In a regional railway signalling system, object controllers are the devices responsible for controlling Track Side Equipment and act as interfaces for TSE with the interlocking computer and the Traffic control system. However, associated cabling (signal and power cabling) and civil works pose a major capital investment and it is a source of significant Capital and Operational expenses, particularly in rural areas, where accessibility andconnectivity to power grid and to the interlocking are a problem. Furthermore, cables/signalling equipment are exposed to sabotage and theft in such areas. This can increase the total Life Cycle Cost even further. The Shift2Rail research programme, which was initiated by the European Union and railway stakeholders, tries to address this issue, and revamp the Object Controller concept through the project “TD2.10 Smart radio connectedwayside object controller”, where the aim is to develop a Smart Wayside Object Controller (SWOC). A SWOC is capable of wireless communication between central interlocking and TSE as well as decentralization of interlocking logic. These innovations can reduce the cabling required, increase the availability of diagnostic data, thus reducing maintenance and operational costs and can lead to power saving by utilizing local power sources. The most important impact of the SWOC is a significant reduction of CAPEX, OPEX and of total LCC for an installation utilizing SWOCs, instead of typical OCS.  This work focuses on estimating the LCC of a SWOC system and to compare it with a conventional OCS by developing an LCC model that covers both cases, as well as to use this model to examine when it is more profitable to implement a SWOC, instead of an OCS system. This is done by utilizing LCC analysis and combining a variety of methods in a parametric study. To that extend, a thorough analysis of a modern regional railway signalling system, as well as the basis for LCCA are being discussed. At the same time, both OC and SWOC systems are being described and factors affecting their cost discussed.  The methodology is comprised of the LCC modelling part as well as the collection of methods and techniques used to calculate the LCC of OC/SWOC systems and to estimate the costs of different sub-models and parameters of the process. For the modelling process, the station of Björbo was chosen, which operates under ERTMS-R system, but for the sake of the analysis it is assumed that the typical base system in place is an OCS and together with the existing track layout and equipment it is used as the basis of the analysis. Finally, the formed LCC model is being used in a parametric study to examine how the LCC is affected by using OC or SWOC as well as how LCC responds to changes in parameters such as number of OC/SWOC, traffic density and local power installation cost for the Björbo station. / I ett regionalt järnvägssignalsystem är utdelar de enheter som ansvarar för att kontrollera spårutrustning och fungerar de som gränsyta för spårutrustning med ställverksdatorn och tågtrafikledning systemet. Dock, tillhörande kablar (signalkablar ock kraftkablar), samt anläggningsinfrastruktur utgör en stor kapitalinvestering och de är en källa till märkbar kapitalkostnad och driftskostnader, särskilt på landsbygdsområden, där tillgänglighet och anslutning till elnätet och ställverket är problematisk. Dessutom, kablar och signalutrustning utsätts för stöld och sabotage i sådana områden. Detta kan öka den totala livscykelkostnaden ytterligare. Shift2rail forskningsprogram, som genomförs av EU och järnvägsintressenter, försöker att ta itu med problemet och modernisera utdelar konceptet genom projektet “TD2.10 Smart Radio Connected Wayside Object Controller”, där målet är att utveckla en Smart Spårutrustning Utdelar, så kallade SWOC. En SWOC har kapacitet för trådlös kommunikation mellan central ställverket och spårutrustning, samt decentralisering av satällverkslogiken. Dessa innovationer kan minska nödvändig kabeldragning, öka tillgängligheten av diagnostiska data, vilket minskar underhålls- och driftskostnader och kan leda till energibesparing genom att använda lokala kraftkällor. Den viktigaste effekten av SWOC är en betydande minskning av kapitalkostnader, driftskostnader och totala livscykelkostnaden för en installation som använder SWOC istället för typiska utdelningsystemet. Detta examensarbete fokuserar på att uppskatta LCC för ett SWOC-system och jämföra det med en konventionell utdelingsystem genom att utveckla en LCC-modell som täcker båda fallen, samt att använda denna modell för att undersöka när det är mer lönsamt att implementera en SWOC istället av ett typiskt utdelingsystem. Detta görs genom att använda LCC-analys och kombinera en mängd olika metoder i en parametrisk studie. För att göradetta genomförs en grundlig analys av ett modernt regionalt järnvägssignalsystem, samt grunden för livscykelanalys. Samtidigt beskrivs både ett typiskt utdelingssystem - och SWOC-system samt faktorer som påverkar deras kostnad deskuteras. Metoden består av LCC-modelleringsdelen samt insamling av metoder och tekniker som används för att beräkna LCC för OC / SWOC-system och för att uppskatta kostnaderna för olika delmodeller och parametrar för processen. För modelleringsprocessen valdes stationen i Björbo, som arbetar under ERTMS-R-systemet, men för analysens skull antas att det typiska bassystemet på plats är en typisk OCS och tillsammans med befintlig planritning ochkabelplan är används som grund för analys. Slutligen används den bildade LCC-modellen i en parametrisk studie för att undersöka hur LCC påverkas genom att använda OC eller SWOC samt hur LCC reagerar på förändringar i parametrar såsom antal OC / SWOC, trafiktäthet och lokala kraftinstallationskostnader för Björbo-stationen.

