Today’s society is facing a large increase of automation and smart devices. Everything from coffee machines to fridges include some kind of electronics and embedded systems. The focus of this Bachelor’s thesis was to dive deeper into how these automated devices can be controlled and more specifically a robot arm. The main purpose revolved around constructing a robotic arm that could be controlled through three different methods using MATLAB. These three were manual control, numerical analysis control and with a neural network based control. The prototype was created by assembling six servo motors onto 3D-printed parts. The arm consisted of three main parts which were a base, an arm and a gripper. The system was controlled by an Arduino micro-controller connected to a computer. The results show that the manual control method was easy to implement, fast and reliable. It allows control of all the angels for each servo motor, which also means controlling each individual degree of freedom. The numerical way, using Newton-Raphson’s method, broadened the abilities to control the arm but was slower. The third and final solution was to use fuzzy-logic. This ended up being a powerful method allowing for great control with low latency. While unreliable, the method showed great potential and with refinement could surpass the others. The conclusion was that the neural network method was the overall best method for controlling and manoeuvring the robot arm using MATLAB. / Dagens samhälle står inför en stor ökning av automatisering och smarta produkter. Allt från kaffemaskiner till kyl och frys innehåller någon form av elektronik och inbäddade system. Det huvudsakliga syftet med detta kanditatexamensarbete var att gräva djupare i hur dessa automatiserade produkter kan kontrolleras och mer specifikt i detta fall, en robotarm. Projektet handlade om att konstruera en robotarm som kunde styras och kontrolleras genom tre olika metoder i programmet MATLAB. Dessa tre har vi valt att kalla manuell kontroll, numerisk kontroll och neuralt nätverksbaserad kontroll. Prototypen tillverkades genom att montera sexservomotorer på 3D-utskrivna delar. Armen bestod av tre huvuddelar, en bas, en arm och en gripklo. Systemet styrdes av en Arduino mikrokontroll ansluten till en dator. Resultaten visar att den manuella kontrollmetoden var enkel att implementera, snabb samt var tillförlitlig. Den gav precis styrning av alla vinklar för varje servomotor, vilket också innebar att den gav god styrning av varje frihetsgrad. Den numeriska metoden, mer bestämt Newton Raphson’s metod, vidgade möjligheterna att kontrollera armen men var långsammare. Den tredje och sista lösningen var att använda ett neuralt nätverk, fuzzy logic. Detta visade sig vara ett kraftfullt sätt att styra roboten med låg latens. Det neurala nätverket visade sig dock vara opålitligt, men metoden visade stor potential för vidare utveckling och kan då prestera mycket bättre än de andra två metoderna. Slutsatsen var att det neurala nätverket var den generellt bästa metoden för att kontrollera och manövrera robotarmen via programmeringsprogrammet MATLAB.

