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Although data is often used to estimate parameters for models in calculus and differential equations, the models themselves are seldom justified. In this paper, the data itself is used to motivate mathematical models in introductory mathematics courses. In doing so, various regression and optimization techniques are illustrated.

Underwater navigation faces many problems with accurately estimating the absolute positionof an underwater vehicle. Neither Global Positioning system (GPS) nor Long Baseline (LBL) orShort Baseline (SBL) are possible to use for a military vehicle acting under stealth, since thesetechniques require the vehicle to be in the vicinity of a nearby ship or to surface and raise its antenna. It will therefore have to rely on sensors such as Doppler Velocity Log (DVL) and a compassto estimate its absolute position using dead reckoning or an Inertial Navigation System (INS). Thisthesis presents an alternative Multiple model Kalman Filter (KF) to the existing Multiple ModelAdaptive Estimator (MMAE) algorithm using n-Modular Redundancy (NMR), in order to gaina more accurate result than with a single KF. By analyzing how different amounts of filters andvoter types affect the accuracy and precision of the velocity and heading estimations, the potentialbenefits and drawbacks can be drawn for each solution. Such benefits and drawbacks were alsovisually evaluated in a Matlab script which was used to calculate the coordinates using the velocityand heading from the speed sensors and compass, without the need for running the filtered states onthe vehicle’s navigation system. The results present the potential of using a multiple model KF inthe form of an NMR, which was demonstrated by both the amount of reduced noise in the velocitystates and how the filters were used in a virtual navigation system created in Matlab.

Syftet med detta examinationsarbete är att utveckla ett kontrollsystem för en inversmarkberedningsprototyp.En simuleringsmodell har skapats för att utveckla ett kontrollsystem med syftet att validera och verifiera prototypens effektivitet. Simuleringsuppställningen är skapad i Simulink, där en del av prototypen är importerad som en solidmodell vilken sammankopplas med en modell av ett hydraulsystem som styr solidmodellens rörelse. I Simuleringsmiljön utvecklades reglering samt styrlogik för prototypen. När regleringen var färdig att testas kontrollerades det att mjukvaran läsa av aktuella sensorer och att utsignaler från kontrollsystemet når hårdvaran, samt att den avsedda rörelsen utförs i verkligheten. Detta projekt har därmed resulterat i en simuleringsmodell, ett kontrollsystem, samt förutsättningar för att kunna verifiera resultaten i verkligheten. / This thesis treats the development of a control system for an inverse soil conditioner prototype. A simulation model was created to develop a control system with the purpose of validation and verification of the prototypes efficacy. The simulation model is created in Simulink, where a part of the soil conditioner is imported as a solid model, which then is coupled to a model of a hydraulic system. In the simulation a control system and regulator were implemented and tuned. when the software was test-ready the hardware-interface was tested to validate that the current software could receive inputs and send meaningful outputs, and then real movements were logged to validate the software function for the machine. The results of this project can then be summarized as a simulation model, a control system, and a solid basis for real world verification are completed.

Space instrumentation technology is an essential tool for rocket and satellite research, and is expected to become popular in commercial and military operations in fields such as radar, imaging, and communications. These instruments are traditionally implemented on printed circuit boards using discrete general-purpose Analog-to-Digital Converter (ADC) devices and other components. A large circuit board is not convenient for use in micro-satellite deployments, where the total payload volume is limited to roughly one cubic foot. Because micro-satellites represent a fast growing trend in satellite research and development, there is motivation to explore miniaturized custom application-specific integrated circuit (ASIC) designs to reduce the volume and power consumption occupied by instrument electronics. In this thesis, a model of a new Plasma Impedance Probe (PIP) architecture, which utilizes a custom-built ADC along with other analog and digital components, is proposed. The model can be fully integrated to produce a low-power, miniaturized impedance probe.