In recent times the unmanned quadcopter aircraft has been used for a widening range of applications, but for longer distances it still falls short of conventional airplanes in terms of energy usage. There exists hybrid configurations of unmanned aircraft which combine the mobility of quadcopters and the range of fixed-wing aircraft. The transition between the hovering mode and the gliding mode, however, is a complex non-linear control problem. To solve this a recent study applied a neural network as a closed loop controller. This controller was capable of seamless mode transition and could be trained for any copter configuration using reinforcement learning. The work presented here focuses on improvements to the method of controller design established by said study, mainly focusing on increased realism of the aerodynamic simulations and the addition of control surfaces for increased maneuverability. These improvements resulted in a lift of 37% of the total copter weight and a higher achievable top speed of 8 m/s before instability occurs. To verify these improvements were not only present in the simulations a physical prototype was also constructed which when tested succeeded in hovering flight but failed to sustain any significant forward flight. / På senare tid har obemannade quadcopters kraftigt expanderat sina användningsområden, men för längre sträckor slås de fortfarande av konventionella flygplan när det gäller energiåtgång. Det finns hybridkonfigurationer av obemannade farkoster som kombinerar quadcopterns rörlighet och räckvidden av flygplan. Övergången mellan hovrande läge och horisontell flygning är emellertid ett komplext icke-linjärt reglerproblem. För att lösa detta använde en nyligen genomförd studie ett neuralt nätverk som en regulator i ett återkopplat system. Den här styrenheten kunde sömlöst övergå mellan flyglägen och kunde tränas för valfri copterkonfiguration med hjälp av reinforcement learning. Arbetet som presenteras här fokuserar på förbättringar av metoden för regulatordesign som fastställts av nämnda studie, främst med fokus på ökad realism av de aerodynamiska simuleringarna och tillägget av kontrollytor för ökad manövrerbarhet. Dessa förbättringar resulterade i en genererad lyftkraft upp till 37% av farkostens vikt och en förhöjd maxhastighet till 8 m/s före instabilitet. För att verifiera dessa resultat i verkligheten konstruerades en fysisk prototyp som vid försök lyckades stabilisera sig i hovrande läge men inte upprätthålla någon signifikant framåtfart.

