The thesis deals with modelling and control of wheeled mobile robots. The thesis introduces the mathematical models of diferentially driven mobile robot, robot with Ackerman steering and a skid steered robot. The thesis describes open-loop and feedback control. Feedback control is divided into point-to-point control, path following and trajectory tracking.

The thesis includes the basic principles of lead-acid, NiCd, NiMH and Li-Ion batteries. There is a description of their features and phenomena that processes in the batteries during charging and discharging. The most important part is devoted to dynamic models of these types of batteries, the parameters that are necessary for their modeling, and testing of absolute error models. Further, the model in Matlab was created which allows the simulation of the GRID-OFF photovoltaic system using the battery model.

Pavel BÉM Optimisation of Gear Ratio for Race Cars DW, IAE, 2008, pp. 62, fig. 69. At first I labellig problems about gearboxes than, I review dataloggers for racing cars using now. I create model of dynamic simulating car move during at akcelerating and decelerating on choice track. I create program analyzating data from telemetry and applicated dynamic model to optimisation gears ratio.

La manipulation aérienne est l’un des défis de la robotique au cours de cette dernière décennie. L’un des freins au développement des manipulateurs aériens est l’autonomie limitée des drones, réduite par la charge et la consommation électrique du manipulateur embarqué. Une solution pour dépasser cette limite passe par la collaboration de plusieurs drones dans une tâche de manipulation. Cette thèse porte sur la conception et la commande d’un nouveau type de véhicule autonome aérien destiné à la manipulation. Le concept consiste à faire collaborer plusieurs drones, en particulier des quadricoptères, au travers d’une architecture passive polyarticulée. Le robot ainsi obtenu est une fusion entre l’architecture passive d’un robot parallèle et plusieurs drones. L’étude du modèle dynamique de cette classe de robots met en avant un découplage dans le modèle dynamique. Ce découplage permet la conception d’une commande en cascade qui assure la stabilisation et le suivi de trajectoire pour ces robots. Deux cas d’étude sont ensuite déclinés dans cette thèse : un robot parallèle volant à deux drones et un robot parallèle volant à trois drones. Pour ces deux robots, une simulation numérique est effectuée afin de valider le fonctionnement de la commande. Ces simulations ont également permis de valider la possibilité de changer la configuration de l’architecture passive en vol. Les travaux ont été portés avec succès jusqu’au stade expérimental pour le robot volant à deux drones. / Aerial manipulation is one of the challenges of robotics over the last decade. One of the constraints on the development of aerial manipulators is the limited autonomy of drones, reduced by the load and energy consumption of the on-board manipulator. One way to overcome this limit is to have several drones collaborate on a manipulation task. This thesis deals with the design and control of a new type of autonomous aerial vehicle for manipulation tasks. The concept consists in the collaboration of several drones, in particular quadrotors, through a polyarticulated passive architecture. The robot thus obtained is a fusion between the passive architecture of a parallel robot and several drones. The study of the dynamic model of this robot class highlights a decoupling in the dynamic model. This decoupling allows the design of a cascade control law. This controller provides stabilization and trajectory tracking for these robots. Two study cases are then presented in this thesis: a flying parallel robot with two drones and a flying parallel robot with three drones. For these two robots, a numerical simulation is performed to validate the controller performances. These simulations also allowed to validate the reconfiguration abilities of passive architecture in flight. The work was successfully carried to the experimental stage for the flying robot with two drones.

The increased popularity of electric vehicles and e-mobility among the people, have encouraged many automotive companies and research organisations to develop good strategies for drivetrain designs involving batteries. As seen in the department of Alternative Powertrains research is carried out on hybrid fuel cell and electric vehicles. This thesis deals with the development of lithium ion battery model for electric vehicle simulations. A novel approach using black box modelling is developed for development of battery model using only the available battery measurements. Furthermore, a measurement test strategy is formulated providing the process direction and measurement parameters to be considered. Developed battery model provide voltage estimates for given Charge rate,temperature and State of Charge (SOC). The comparison of experimentally obtained and model estimated values. The model developed has a very good accuracy in estimation.