Auf der Basis eines modellbasierten Entwurfs mit MATLAB/Simulink® wird der Entwurf für einen Mischprozess einer Mischstation vorgenommen. Durch den Einsatz der Toolbox PLC Coder™ von Mathworks® kann dieser Entwurf ohne jegliche Änderungen für aktuell 12 Automatisierungssysteme verschiedener Hersteller verwendet werden, so dass dies als ein zielsystemunabhängiger Entwurf angesehen werden kann. Der Vorteil besteht darin, dass nicht wie bisher ein klassischer Entwurf des Systems entsprechend IEC 61131 Teil 3 mit einer entsprechenden hersteller- bzw. systemspezifischen Entwicklungsumgebung durchgeführt wird, sondern ein hersteller- und systemunabhängiger Entwurf mit den zur Verfügung stehenden Werkzeugen von Simulink vorgenommen werden kann. Mit der verwendeten Toolbox PLC Coder™ für MATLAB/ Simulink® wird strukturierter Text nach IEC 61131 Teil 3 für das jeweilige Automatisierungssystem automatisch generiert. Im vorliegenden Fall wird als Automatisierungssystem eine SIMATIC ET 200SP Open Controller mit entsprechenden Erweiterungsmodulen (digitale und analoge Ein- und Ausgänge usw.) und das TIA Portal in der Version 15.1 der Fa. Siemens eingesetzt. / Für den Mischprozess, eine Mischstation, werden Flüssigkeiten aus drei verschiedenen Behältern in verschiedenen vorgegebenen Mischverhältnissen und Mengen dosiert und in einen Mischbehälter ge-leitet. Hierfür wird der modellbasierte Entwurf primär mittels endlicher Zustandsautomaten mit einer unterlagerten Durchflussmengenregelung in insgesamt neun Subsystemen vorgenommen. Um eine möglichst hohe Genauigkeit des Mischproduktes zu erzielen, wird hierbei die Dosierung der verschie-denen Flüssigkeiten volumengesteuert vorgenommen. Für den vollständigen modellbasierten Entwurf der Automatisierung der Mischstation, dessen Visua-lisierung sowie der Modellierung des HMI mittels Apps des App Designers von MATLAB/ Simulink® wird ein vollständiger Model in the Loop (MIL)-Test in Realzeit zur Verifikation des Gesamtsystems durchgeführt, der hier den Schwerpunkt darstellt. Durch den auf einem deutlich höheren Abstraktionsniveau durchgeführten modellbasierten Entwurf und den MIL-Test werden die Implementierungs- und Inbetriebnahmephase minimal. Abschließend werden die wesentlichen Vorteile des modellbasierten Entwurfs behandelt und ein Aus-blick gegeben.

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In a world with high energy cost, the efficiency of motors becomes increasingly important. Thereby, the understanding of loss mechanics is of great significance and having accurate simulation models for the efficiency of motors is crucial.    Bosch Rexroth Mellansel has developed a new radial piston hydraulic motor with high power, capable of operating at high torque and speed. In this master thesis the newly developed motor will be examined and undergo a lab test to determine its efficiency. The results from this will then be used to improve the current simulation model and aim for a physical model that align with the efficiency results. Furthermore, the loss mechanics of the motor is important and will be studied during this thesis. The loss mechanics in a motor can be split into two parts, hydro-mechanical and volumetric losses. Hydro-mechanical losses refer to the losses due to both friction and hydraulic flow. The losses in the fluid flow are in turn divided into two parts, the major losses and the minor losses which are the friction losses in the fluid and the losses due to geometric changes in the channels respectively. The volumetric losses are on the other hand the losses from internal and external leakage of the hydraulic fluid, and compression flow which is the extra flow that occurs when the fluid changes density.  In order to determine efficiency values from a radial piston hydraulic motor, a test specification was written containing the information needed to perform the test, including two different methods, the pressure and torque method, and the sensors needed to measure the different parameters. For the hydro-mechanical efficiency the uncertainty is 0.1% for the pressure method and 0.15% for the torque method. The test was performed for several different rotational speeds and different pressure points. An improved model was developed from the test results by testing and optimization, and it was found that having the losses due to geometric changes in the channels, depend on Reynolds number agreed better with the test result. However, the improved simulation model does not align as well with the test result for all measured points. Hence a further investigation on the friction model and the dependence on pressure might improve the model further. However, it was found that for a specific sub test, the new model had a mean difference from the pressure method test result of 10^-3. While the mean difference for the unaltered simulation model was 10^-2, hence the new simulation model is an improvement. Therefore, the outcome of this master thesis is an improved simulation model for the newly developed radial piston hydraulic motor QMp 560-560 but also for future motors to come.