The evolution of electrification and autonomous driving on automotive leads to the increasing complexity of the in-vehicle electrical network, which poses a new challenge for testers to do troubleshooting work in massive log files. This thesis project aims to develop a predictive technique for anomaly detection focusing on user function level failures using machine learning technologies.\\ Specifically, it investigates the performance of point anomaly detection models and temporal dependent anomaly detection models on the analysis of Controller Area Network (CAN) data obtained from software-in-loop simulation. For point anomaly detection, the models of Isolation forest, Multivariate normal distribution, and Local outlier factor are implemented respectively. For temporal dependent anomaly detection, the model of an encoder-decoder architecture neural network using Long Short-Temporal Memory (LSTM) units is implemented, so is a stacking hybrid detector in the combination of LSTM Encoder and Local outlier factor.\\ With a comparison of the comprehensive performance of the proposed models, the model of LSTM AutoEncoder is selected for detecting the anomalies on sequential data in CAN logs. The experiment results show promising detection performance of LSTM AutoEncoder on the studied functional failures and suggest that it is possible to be deployed in real-time automated anomaly detection on vehicle systems. / Utvecklingen av elektrifiering och autonom körning på fordon leder till den ökande komplexiteten i fordonets elektriska nätverk, vilket utgör en ny utmaning för testare att göra felsökningsarbete i massiva loggfiler. Detta avhandlings syftar till att utveckla en förutsägbar teknik för detektering av avvikelser med fokus på användarfunktionsnivåfel med maskininlärningstekniker.\\ Specifikt undersöker den prestandan hos punktavvikelsedetekteringsmodeller och tidsberoende anomalidetekteringsmodeller på analysen av data från Controller Area Network (CAN) erhållen från simulering av mjukvara in-loop. För detektion av punktavvikelser implementeras modellerna för Isolation forest, Multivariate normal distribution och Local outlier factor. För temporär beroende anomalidetektering implementeras modellen för ett kodnings-avkodningsarkitekturneuralt nätverk som använder Long Short-Temporal Memory (LSTM) -enheter, så är en stapling hybriddetektor i kombination med LSTM Encoder och Local outlier factor.\\ Med en jämförelse av den omfattande prestandan hos de föreslagna modellerna väljs modellen för LSTM AutoEncoder för att detektera avvikelser på sekventiell data i CAN-loggar. Experimentresultaten visar lovande detektionsprestanda för LSTM AutoEncoder på de studerade funktionella misslyckandena och föreslår att det är möjligt att distribueras i realtid automatiserad anomalidetektering på fordonssystem.

In order to increase the power density, the discontinuous conducting mode (DCM) and small inductance is adopted for high power bidirectional dc-dc converter. The DCM related current ripple is minimized with multiphase interleaved operation. The turn-off loss caused by the DCM induced high peak current is reduced by snubber capacitor. The energy stored in the capacitor needs to be discharged before device is turned on. A complementary gating signal control scheme is employed to turn on the non-active switch helping discharge the capacitor and diverting the current into the anti-paralleled diode of the active switch. This realizes the zero voltage resonant transition (ZVRT) of main switches. This scheme also eliminates the parasitic ringing in inductor current. This work proposes an inductance and snubber capacitor optimization methodology. The inductor volume index and the inductor valley current are suggested as the optimization method for small volume and the realization of ZVRT. The proposed capacitance optimization method is based on a series of experiments for minimum overall switching loss. According to the suggested design optimization, a high power density hardware prototype is constructed and tested. The experimental results are provided, and the proposed design approach is verified. In this dissertation, a general-purposed power stage model is proposed based on complementary gating signal control scheme and derived with space-state averaging method. The model features a third-order system, from which a second-order model with resistive load on one side can be derived and a first-order model with a voltage source on both sides can be derived. This model sets up a basis for the unified controller design and optimization. The Δ-type model of coupled inductor is introduced and simplified to provide a more clearly physical meaning for design and dynamic analysis. These models have been validated by the Simplis ac analysis simulation. For power flow control, a unified controller concept is proposed based on the derived general-purposed power stage model. The proposed unified controller enables smooth bidirectional current flow. Controller is implemented with digital signal processing (DSP) for experimental verification. The inductor current is selected as feedback signal in resistive load, and the output current is selected as feedback signal in battery load. Load step and power flow step control tests are conducted for resistive load and battery load separately. The results indicate that the selected sensing signal can produce an accurate and fast enough feedback signal. Experimental results show that the transition between charging and discharging is very smooth, and there is no overshoot or undershoot transient. It presents a seamless transition for bidirectional current flow. The smooth transition should be attributed to the use of the complementary gating signal control scheme and the proposed unified controller. System simulations are made, and the results are provided. The test results have a good agreement with system simulation results, and the unified controller performs as expected. / Ph. D.

