<p>As a part of ongoing research projects at University West in the area of robot welding applications, a study was looked-for in the field of feedback control of robot systems with external sensors. A literature survey was performed in this field. A virtual instrument was developed in a PC using the LabView software from National Instruments. The instrument receives a signal from a force sensor, converts the input data and sends out the computed signal on a configured serial port. This information is then received by the robot system to be used to control the robot trajectory. The system was tested and it showed that external closed loop control of robot movement was possible to do. Problems with high delay time in the ABB IRB2400 robot system limits the bandwidth or the speed of the closed loop system. This delay time is caused by the intrinsic offset function that is needed to change robot path during motion. This function requires a great computational cost. The conclusion is that ABB IRB2400 robots, with the S4 controller, are limited for applications with low bandwidth because of their motion computation program structure. It does not allow for external feedback applications that require higher robot movement speeds.</p>

As a part of ongoing research projects at University West in the area of robot welding applications, a study was looked-for in the field of feedback control of robot systems with external sensors. A literature survey was performed in this field. A virtual instrument was developed in a PC using the LabView software from National Instruments. The instrument receives a signal from a force sensor, converts the input data and sends out the computed signal on a configured serial port. This information is then received by the robot system to be used to control the robot trajectory. The system was tested and it showed that external closed loop control of robot movement was possible to do. Problems with high delay time in the ABB IRB2400 robot system limits the bandwidth or the speed of the closed loop system. This delay time is caused by the intrinsic offset function that is needed to change robot path during motion. This function requires a great computational cost. The conclusion is that ABB IRB2400 robots, with the S4 controller, are limited for applications with low bandwidth because of their motion computation program structure. It does not allow for external feedback applications that require higher robot movement speeds.

Com o advento da crise do petróleo na década de 70, os motores, que antes eram calibrados para fornecer máximos torque e potência, após a crise passaram a ser calibrados de forma a fornecer consumo específico e emissões mínimos. A partir de então os motores passaram a ser ensaiados em bancadas dinamométricas que possuíam módulo para medição de emissões e que simulavam condições mais reais de tráfego, segundo um ciclo de ensaios preestabelecido. Este trabalho contém um levantamento bibliográfico sobre o instrumental, metodologias e procedimentos utilizados nos ensaios dinamométricos permanentes e dinâmicos e propõe a implementação de uma metodologia para realização de ensaios em tempo real controlado por computador. Traz também os resultados experimentais relativos à parte da metodologia que foi implementada. / With the advent of petroleum crisis in the 70\'s, engines, previously calibrated in order to supply maximum momentum and power, after the crisis they started being calibrated to supply minimum specific consumption and emissions. After this, engines started being tested in dynamometric benches equipped with emission measure modules and that simulate traffic conditions closer to reality, according to a prior emissions cycle. This work contain a bibliographic survey about instruments, methodologies and procedures used in the steady-state and dynamic dynamometric tests and proposes the implementation of a methodology to perform real time tests controlled computationally. It brings too experimental results related to the implemented methodology.

Com o advento da crise do petróleo na década de 70, os motores, que antes eram calibrados para fornecer máximos torque e potência, após a crise passaram a ser calibrados de forma a fornecer consumo específico e emissões mínimos. A partir de então os motores passaram a ser ensaiados em bancadas dinamométricas que possuíam módulo para medição de emissões e que simulavam condições mais reais de tráfego, segundo um ciclo de ensaios preestabelecido. Este trabalho contém um levantamento bibliográfico sobre o instrumental, metodologias e procedimentos utilizados nos ensaios dinamométricos permanentes e dinâmicos e propõe a implementação de uma metodologia para realização de ensaios em tempo real controlado por computador. Traz também os resultados experimentais relativos à parte da metodologia que foi implementada. / With the advent of petroleum crisis in the 70\'s, engines, previously calibrated in order to supply maximum momentum and power, after the crisis they started being calibrated to supply minimum specific consumption and emissions. After this, engines started being tested in dynamometric benches equipped with emission measure modules and that simulate traffic conditions closer to reality, according to a prior emissions cycle. This work contain a bibliographic survey about instruments, methodologies and procedures used in the steady-state and dynamic dynamometric tests and proposes the implementation of a methodology to perform real time tests controlled computationally. It brings too experimental results related to the implemented methodology.

No description available.

