate jerkily which will be experienced as uncomfortable by the passengers. Furthermore, there is a backlash in the driveline that will make the weakness in the driveline even more excited than it should have been if the backlash did not existed.To avoid too big problems with these oscillations there is a control system that controls the demanded torque.

Since energy simulations are used to verify that projected residential buildings will reach the current energy requirements it is important that the results are reliable.This report investigates the extent of uncertainty in energy simulations, estimates the causes of the uncertainty and its economic and environmental consequences.The method used in this report is based on three validation methods; empirical validation, analytical validation and comparative validation. The analysis was carried out for five multi-family dwellings in Uppsala with installed meters for energy measurements. One of these objects, Klockarlunden, was studied in more detail than the others.The results show that the deviations are between 10 and 29% for the studied objects, which means that the uncertainty is estimated to be at least 29%. All simulations underestimate the buildings need of energy. The simulation for Klockarlunden can predict the energy consumption to be within the range of 46-98 kWh/m2year with 90% confidence level based on the current uncertainty.

Evaporation is a part of the chemical recovery department at wood pulping mills. The purpose of evaporation is to remove water from the black liquor, which makes the liquor combustible. The process is very energy demanding, and having a well-functioning model of the system is of greatest interest. The model can then be used to study energy consumption and to test different control strategies. Two models have been developed during the master thesis.

By applying a segmentation procedure to two different sets of computed tomography scans, two geometrical models of the abdominal aorta, containing one inlet and two outlets have been constructed. One of these depicts a healthy blood vessel while the other displays one afflicted with a Abdominal Aortic Aneurysm. After inputting these geometries into the computational dynamics software FLUENT, six simulations of laminar, stationary flow of a fluid that was assumed to be Newtonian were performed. The mass flow rate across the model outlet boundaries was varied for the different simulations to produce a basis for a parameter analysis study. The segmentation data was also used as input data to a surface description procedure which produced not only the surface itself, but also the first and second directional derivatives in every one of its defining spatial data points.

The most predominant method for forest harvesting in Sweden is the cut-to-length method based on two-machines, a harvester that fells trees and cut them in a predefined length, and a forwarder which transports logs to a landing area for further transport to a processing facility. New machine solutions have to be much gentler to the ground than today?s machines. To be able to develop a forestry machine that preserves the terrain requires a proper understanding of the interaction between tire and soil.The goal of the project is to contribute to the existing knowledge of forest machine tire-soil interaction and to develop a tire-soil model that enables dynamic simulations of forest machines operating in rough terrain. The modeling has especially been focused on the interaction between tires and soft ground.A comparison of theoretical data of different WES-based terrain interaction models and a comparison test data from a full scale field test is presented.

This report describes a synchronous machine model with magnetic saturation in d-axis, neutralconnection and electrical exciter interface for the transient simulator PSCAD/EMTDC. It hasbeen designed and verified in comparison to the regular machine model in EMTDC.The performance of the model is very good when incorporating a linear as well as a saturatedmagnetising inductance. The dynamic deviation is only thousandths to ten thousandths perunit. By using a cubic interpolation of the saturation curve, the model gives a good representationof the saturation effect. The open source code implementation of the synchronousmachine model gives the possibility to easily adapt the model to specific requirements.The derived model makes it possible to simulate a synchronous machine with its excitationsystems, e.g.

Over an extended period of time there have been plans to establish a shared facility in Lennheden to extract groundwater from the Badelunda esker to provide drinking water for the cities of Borlänge and Falun. The city of Falun is dissatisfied with the quality of its drinking water and the city of Borlänge is concerned about the risk of contamination of its existing groundwater supply at its current location. To provide a basis for a decision on this issue, the company Midvatten AB has been commissioned to perform hydrogeological investigations in the area of Lennheden.The purpose of this thesis is to design a functional groundwater model of the area between Lennheden, place of planned extraction, and Övre Tjärna, place of existing extraction, to get a better understanding of the groundwater situation in the area. A groundwater model enables simulations of different scenarios in risk assessment and contaminant transport. The aim of the thesis is that the model can be used as an aid in Midvatten?s investigations in Lennheden and that it also can be used in future projects in the area.The model has been made in Processing Modflow 5.3 and encompasses an area of 19,5 × 11 km along the Badelunda esker and the river Dalälven between Djurmo and Frostbrunnsdalen.

The aim of this master thesis was to create a dynamic model for the processes in a solid fuel boiler of the moving grate type. Another aim with the model was to keep it as simple as possible but still able to catch the dynamics of the processes in the bedplate of the boiler. The creation of the model had its origin from drying and combustion equations used in earlier modeling work of boilers. The represented model has been used to simulate different kinds of disturbances in a boiler and different ways to control the boiler. These tests show that controlling a number of parameters in the bed of the boiler is an effective way to keep the grate stable during disturbances.

This master?s thesis describes the development of a model of the catalystsystem aiming at control by an MPC. A well functioning model, which is suitable in control purpose, is important while emission legislation become more and more hard to fulfill for the car manufacturers. Much research has been done in the field of physical modeling of the system, but in this work a linear adaptive time discrete ARX-model is developed and validated.The systems tendency to change its dynamic during usage implies that the model must be adaptive. The developed model proved to be well functioning and shows promising conditions for the MPC design.

The objectives of this research were to determine whether the natural rattan resources in Sulawesi, Indonesia can cope with the strongly increased harvesting pressure that has occurred over the last centuries. I was furthermore looking for patterns in the rattan population dynamics that might give a hint on how the harvesting system could be improved to ensure a maximum sustainable yield. To answer these questions, I developed an individual-based model to analyse the dynamics of rattan growth in connection with rattan harvests by locals to identify sustainable levels of rattan harvests around villages in Sulawesi, Indonesia. Scenarios with different harvesting intensities were run to compare the change in harvest amount. For a given harvesting pressure, scenarios with a high number of harvesters and a low harvesting frequency had the same effect as scenarios with high harvesting frequencies and a low number of harvesters.

This report describes a synchronous machine model with magnetic saturation in d-axis, neutralconnection and electrical exciter interface for the transient simulator PSCAD/EMTDC. It hasbeen designed and verified in comparison to the regular machine model in EMTDC.The performance of the model is very good when incorporating a linear as well as a saturatedmagnetising inductance. The dynamic deviation is only thousandths to ten thousandths perunit. By using a cubic interpolation of the saturation curve, the model gives a good representationof the saturation effect. The open source code implementation of the synchronousmachine model gives the possibility to easily adapt the model to specific requirements.The derived model makes it possible to simulate a synchronous machine with its excitationsystems, e.g.

The purpose of this thesis was to analyse, model and finally generate dynamic vehicular motions in a train. The objective with the analysis was to find important motions for a realistic train experience. The motions from the analysis were then weighted against possibilities for generation in a motion platform.A dynamic motion model was created to model the selected motions. The model was implemented in a simulation environment, more specifically MATLAB/Simulink. The simulation environment was used to simulate the model and to generate outputs to control a motion platform.

The wild boar Sus scrofa population in Sweden has increased rapidly in the last decades which has led to conflicts among stakeholders, for example due to crop damages in agriculture. Thus, there is an urgent need of quantified goals and effective strategies for wild boar management. To develop such strategies, knowledge on population dynamics is fundamental. In this study a deterministic matrix model was used to estimate population growth, based on previously published data. The exponential growth rate for a wild boar population was calculated to 1.48.