Quantity and intricacy of features implemented in vehicle have expanded rapidly over a past few years. Currently vision of autonomous vehicle is no longer a dream or SF movie, but instead a coming reality. In order to reach the better quality and high safety, advanced verification techniques are required. Simulink Design Verifier is a model checking tool based on formal verification, which can be effectively used to solve problems concerning error detection and testing at earlier stages of project. The transformation of requirements written in traditional form into Simulink Design Verifier objectives can be time consuming as well as requiring knowledge of system model and the verification tools. In order to reduce time consumption and to guide a user through the system model and the verification tool, the semi-automated framework has been developed. An implementation of restricted English grammar patterns into Simulink objects supports description of patterns to engineers and reduces time consumption. The developed framework is flexible and intuitive hence can be a solution for other branches of industry, but further tests and verification would be required. This thesis highlights the whole process of transformation system requirements written in natural language into Simulink Design Verifier objectives. The Fuel Level Display System model currently used by almost all Scania’s vehicles is analysed. Limitations and errors encountered during development process like a flexibility of Simulink Design Verifier to capture requirements and the patterns behaviour or ambiguity of system requirements are analysed and described in this thesis.

This thesis focuses on a user-friendly software-defined radio (SDR) development workflow for prototyping, research and education in wireless communications and networks. Specifically, a Simulink interface to the Universal Software Radio Peripheral 2(USRP2) SDR platform is devised in order to enable over-the-air data transmission and reception using a Simulink signal source and sink, in addition to controlling a subset of the hardware resources of the USRP2 platform. Using the USRP2 as the RF front end, this interface will use Simulink for software radio development and signal processing libraries of the digital baseband component of the communication transceiver design. This combination of hardware and software will enable the rapid design, implementation, and verification of digital communications systems in simulation, while allowing the user to easily test the system with near real time over-the-air transmission. The use of Simulink and MATLAB for communication transceiver development will provide streaming access to the USRP2 without the steep learning curve associated with current workflows. These widely available software packages and the USRP2 will make digital communication system prototyping both affordable yet highly versatile, enabling researchers and industry engineers to conduct studies into new wireless communications and networking architectures including cognitive radio. Furthermore, the interface will allow users to become familiar with tools used in industry while learning communications and networking concepts.

In this report a model of a road roller is created to simulate its velocity for different joystick signals. The model will also simulate the pressure that occurs in the road rollers hydraulic system when it is driven in different velocitys and gears. In this project a program that is called Simulink is used to model the road roller. Diffrent sub-models are derived concerning velocity and the pressure in the hydraulic system which later is used to form the model of the road roller. / I denna rapport tas en modell fram över en vält för att simulera vältens hastighet för olika körspaks utslag. Dessutom simulerar modellen det tryck som skapas i vältens hydrauliska system vid olika hastigheter och växlar. I projektet används programmet Simulink för att ta fram en simulerings modell över välten. Olika delmodeller relaterade till vältens hastighet samt trycket i det hydrauliska systemet som sedan används till att bilda modellen av välten.

The performance of an electric utility vehicle is very dependent on how it is used. The range can decrease significantly if there are many uphill along the route and if the vehicle carry a heavy load. The most important is that the vehicle never stops because lack of energy or power. The purpose of this thesis was to study how performance of the electric utility vehicle Nimbell Trigo were affected, depending on route, drive pattern and load. To study the performance, the parameters: battery current, state of charge and speed were analyzed. To analyze these parameters, a dynamic model of the vehicle has been created with Simulink. The model is based on physical relations and vehicle data. With the specifications for the vehicle and the force acting on it, energy consumption, battery current and power demand have been calculated with the Simulink model for specific routes and drive patterns. To validate the mode, three different routes were driven with Nimbell Trigo in Gothenburg and a simulation of the same routes and drive patterns were made with the Simulink model. The result from the validation shows that the dynamic model can predict the parameters of interest well, particularly the state of charge. The Simulink model can in the future be a time and cost efficient way, to analyze the performance of Nimbell Trigo and thereby replace test drives in an initial phase. / Marknaden för elektriska arbetsfordon har ökat de senaste åren i takt med dels ökade krav på miljövänliga alternativ, dels framsteg inom batteritekniken. Akilleshälen för de elektriska fordonen som grupp har varit energilagringen i batterierna. Erfordrad batteri- och motorstorlek är starkt kopplat till användningen av fordonet. Vid körningar med långa uppförsbackar samt tung last, förkortas räckvidden markant. Vid för höga belastningar på fordonet minskar maximala hastigheten och i längden kan motorn överhettas. För användaren är det av stor vikt att fordonet inte blir stillastående för att effekten eller energin inte räcker till. Syftet med detta examensarbete var att utreda hur det elektriska arbetsfordonet Nimbell Trigo presterar för olika rutter och körmönster, med en given last. För att utreda prestandan av fordonet skapades därför en dynamisk modell av Nimbell Trigo i det dynamiska simuleringsverktyget Simulink. De parametrar som valdes att studera var batterinivå som är kopplat till energin, batteriströmmen som är relaterad till effekten och i sin tur påverkar batterinivån, samt hastigheten som kan indikera när effekten inte räcker till. Med den dynamiska modellen kan effektbehov och energikonsumtion för en given sträcka beräknas på förhand. Fordonets hastighet, acceleration samt backtagningsförmåga erhålls för olika situationer från simuleringen. Dessa parametrar kan därmed studeras med avseende på olika motoralternativ genom att ange moment- och verkningsgradskurvan för motorn. Den dynamiska modellen validerades med testkörningar där Nimbell Trigo kördes en viss rutt med ett givet körmönster och last. Motorfrekvens, batteriström och batterinivå uppmättes. Dessa parametrar simulerades i modellen för samma rutt och körmönster. Mätvärdena från testkörningarna plottades mot de värden som erhölls från simuleringen. Resultatet visar att den dynamiska modellen som skapades stämmer bra överens mot uppmätta testdata. Den dynamiska modellen kan i framtiden komma att användas, för att på ett kostnads- och tidseffektivt sätt ersätta testkörningar i initiala studier av olika drivlinor och batterier.