In modern forestry, two types of machines are generally used for thinning, harvesters and forwarders. These machines are large and weigh several tens of tons, this means that they damage the ground when they drive around in the woods. AirForestry is a startup company that focuses on manufacturing lightweight and electric forest machines that will do much less damage due to the lower weight. As their ambition is to develop an all-electric harvester, high efficiency in the work process is required to be competitive. The purpose of this thesis was to find which factors affect the debranching process and to find what approximate effect the harvester head's drive motors would need to have to achieve a stable debranching process. If the results of the research were successful, a new knife design would be developed for thinning. The work carried out began with a planning report which included introduction, literature study and method was written. The method chosen was to first develop a test rig to be able to measure what amount of work and what maximum impact force a single branch would need to be cut. Afterwards a study of branches and their distribution on trees in the thinning phase were conducted. The branch distribution and the data from the test rig, would make it possible to estimate the energy required to cut down a tree. Impact forces along the tree provide an opportunity to not only estimate the life cycle of the knives but also an analysis of how the remaining units hold. The branching process was assumed to be affected by both the design of the knives and which branches are present and how these are placed. The literature study showed that frozen wood gives higher forces when sheared, so it was investigated as well. The test rig was designed as a guillotine to make it easy to manufacture and due to potential energy being the only source of energy to power the rig. The work of cutting a branch was measured with a high-speed camera and the maximum impact force was measured with an accelerometer. Different knife designs were tested together with different angles and branch types. All variables tested in the rig were performed on several different branch diameters. The study of branch distribution along the tree was done on trees that were considered to be in the thinning stage and all branches with a diameter greater than 5 mm were noted together with distance and whether it was dead or not. The test rig's test data were later used in a multiple linear regression to determine if a variable effect of not. The regression was then used to estimate the power required to debranch a pine to be 3.1 kW and 6.6 kW for a spruce. Only the diameter of the branches and the tree sort could be proven to have a statistically significant effect on both the work required and the maximum impact force. / I det moderna skogsbruket används i regel två maskintyper vid gallring, skördare och skotare. Dessa maskiner är stora och väger flera tiotals ton vilket gör att de skadar marken när de kör ute i skog och mark. AirForestry är ett startupbolag som riktar in sig på att tillverka lättviktiga och elektriska skogsmaskiner som ska göra mycket mindre skada på grund av deras lägre vikt. Då deras ambition är att utveckla en helelektrisk skördare, krävs en energieffektiv process för att kunna vara konkurrenskraftiga. Målet med detta arbete var att hitta vilka faktorer som påverkar avgreningsprocessen samt hitta vilken ungefärlig effekt skördaraggregatets drivmotorer skulle behöva ha för att uppnå en stabil avgrening. Om resultatet av forskningen var lyckat skulle en ny knivdesign tas fram anpassad för gallring. Arbetet som utfördes började med en planeringsrapport där introduktion, litteraturstudie och metod skrevs. Metoden som valdes var att först utveckla en testrigg för att kunna mäta vilket arbete och vilken maximal slagkraft en gren skulle behöva för att kapas. En studie av grenar och dess distribution på träd i gallringsfasen skulle tillsammans med data från testriggen göra att energin som krävs att ta ner ett träd kan uppskattas. Slagkrafter längs med trädet ger en möjlighet att inte bara uppskatta knivarnas livscykel utan även en analys på hur resterande aggregat håller. Avgreningsprocessen antogs påverkas av både knivarnas design och vilka grenar som finns samt hur dessa är placerade. Litteraturstudien visade på att fryst trä ger högre krafter vid skjuvning, därför undersöktes det med. Testriggen konstruerades som en giljotin för att göra den enkel att tillverka och för att endast potentiell energi används för att driva riggen. Arbetet för att kapa en kvist mättes med höghastighetskamera och maximal slagkraft mättes med en accelerometer. Olika knivdesigner testades tillsammans med olika infallsvinklar och grentyper. Alla variabler som testades i riggen utfördes på flera olika kvistdiametrar. Studien av grenars distribution längs med trädet gjordes på träd som ansågs vara i gallringsstadiet och alla grenar med diameter större än 5 mm noterades tillsammans med avstånd och om den var död eller ej. Testriggens testdata användes senare i en multipel linjär regression för att kunna bestämma vilka variabler som påverkar. Regressionen användes sedan till att uppskatta effekt som krävs till 3.1 kW för en tall och 6.6 kW för en gran. Endast grenarnas diameter och trädsort kunde med statistik säkerställas påverka både arbetet som krävs samt maximala slagkraften.