The main purpose of the AOD-converter is to lower the carbon content in stainless steel production. The carbon content can be estimated by static theoretical models. It can also be estimated through dynamic models based on analysis of the exhaust gases from the converter. This master thesis is a study on an extended use of exhaust gas analysis data on the AOD-converter at Outokumpu’s stainless steel plant in Avesta, Sweden. There are two main methods of predicting the carbon content based on exhaust gas analysis, mass balance and a linear regression between decarburization rate and carbon content. This master thesis mainly focuses on the development of the linear regression model for steel grades ASTM 304L, 316L, S32101 and S32205 for the last step of the decarburization, as well as ASTM S32205 and S30815 for the second last step of the decarburization. The results showed that the linear regression model can predict the carbon content at the last step of decarburization with a standard deviation between 0,00626 %C and 0,0109 %C for the different steel grades. An equation for carbon prediction dependent on the steel composition was also developed in the master thesis, making it theoretically possible to use for all steel grades, it has however not yet been tested on other steel grades. The CRE measured from the exhaust gases was also studied to find out if it is possibleto use as basis for step changes during the decarburization, but the resultswere inconclusive. / Huvudsyftet med AOD-konvertern är att sänka kolhalten i produktionen av rostfritt stål. Kolhalten kan uppskattas av statiska teoretiska modeller. Den kan också uppskattas av dynamiska modeller baserade på analys av avgaserna från konvertern. Det här examensarbetet handlar om utvidgning av användandet av avgasanalysdata på AOD-konvertern på Outokumpus stålverk i Avesta, Sverige. Det finns i huvudsak två metoder för att bestämma kolhalten med hjälp av avgasanalys, massbalans och en linjär regression mellan kolfärskningshastigheten och kolhalten. Det här examensarbetet fokuserar i huvudsak på utvecklingen av den linjära modellen för stålsorterna ASTM 304L, 316L, S32101 och S32205 för sista steget i kolfärskningen. Samt stålsorterna ASTM S32205 och S30815 för näst sista steget i kolfärskningen. Resultaten visade att den linjära modellen kunde uppskatta kolhalten i sista steget av kolfärskningen med en standardavvikelse mellan 0,00626 %C och 0,0109 %C för de fyra olika stålsorterna. En ekvation som anger sambandet mellan sammansättningen på stålet under kolfärskningen och ekvationen för den linjära regressionen togs också fram i examensarbetet. Teoretiskt kan ekvationen användas för alla stålsorter men den har inte än blivit testad på andra stålsorter. CRE uppmätt med hjälp av avgasanalys undersöktes också för att ta reda på om CRE kan användas för att bestämma när stegbytena ska ske, det gick dock inte att utgöra från resultaten.

A mathematical dynamic model is derived for the compliant constant-force mechanism, based on the pseudo-rigid-body model simplification of the device. The compliant constant-force mechanism is a slider mechanism incorporating large-deflection beams, which outputs near-constant-force across the range of its designed deflection. The equation of motion is successfully validated with empirical data from five separate mechanisms, comprising two configurations of compliant constant-force mechanism. The dynamic model is cast in generalized form to represent all possible configurations of compliant constant-force mechanism. Deriving the dynamic equation from the pseudo-rigid-body model is useful because every configuration is represented by the same model, so a separate treatment is not required for each configuration. An unexpected dynamic trait of the constant-force mechanism is discovered: there exists a range of frequencies for which the output force of the mechanism accords nearer to constant-force than does the output force at static levels.

Flexible AC Transmission Systems (FACTS) have the ability of voltage supportand increase transmission capacity. In order to specify a FACTS devicethat is performing according to expectations in a network, a set of studiesand network analyses must be performed. Part of these studies are done usingpower system analysis programs such as PSS®E, which is a planning toolsimulating large power systems in phasor domain using RMS values. Theseplanning tools are used for evaluating stability and reinforcement needs ina power system. The results play a vital role in investment decisions inthe power system. FACTS devices are modeled in PSS®E using a programminglanguage called FORTRAN. It is important to model FACTS devicesaccurately to avoid misleading results. In this Master thesis, STATCOMand Hybrid-STATCOM models are proposed and programmed accordingto ABB’s control strategy. The models are tested in PSS®E and verifiedagainst detailed models in PSCAD. Also, the models are compared againstother industry wide spread generic models. / System inom produktgruppen FACTS (Flexible AC Transmission Systems)har m¨ojligheten att st¨odja sp¨anning och h¨oja ¨overf¨oringskapacitet p°a existerandeledningar. F¨or att kunna specificera en FACTS-anl¨aggning sombeter sig som f¨orv¨antat i ett eln¨at beh¨ovs ett antal studier och n¨atanalyserutf¨oras. Delar av dessa studier ¨ar gjorda genom att anv¨anda verktyg f¨orkraftsystemanalys som t.ex. PSS®E, som ¨ar ett verktyg f¨or n¨atplaneringd¨ar fasvektorer och RMS-v¨arden anv¨ands i ber¨akningarna. Dessa verktyganv¨ands f¨or att evaluera stabilitet och utbyggnadsbehov i eln¨atet. Resultatenfr°an verktygen spelar en vital roll i investeringsbeslut i ett eln¨at.FACTS-system modelleras i PSS®E med hj¨alp av programmeringsspr°aketFORTRAN. Det ¨ar viktigt att anv¨anda korrekta modeller f¨or att undvikamissledande resultat. I denna Master-uppsats f¨oresl°as och utvecklasSTATCOM och Hybrid-STATCOM modeller i enlighet med ABBs kontrollstrategi.Modellerna testas i PSS®E och verifieras mot detaljerade modelleri PSCAD. Modellerna j¨amf¨ors ¨aven mot andra generiska modeller som ¨araccepterade och spridda ¨over branschen i stort.