<p>Rapid Granulator is one of the world's largest producers of granulators, which is a kind of grinder</p><p>who grinds discarded plastics to granules which later can be reused when pressure molding plastics.</p><p>The company wanted help in developing a new, or alternatively extending their previous,</p><p>measurement equipment. The old equipment was hard to use, required changes in the code for</p><p>different measurement scenarios and had a limited array of measuring quantities. Rapid had an idea</p><p>of a similar concept only with a greater number of input ports, better range of applicable sensors and</p><p>an advanced yet easy to use interface. The system is supposed to be placed at Rapid's test department</p><p>where it will be used as a tool for finding faults and provide data which can be used for further</p><p>development of the granulators.</p><p>The project's members accepted the task and immediately began searching for suitable components</p><p>for the system. After the search was completed a list of costs, limitations, sensors, I/O's and</p><p>development environment was presented to Rapid's staff. In consultation with their staff some</p><p>components were ordered, and the development team was asked to keep the system open for future</p><p>upgrades.</p><p>Some difficulties arose when shipment times which were promised to four weeks actually took six</p><p>weeks. In the mean time the chassis of the measurement cart were constructed. One working day was</p><p>spent at Rapid's workshop to assemble the cabinets with the rack and the wheelbase.</p><p>LabVIEW arrived first and quite a lot of time was spent on getting acquainted to the program. When</p><p>the parcel containing all the electronic material arrived, everything was mounted and the final stage</p><p>involving programming and testing of the sensors and the measurement cart could commence.</p><p>Tests with accelerometer, strain gauges and PT-100 showed that the measurement unit worked. The</p><p>sampled data acquired from the cart were compared to measurements made with calibrated</p><p>instruments.</p>

Mätningar på elektronisk utrustning kommer alltid spela en central roll för att kunna utvärdera och bedöma funktionen samt prestandan hos det aktuella mätobjektet. För att kunna göra jämförelser mellan olika mätningar, om de t.ex. sker vid olika tidpunkter eller på olika produkter, är det en nödvändighet att mätningarna utförs på samma sätt gång efter gång. Att erbjuda just dessa möjligheter är vad som önskas uppnå i detta examensarbete.

This report describes how to process audio signals in real time with a digital signalprocessor. The digital signal processor used in the thesis and described in the reportare the Blackfin processor ADSP-BF537 from Analog Devices. In the body of this report there is theory of the processor characteristics and thevarious programming languages used. All experiments that were made on theprocessor are described, these descriptions also help in understanding the annexeswhere the experiments will be presented. The body of this report also describes theprogram used to do experiments. Testing the CPU limit was done and the results arepresented to get a good view of what it can handle. The tests were ruling the use forwhich the processor will be used in the course of signal processing. A Introductionlaboration going through settings on the processor and a simple signal processingapplications is described. The guide is also attached to the end of the report (seeAnnex 1 for Introduktionslaboration i LabVIEW, page 20). Implementation of the labare done with both LabVIEW and Matlab on the processor. This was tested to seewhich program was most appropriate to use. The pros and cons of both programsare described. The final section of the report mentioned observations of the problems encounteredand suggestions for how to proceed in the future. Options other than the processorused in this thesis are mentioned and described. References to information sourceson the Internet were information was gathered and used to program the processor isindicated. Finally the report ends with appendices, where each step is described in theexperiments that was implemented on the processor. Even more specific informationabout how everything will be implemented in the programs are described and theadvantages and disadvantages they have.

Sleep scoring involves classification of polysomnographic data into the various sleep stages as defined by Retschaffen and Kales. This process is time-consuming and laborious as it involves experts visually scoring the data. During recent years, there has been an increasing focus on automated sleep scoring systems and professional software programs are finding increased use. However, these systems are not relied on for scoring and are often used as a tool that facilitates easy visual scoring. This thesis proposes a neural network based approach to automatic sleep scoring using LabVIEW. Effort has been made to give the sleep expert more control over key parameters such as the frequency bands, and thus come up with scores that are more in agreement with the individual scorer than being a rigid interpretation of the R&K rules. Though this thesis is limited to the development of an offline software program, given the data acquisition facilites in LabVIEW, a complete system from data acquisition to sleep hypnograms is a fair possibility.

Rapid Granulator is one of the world's largest producers of granulators, which is a kind of grinder who grinds discarded plastics to granules which later can be reused when pressure molding plastics. The company wanted help in developing a new, or alternatively extending their previous, measurement equipment. The old equipment was hard to use, required changes in the code for different measurement scenarios and had a limited array of measuring quantities. Rapid had an idea of a similar concept only with a greater number of input ports, better range of applicable sensors and an advanced yet easy to use interface. The system is supposed to be placed at Rapid's test department where it will be used as a tool for finding faults and provide data which can be used for further development of the granulators. The project's members accepted the task and immediately began searching for suitable components for the system. After the search was completed a list of costs, limitations, sensors, I/O's and development environment was presented to Rapid's staff. In consultation with their staff some components were ordered, and the development team was asked to keep the system open for future upgrades. Some difficulties arose when shipment times which were promised to four weeks actually took six weeks. In the mean time the chassis of the measurement cart were constructed. One working day was spent at Rapid's workshop to assemble the cabinets with the rack and the wheelbase. LabVIEW arrived first and quite a lot of time was spent on getting acquainted to the program. When the parcel containing all the electronic material arrived, everything was mounted and the final stage involving programming and testing of the sensors and the measurement cart could commence. Tests with accelerometer, strain gauges and PT-100 showed that the measurement unit worked. The sampled data acquired from the cart were compared to measurements made with calibrated instruments.