The Hemispherical Resonating Gyroscope (HRG) is an inertial sensor, flagship of Safran’s industry. When exiting the assembly line, it has its own physical flaws. In order to identify and correct them, operators perform several tests on the sensor: this process corresponds to the calibration step of the sensors. The latter is done by a Matlab calibration bench, which allows to calculate compensation polynomial functions, which are then included in the algorithms of the sensor’s implementation card. However, the link between the calculated functions and the sensor’s flaws is not obvious and therefore, it is impossible to check their truthfulness without further verification. In this document, an interfacing method between a calibration bench and a virtual HRG, modeled in Simulink, has been described. After presenting the sensor’s capabilities, several interfacing methods are discussed, before keeping the more dynamical one, based on object oriented programming and the implementation of a time continuity between Simulink data recordings. Such interfacing allows for the simulation of the behavior of a gyroscope during calibration, and the comparison of these results to the ones obtained on real sensors. This comparison highlighted a certain consistency between the results and also several flaws caused by the interfacing. Particularly, the fact that the signal discretization has a significant impact on the errors. Moreover, one can notice that the simulation time is significantly longer than the calibration time and suggests that the interfacing time may require optimization of its efficiency. / HRG är en tröghetssensor som är flaggskeppet inom Safrans industri. När sensorn lämnar monteringslinjen är den inte felfri. För att identifiera och kompensera för dessa fel utför operatörerna flera tester på sensorn, i flera olika kalibreringssteg. De senare görs med hjälp av en Matlab-kalibreringsbänk, som gör det möjligt att beräkna kompensationspolynomfunktioner, som sedan implementeras i algoritmerna på sensorns implementeringskort. Kopplingen mellan de beräknade funktionerna och sensorns fel är dock inte uppenbar och därför är det omöjligt att kontrollera deras noggrannhet utan ytterligare kontroller. I detta dokument beskrivs en gränssnittsmetod mellan en kalibreringsbänk och en virtuell HRG, modellerad i Simulink. Efter att ha presenterat sensorns funktion har flera gränssnittsmetoder studerats, innan man valde den mer dynamiska, baserad på objektorienterad programmering och implementeringen av en tidskontinuitet mellan Simulinkdatainspelningar. Ett sådant gränssnitt gjorde det möjligt att få vissa resultat som simulerar gyroskopets beteende under en kalibrering och att jämföra dessa resultat med dem som erhållits på verkliga sensorer. Jämförelsen visade på en viss överensstämmelse mellan resultaten, men också på flera brister som orsakats av gränssnittet. I synnerhet det faktum att signaldiskretiseringen har en betydande inverkan på felen. Dessutom kan man notera att simuleringstiden är mycket längre än kalibreringstiden och leder till tanken att det finns sätt att förbättra gränssnittet för att göra det mer tidseffektivt.

Mit Hilfe der Matlab/ADAMS-Co-Simulation wird ein ebenes Koppelgetriebe (5- Gelenk) untersucht und anschließend die Wirkpaarung mit einem Stückgut betrachtet. Dabei werden verschiedene Modellierungsstufen angewendet und die Simulationsergebnisse Messergebnissen vom Versuchsstand gegenübergestellt. Daneben wird die grundlegende Herangehensweise beim Einsatz dieser Simulationswerkzeuge erläutert.

This thesis deals with balancing of rotary machines in one plane. It is divided into a theoretical part and a practical part. The theoretical part is deals with the basics of vibrostatics and operational balancing, with emphasis on the evaluation of machine vibration. The practical part deals with SW solution in Matlab environment. It explains the functionality of individual parts, their arrangement, connection and mutual continuity, and layout of the program. The programmed solution is tested on a series of measurements in which the balancing itself is evalated and compared with the classical method used in balancing rotary machines in one plane.

The YellowCar at the professorship of computer engineering of TU Chemnitz is a demonstration vehicle. The car is equipped with multiple networked Electronic Control Unit (ECU)s. There are regular software and hardware updates. Before introduction of any new update, it is essential to test the behavior of the car. This can be done through simulation. Since the majority of the ECU in YellowCar are AUTOSAR based, several AUTOSAR simulation tools can be used to do so. However non-AUTOSAR ECU applications can still not be simulated in these tools. Moreover simulating with such tools need the whole application to be implemented and also very expensive. Simulink is one of the most powerful tools for the purpose of Model-in-the-Loop (MIL) testing which is a popular strategy in the embedded world. The scope of this Master thesis is analyzing the YellowCar and its architecture to develop a dynamic Simulink architectural model that can be modified and extended to facilitate future updates. The outcome of this thesis is an implementation of a model for the YellowCar which allows both AUTOSAR and non-AUTOSAR ECUs to be simulated as one system. Also the model supports extension by easy addition of new modules like ECU or sensor through a graphical user interface.