Thesis (Masters Degree(Chemical Engineering))--Cape Peninsula University of Technology, 2008 / ABSTRACT Carbon-in-pulp (CIP) technology is firmly entrenched in the mining sector due to numerous advances in the last few decades. CIP technology recovers complexed gold in solution from slurry streams by contacting the pulp with carbon and separating the two by screening. The carbon-in-leach (CIL) process, where the pulp contains free cyanide, is closely related to CIP. Both these processes, especially CIL, are complex and are governed by a number of interacting unit processes. The overall process efficiency is dependant on a large number of variables, making the process difficult to optimize. This study uses simple adsorption and leaching rate equations in order to predict dynamic CIL/CIP plant performance under varying operating conditions. This will assist plant metallurgists to achieve optimum efficiency, highlight plant sensitivity to certain variables and will ultimately result in proactive process control. Various assumptions were made in order to keep the modeling considerations as simple and realistic as possible. The process was assumed to have linear kinetic and equilibrium operation. The process was simulated using Simulink in Matlab. Variables are solved on a time step basis by Matlab’s built in optimization algorithms. Simulation results illustrated that the use of simple leaching and adsorption rate expressions are effective for investigating dynamic plant behavior under changing operating conditions.

This work deals with automatic generation of hybrid dynamics of bipedal robot in Matlab symbolic toolbox. Next goal is to provide linearisation of nonlinear model and achieve optimal state space controller. Work implements object model generator and simulator based on core of Matlab Simulink and visualisation of the results in user friendly GUI.

The thesis investigates control system integration in ADAMS and the thesis presents appropriate knowledge related to the topic as multi body system, acting forces between road and wheels, equation of motion regarding to the haulers, traction control system and differential locks. The emphasis of the thesis is to implement and test the automatic traction control (ATC) for the hauler into ADAMS and Simulink models. The ATC models are based on certain requirements provided by Volvo Construction Equipment. As expected, results indicate that the ATC model operates during simulation for various road conditions. Nevertheless, the ATC model includes a few defects which are observed in results. The significant achievement of the thesis is a great collaboration between ADAMS and Simulink model.

<p>At the Division for Electricity at Uppsala University a new marine substation for waveenergy is being built. The marine substation is required to connect the wave energyconverters to the grid. In this thesis a part of the main circuit for the marinesubstation is assembled and tested. Furthermore, a part of the measurement system isdesigned and a prototype is built and evaluated. The test results from the set-up ofthe main circuit agree well with simulations done in MATLAB Simulink. A detailed listof components combined with a finished CAM-model for a measurement card arepresented along with interface cards and shielding solutions.</p>

At the Division for Electricity at Uppsala University a new marine substation for waveenergy is being built. The marine substation is required to connect the wave energyconverters to the grid. In this thesis a part of the main circuit for the marinesubstation is assembled and tested. Furthermore, a part of the measurement system isdesigned and a prototype is built and evaluated. The test results from the set-up ofthe main circuit agree well with simulations done in MATLAB Simulink. A detailed listof components combined with a finished CAM-model for a measurement card arepresented along with interface cards and shielding solutions.

PhD Thesis (Software Engineering) / Model-Based Development (MBD) is an approach that uses software models to describe the behaviour of embedded software and cyber-physical systems. MBD has become an increasingly prevalent paradigm, with Simulink by MathWorks being the most widely used MBD platform for control software. Unlike textual programming languages, visual languages for MBD such as Simulink use block diagrams as their syntax. Thus, some software engineering principles created for textual languages are not easily adapted to this graphical notation or have not yet been supported. A software engineering principle that is not readily supported in Simulink is the modularization of systems using information hiding. As with all software artifacts, Simulink models must be constantly maintained and are subject to evolution over their lifetime. This principle hides likely changes, thus enabling the design to be robust with respect to future changes. In this thesis, we perform repository mining on an industry change management system of Simulink models to understand how they are likely to change. Then, we explore the various modelling mechanisms available in the Simulink language to see how they could support modular design with information hiding. Next, we propose a module structure, syntactic interface, and modelling conventions for Simulink designs, which are supported by our open-source Simulink Module Tool. Finally, we apply the proposed techniques on case studies from the aerospace and nuclear domains, in order to demonstrate their practicality and validate their effectiveness. Overall, the approach helped support information hiding by encapsulating secrets and facilitating likely changes. It also had a positive effect on interface complexity, cohesion, and coupling. The larger system also exhibited reductions to cyclomatic complexity, testing effort, and execution time, but the smaller case study benefited less in these areas. / Thesis / Doctor of Philosophy (PhD)