In autonomous racing there is a need to accurately localize the vehicle while simultaneously creating a map of the track. This information can be delivered to planning and control layers in order to achieve fully autonomous racing. The kinematic model is a commonly used motion model in feature-based SLAM. However, it is a poor representation of the vehicle when considering high lateral accelerations since the model is only based on trigonometric relationships. This Master’s Thesis investigates the consequence of using the kinematic model when undertaking demanding maneuvers; and if by switching to a dynamic model, which takes the tire forces into account, can improve the localization performance. An EKF-SLAM algorithm comprising the kinematic and dynamic model was implemented on a development platform. The pose estimation accuracy was compared using either model when subject to typical maneuvers in racing-scenarios. The results showed that the pose estimation accuracy was in general similar when using either of the vehicle models. When exposed to large slip angles, the implications of switching from a kinematic model to a dynamic model resulted in a significantly better pose estimation accuracy when driving in an unknown environment. However, switching to a dynamic model had little effect when driving in a known environment. The implications of the study suggest that, during the first lap of a racing track, the kinematic model should be switched to a dynamic model when subject to high lateral accelerations. For the consecutive laps, the choice of vehicle model has less impact. Keywords: SLAM, EKF-SLAM, Localization, Estimation, Vehicle Dynamics, Kinematic Model, Dynamic Model, Autonomous Racing / I autonom racing är det viktigt att kunna lokalisera fordonet med hög noggrannhet samtidigt som en karta över banan skapas. Den här informationen kan vidare bli hanterad av planerings- och reglersystem för att uppfylla autonom racing fullt ut. Den kinematiska modellen är en vanligt förekommande rörelsemodell i SLAM. Den är däremot en bristande representation av fordonet vid höga laterala accelerationer eftersom modellen enbart är baserad på trigonometriska samband. Det här masterarbetet undersöker den kinematiska modellens påverkan vid olika manövrar och huruvida den dynamiska modellen, som modellerar däckkrafterna, kan förbättra prestandan. En EKF-SLAM algorithm innehållande den kinematiska- och dynamiska modellen implementerades på en utvecklingsplattform. Estimeringsnoggrannheten av positionen och orienteringen jämfördes vid typiska manövrar för racingscenarier. Resultatet visade att estimeringsnoggrannheten av positionen och orienteringen var generellt sett lika vid användandet av antingen den kinematiska eller den dynamiska modellen. Implikationerna av att byta från den kinematiska modellen till den dynamiska modellen vid höga glidvinklar, resulterade i en signifikant bättre estimeringsnoggrannhet av positionen och orienteringen vid körning i en okänd miljö. Emellertid så var effekterna av att byta till en dynamisk modell insignifikanta vid körning i en känd miljö. Implikationerna av denna studie föreslår att under det första varvet av racingbanan byta från den kinematiska modellen till den dynamiska vid höga laterala accelerationer. Under kommande varv har valet av fordonsmodell mindre effekt. Nyckelord: SLAM, EKF-SLAM, lokalisering, estimering, fordonsmodellering, kinematisk modell, dynamisk modell, autonom racing.

Yes / Scale formation of carbonates and sulphates is one of the most well-known types of crystallization fouling in heat exchangers. Tackling crystallization fouling in Once-Through Multistage Flash Desalination (MSF-OT) is one of the most challenging tasks in the desalination industry. In this paper, a fouling model is developed and then incorporated into a MSF model to investigate the fouling behaviour under variable seawater temperature. The proposed dynamic model investigates the crystallization of calcium carbonate and magnesium hydroxide at the inside tube surface areas by considering the attachment and removal mechanisms. The results show that the fouling rate is higher at high constant seawater temperature. Overall, the fouling rate is lower at the seasonal variation of the seawater temperature, resulting in a higher performance ratio (PR). The results also show that although the brine heater duty increases in winter due to low seawater temperature, the drop of fouling rate in cold months may save some energy.