Temperature control is a widely researched topic and a common application is in heating systems such as buildings. A temperature control method that is central in ensuring comfort and reduction of energy consumption in modern buildings and other heating systems is based on model predictive control (MPC). Traditionally, the MPC optimal control problem is to track a target, but there are other examples of optimization problems besides tracking problems and one such optimization problem is the economical optimization problem, an optimization based on economical objectives. A heating system with electrical supply may be controlled by an economic MPC such that the economical objective is to consider time-varying prices of electricity.  This thesis studies how time-varying prices of electricity can be utilized as an economical objective in an economical MPC to reduce electricity costs for a double-heater system. This is done using an available model of the double-heater system and an MPC to construct an economical MPC. The performance of the economical MPC is then investigated and compared to the existing MPC.  In the thesis it is found, through a test with six different cost profiles and a test with historical data of forecasts of electricity prices, that the economical MPC can reduce total electricity costs when compared to the existing MPC. Furthermore it is found that the performance of the economic MPC is acceptable when it is compared with and without prediction of setpoint changes, prediction of price changes and an isolating layer between the heaters. The thesis concludes that satisfactory results are attained, as the economical MPC leads to decreased total electricity costs for the double-heater system and notes that the economic MPC is versatile by accepting both user-defined and historical cost profiles.

With the development of the society, people are more willing to focus on their leisure activities. A growing number of new equipment are created nowadays. For example, automatic mahjong machine in China. Inspired by the automatic mahjong machine, we propose to add some devices on the billiard table to achieve sorting balls automatically. It includes recognition system, ball-separating system, and sorting system. We use Autodesk Inventor 2012 to model the billiards table. Some complex calculations and nonlinear analysis are completed by Matlab. Through our method, we can achieve the purpose of sorting balls automatically. / Med utvecklingen av samhället, människor är mer villiga att fokusera på sina fritidsaktiviteter. Ett växande antal av ny utrustning skapas nuförtiden. Till exempel, automatisk mahjong maskin i Kina. Inspirerad av den automatiska mahjong maskin, föreslår vi att lägga till några enheter på biljardbordet för att uppnå sorterings bollar automatiskt. Den innehåller igenkänningssystem, boll-separerar systemet, och sorteringssystem. Vi använder Autodesk Inventor 2012 för att modellera tabellen biljard. Vissa komplexa beräkningar och olinjär analys är klara med Matlab. Genom vår metod kan vi uppnå syftet att sortera bollar automatiskt.

Published Article / A company in South Africa is a three-phase induction motor protection relay manufacturer. The function of the protection relay is to capture running data, to provide protection against possible damage, to control an electric motor and to communicate this data to the System Control and Data Acquisition (SCADA) system in a control room. In the case of remote sites e.g. a pump station, the protection relays are used as standalone units. The protection relays are equipped with communication facilities to be used in an instrumentation environment. If a trip occurs or settings need to be changed a technician has to visit the remote site and address the problem. The ideal cost and time effective solution is to perform these tasks remotely via a reliable wireless network. A study was conducted to ascertain the viability of using the standard GSM cellular networks in South Africa to effectively control electric motors and to communicate with the Motor Protection Relays (MPRs) controlling the electric motors in order to determine the status of a motor, settings of the motor, trips that occurred and time of occurrence. It was shown that a node controller could be used to store all the data from various electric motors at a single location. It was also shown that the data from the different electric motors could be analysed at the node controller and that communication can then be initiated from the controller to a responsible person via the GSM network. It was further illustrated that, by making use of the GSM networks in South Africa together with the short message service (SMS), communication and control can be effectively established. SMSs proved to be a reliable means of communication between cellular phones, an embedded network and MPRs. It was shown that software protocols, although slower in communication speed, proved to be reliable and effective for the purpose of transferring information between the node controller and the motor protection relays connected to the electric motors.

