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.

This thesis presents the theory behind prototyping and user interviews as parts of requirements analysis. It further discusses how these were used in the development of a budget planning application. The implemented Web-based solution uses a new component-based design rooted in a Model-View-Controller architecture. The application is used today with complete success at the Department of Computer and Information Science at Linköping University..

In the pulp industry, digesters are used to disolve lignin in wood chips. The concentration of lignin is measured and is called the Kappa number. In this thesis, the question of whether an online Kappa sensor, taking samples from the mid-phase of the digester, is useful or not is analyzed. For the samples to be useful, there has to be a relationship between the measured Kappa at the mid- phase and the measured Kappa in the blowpipe at the bottom of the digester. An ARX model of the lower part of the digester has been estimated.

In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

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 report describes a master thesis performed at Saab in Arboga. The main purpose was to build a controller for a system containing a turn table and an antenna beam. The idea is to use this system on a boat where it will be exposed to position disturbances due to waves. The desired behaviour is that antennas placed on the antenna beam should point towards the same target all the time. To solve this problem the system has been modeled and simulated in Matlab and Simulink.

Due to increasing regulations regarding new diesel vehicles particulate matteremissions the new Scania truck, Scania Euro 6, has been equipped with a particulatefilter. This component effectively stores the particles in the exhaust gas but must becleaned in order to prevent itself from clogging. The filter is cleaned through aprocess named regeneration which is a thermodynamic process in which thetemperature of the filter is raised through fuel supplied to the exhaust gas.The purpose of this thesis is to contribute to the development of improved controlstrategies of the temperature during the regeneration process through thedevelopment of model-based controllers. These controllers are designed in order tohave good performance in stationary as well as automatic regeneration.In order to develop these model-based controllers a model of the system isconstructed. The model is described as a linear thermodynamic grey-box model withflow varying parameters, showing good results in validation.The model provides a simulation environment during the controller design, which isfocused around the development of linear regulators with the exhaust gas mass flowas a scheduling variable whose size determines controllers? mode of operation.

Studien grundar sig i att studera inte endast controllern utan även CFO:n på grund av att CFO:n utgör en viktig del i arbetet med ekonomistyrning. Syftet med studien var att beskriva likheter och/ eller skillnader vid arbetsuppgifter mellan controllern och CFO:n samt deras syn på hur den motsatta rollen arbetar. Detta för att öka förståelsen för rollerna som controller och CFO. För att genomföra studien användes en kvalitativ metod som omfattade öppna individuella intervjuer med controller och CFO på Halmstads kommun, Heléns Rör AB och CFO/ controller på Krönleins bryggeri AB. Den teoretiska referensramen delades in i följande teman: Ekonomistyrning, controllerns och CFO:ns arbetsuppgifter, rollen som controller, CFO och CFO/ controller, ledningsgruppen och faktorer som påverkar och samarbete.

Due to increasing regulations regarding new diesel vehicles particulate matteremissions the new Scania truck, Scania Euro 6, has been equipped with a particulatefilter. This component effectively stores the particles in the exhaust gas but must becleaned in order to prevent itself from clogging. The filter is cleaned through aprocess named regeneration which is a thermodynamic process in which thetemperature of the filter is raised through fuel supplied to the exhaust gas.The purpose of this thesis is to contribute to the development of improved controlstrategies of the temperature during the regeneration process through thedevelopment of model-based controllers. These controllers are designed in order tohave good performance in stationary as well as automatic regeneration.In order to develop these model-based controllers a model of the system isconstructed. The model is described as a linear thermodynamic grey-box model withflow varying parameters, showing good results in validation.The model provides a simulation environment during the controller design, which isfocused around the development of linear regulators with the exhaust gas mass flowas a scheduling variable whose size determines controllers? mode of operation.

Background: The project controller is a function witch evolved due to the strong gaining ground of project operation. Why the area of the project controller is interesting to study is explained by the fact that increasing knowledge of this function is important in order to make project operation work well. The fact that opinions in this field disagree, further increases the interest of the field. In order to study the function of the project controller three companies have been singled out. They are IFS, Intentia and Saab Bofors Dynamics.

Genom litteraturstudier samt praktiskt arbete med förbättringar av programvaran File Secure har ett antal lämpliga designmönster för konfigurationshantering i Java identifierats och applicerats. Den typ av konfigurationshantering som här avses innefattar inläsning från en databas till en objektrepresentation, samt ett grafiskt gränssnitt som låter användaren modifiera datat. Det antas att mängden data är förhållandevis liten, vilket har gett upphov till vissa förenklingar. Resultatet av arbetet presenteras i form av ett mönsterspråk för konfigurationshantering, innefattande designmönstren Domain Model, Active Record och det befintliga mönsterspråket Model - View - Controller. Detta kan appliceras i många olika sorters system..

Studien grundar sig i att studera inte endast controllern utan även CFO:n på grund av att CFO:n utgör en viktig del i arbetet med ekonomistyrning. Syftet med studien var att beskriva likheter och/ eller skillnader vid arbetsuppgifter mellan controllern och CFO:n samt deras syn på hur den motsatta rollen arbetar. Detta för att öka förståelsen för rollerna som controller och CFO. För att genomföra studien användes en kvalitativ metod som omfattade öppna individuella intervjuer med controller och CFO på Halmstads kommun, Heléns Rör AB och CFO/ controller på Krönleins bryggeri AB. Den teoretiska referensramen delades in i följande teman: Ekonomistyrning, controllerns och CFO:ns arbetsuppgifter, rollen som controller, CFO och CFO/ controller, ledningsgruppen och faktorer som påverkar och samarbete.

Syftet med den här uppsatsen är att få en bild över hur en controller arbetar i ett medelstort företag. Studien har genomförts med en fallstudie av två företag över en tre veckors period. Studien visar att controllers i medelstora företag har många olika arbetsuppgifter. Controllern tenderar att arbeta med redovisning och den framtida styrningen av företaget har en lägre prioritet. Hursomhelst har vi funnit att en controller i ett medelstort företag har fler arbetsuppgifter än vad litteraturen beskriver att en controller har.

Bakgrund:Teknologins utveckling samt den ökade globaliseringen har gjort dagens controller till ett komplext yrke som berör många aspekter. Vi vill behandla ämnet utifrån personer som ska anställa en controller eftersom de är involverade i controller-rollen. Vi undrar hur dessa personer egentligen kan veta vad de söker hos en controller när det råder en så stor osäkerhet kring begreppet.Syfte:Syftet med vår uppsats är att undersöka vilka förväntningar som arbetsgivare har på en controller samt analysera dessa med stöd av tidigare forskning och litteratur. Uppsatsen fokuserar på dels vad controllern skall arbeta med och hur arbetsuppgifterna utvecklas och dels på personlighetsdrag och färdigheter. Vi vill få en ökad förståelse på hur arbetsgivare via sina förväntningar tolkar begreppet controller.Metod:En kvalitativ forskningsmetod med abduktiv ansats.

In order for companies to be competitive they perform different types of development projects.  Due to globalization a greater focus is added on costs, not least on costs in development projects. Project controllers are involved in development projects in order to review the financial aspects. The authors have examined the role that project controllers hold in respect of two Swedish manufacturers, Volvo CE and Scania CV. The investigation has revolved around three main issues where the authors conducted interviews with controllers that do not work in development projects and project controllers in development projects. The goal of the interviews was to gain a greater understanding of the role of project controllers, how this role will differ from those that do not work in development projects and the difficulties faced by project controllers.