This master thesis has been done in the field of Advanced Driver Assistance Systems and presents a method to assist cross traffic at road junctions. An accurate tracking of crossing objects is necessary in order to assist traffic at road junctions. At Continental, the stable tracking of crossing objects is available, but the system still gives false alarms for non-colliding objects (e.g. Target Braking at crossroads). Hence the main focus of this thesis is on the reduction of false alarms for non colliding objects. Radar based Maneuver Detection function has been developed for Crossing Emergency Brake Assist system, which uses radar measurement parameters to detect the maneuvering of target objects in order to differentiate between collision and non-collision cases. Different crossing scenarios have been created in a Matlab environment and the algorithm is tested. Secondly, the algorithm is tested by using the measurement data from real recordings and evaluation is made. The proposed algorithm has reliably detected the non-collided objects (in normal cases) and helped in reducing the false alarm rate significantly.

Mit Hilfe der Matlab/ADAMS-Co-Simulation wird ein ebenes Koppelgetriebe (5- Gelenk) untersucht und anschließend die Wirkpaarung mit einem Stückgut betrachtet. Dabei werden verschiedene Modellierungsstufen angewendet und die Simulationsergebnisse Messergebnissen vom Versuchsstand gegenübergestellt. Daneben wird die grundlegende Herangehensweise beim Einsatz dieser Simulationswerkzeuge erläutert.

Transportation is one of the areas where Sweden could not yet manage to reduce the CO2 emissions. One solution that has been suggested to reduce the CO2 emissions in this sector is through the mass adoption of electric vehicles (EVs). However, mass EV adoption brings complications with it. Drivers behavior is a critical aspect since people often charge their car at home after work. This could negatively affect the evening load peak and thus cause a high impact on the electricity system. A survey was sent out to current private EV owners in Sweden, to learn about their charging schedules, driving patterns and battery capacity. 226 of 403 replied to the survey which gave a survey reply rate of 56 %. The goal of this work was to estimate the future adoption of EVs, based on the current trends and national targets in order to develop different scenarios. With the scenarios in mind, the projected consumption of EVs for different periods of the day, the magnitude and time of the peak load as well as the overall consumption and CO2 reduction per year were calculated. Three scenarios were analyzed with 96 000, 650 000 and 1 000 000 electric vehicles where 25 % are defined to be running entirely on electricity in the middle and high penetration scenario since even plug-in hybrid electric vehicles, PHEV where included. The scenarios are estimated as the possible situation in 2030 and a simulation is done in MATLAB for summer and winter cases as well as weekdays and weekends. Results showed that the charging pattern of the EV drivers would cause a peak load at around 20.00 where the peak load from the overall household consumptions also takes place. The highest consumption takes place during the weekend cases but there were no significant difference between summer and winter. For example the peak consumption of the EVs was 150 MWh during winter and weekends at 20.00. The annual consumption of the EVs would be 238 GWh, 342 GWh and 616 GWh for the low, middle and high penetration scenario. By analyzing the current installed power of renewable energy sources in Sweden, it was found that the demand for EVs could be met by renewables entirely today. It was also found that using EVs instead of conventional fossil fueled cars can save up to 264 Mton CO2 for the low penetration scenario, 447 Mton for the middle penetration scenario and 688 Mton for the high penetration scenario. Different assumptions could have caused deviation from the actual result and it was found during the implementation of the simulation that the survey questions could be improved for future surveys. It was concluded that mass adoption of EVs is possible in terms of electricity production and installed power. However, increase in the evening peak led to the conclusion that balancing of the grid is necessary for example through Vehicle-to-grid (V2G), controlled charging or energy storage. Keywords: MATLAB, electricity consumption, EV, CO2 emissions, simulation, 2030, Scenario, penetration level

Published Article / Automatic guided vehicles are being used increasingly in a manufacturing environment. Developing a platform that could be easily reconfigured is perhaps a desirable option for a user with low capacity outputs. The research described in this article concentrates on such a vehicle and the development of the actuators and sensors for navigation and proper functionality.