ITC/USA 2005 Conference Proceedings / The Forty-First Annual International Telemetering Conference and Technical Exhibition / October 24-27, 2005 / Riviera Hotel & Convention Center, Las Vegas, Nevada / As requirements for the amount of test data continues to increase, instrumentation engineers are under pressure to deploy data acquisition systems that reduce the amount of associated wiring and overall system complexity. Smart sensor buses have been long considered as one approach to address this issue by placing the appropriate signal conditioners close to their respective sensors and providing data back over a common bus. However, the inability to adequately synchronize the operation of the sensor bus to the system master, which is required to correlate analog data measurements, has precluded their use. The ongoing development and deployment of smart sensor buses has reached the phase in which integration into a larger data acquisition system environment must be considered. Smart sensor buses, such as IntelliBus™, have their own unique mode of operation based on a pre-determined sampling schedule, which however, is typically asynchronous to the operation of the (master or controller) data acquisition system and must be accounted for when attempting to synchronize the two systems. IRIG Chapter 4 type methods for inserting data into a format, as exemplified by the handling of MIL-STD-1553 data, could be employed, with the disadvantage of eliminating any knowledge as to when a particular measurement was sampled, unless it is time stamped (similar to the time stamping function that is provided to mark receipt of 1553 command words). This can result in excessive time data as each sensor bus can manage a large number of analog sensor inputs and multiple sensor buses must be accommodated by the data acquisition system. The paper provides an example, using the Boeing developed IntelliBus system and the L3 Communications - Telemetry East NetDAS system, of how correlated data can be acquired from a smart sensor bus as a major subsystem component of a larger integrated data acquisition system. The focus will be specifically on how the IntelliBus schedule can be synchronized to that of the NetDAS formatter. Sample formats will be provided along with a description of how a standalone NetDAS stack and an integrated NetDAS-IntelliBus system would be programmed to create the required output, taking into account the unique sampling characteristics of the sensor bus.

A linear model of an annealing furnace is developed using a black-box system identification approach, and used when testing three different control strategies to improve temperature control. The purpose of the investigation was to see if it was possible to improve the temperature control while at the same time  decrease the switching frequency of the  burners. This will lead to a more efficient process as well as less maintenance, which has both economic and environmental benefits. The estimated model has been used to simulate the furnace with both the existing controller and possible new controllers such as a split range controller and a model predictive controller (MPC). A split range controller is a control strategy which can be used when more than one control signal affect the output signal, and the control signals have different range. The main advantage with MPC is that it can take limitations and constraints into account for the controlled process, and with the use of integer programming, explicitly account for the discrete switching behavior of the burners. In simulation both new controllers succeed in decreasing the switching and the MPC also improved the temperature control. This suggest that the control of the furnace can be improved by implementing one of the evaluated controllers.

The shopping trolley have been frequently used in our daily life. However, the hygiene condition of cart makes people worry a lot, especially the handle brothers. Nowadays, several methods have been proposed to clean the shopping carts but considered uneconomic and inflexible. In this study, we aim to design an integrated cart washing system based on a trailer applied to medium or small supermarket. This system should be more efficient, economic, easily to operate, safer and les water consummation. The integrated cart washing system has three basic functions of washing, disinfection and drying. The system is controlled by PLC program, all steps in the cleaning process are fully automatic insider the trailer and each component are adjustable according to various shopping carts. The system only requires one person to operate and it costs 30 seconds to wash a single cart, able to wash up to 120 cart/hour. Disinfection and drying steps provide high washing quality. Moreover, water-recycling design can save part of wasted water. The modelling and assembly was designed in Autodesk Inventor 2016, the hardware design circuit-writing diagram was performed in AutoCAD, the software design of Programmable logic controller (PLC) was made in STEP 7-Micro/Win. Theoretical calculation and simulation prove the safety and possibility of our system. We concluded that this system might have commercial interests in the market.