Volvo Human Monitoring (VHM) is an ongoing project at Volvo Cars where they measure, amongst other parameters, inhalation and exhalation through a device called Respiratory Inductance Plethysmograph (RIP), on drivers. RIP measures changes in the cross-sectional area of the chest and abdomen. When the driver is in motion, such as when she is turning the vehicle, the cross-sectional area changes and noise in the RIP signal may arise.The noise results in a large number of manual adjustments in the analysis of the RIP signal, which is very time consuming and the validity of the device for measuring inhalation and exhalation is questioned.The purpose of this study was to improve the efficiency of the analysis of the RIP signal. The goal was to create a new data processing tool in Matlab that automatically detects inhalation and exhalation from a RIP signal with higher validity compared to the previous data processing tool.In this study, nine tests were performed on drivers while they were driving in different scenarios such as highway, country road and in city traffic. Inhalation and exhalation was measured using a RIP, a pneumotachograph with a tightly sealed facemask and a thermocouple placed between the nose and mouth, which was used as reference to the RIP.The result of this study was a data processing tool that automatically detects inhalation and exhalation with higher validity compared to the previous data processing tool. The tool marks the sequences where the risk is high that the RIP measures inhalation and exhalation in a faulty way or removes inhalations and exhalations during these sequences, depending on the user’s preference.This study has also contributed new knowledge about an alternative device, thermocouple, for detecting inhalation and exhalation with higher validity than with the RIP while driving. / VHM

According to the study [1] several firefighters are killed in action each year. This happens naturally in various ways. One of the major factors is that firefighters often do not know how the environment looks like, for example that a building in an industrial area contains hazardous gas cylinders. Without a solution, fire-fighters will continue to die in duty. It is therefore important to solve this problem so that we can minimize the risks and save lives.The goal of this project was a control system for pneumatic artificial muscles. To demonstrate that the desired functions of pneumatic artificial muscles worked properly, we created a simple arm with three degrees of freedom, with two muscles at each degree of freedom. The work consists mainly of pneumatic muscle, valves, programming and wireless communications. The focus was on controlling the robot arm using pneumatic artificial muscles.In order to achieve the arm to move to the desired position, we used wireless communication, the transmitter and receiver, and the pneumatic artificial muscles. This includes also programming, which was created on the programming language Spin.

On some occasions it may be inappropriate with a cameraman behind the camera. In somecases there is no cameraman available or it is a smaller event, like a family celebration, to befilmed. It can also be difficult for a cameraman to shoot from certain angles. One solution forthis kind of situations can be to remotely control the camera movements. There are thosekinds of solutions on the market today but they either address professional filmmakers or thefunctionality is limited, for example by the absence of wireless remote control.This project aims to develop a solution to the problem with absence of wireless remote controland also a solution with more flexibility and less complexity than today’s solutions. The maindifference between this and existing solutions is the use of Bluetooth technology ascommunication between the devices. The project resulted in a solution consisting of twounits; one operating unit where the camera is mounted and a remote unit for control of theoperating unit. The remote unit is managed by the filmmaker. The remote unit consist of anAndroid application on a smart and which communicates with the control unit via Bluetooth.

Lansen Technology is a security company from Halmstad, Sweden and their focus in developing and selling alarm solutions. One of their latest inventions is a vibration sensor that recognizes very small movements in the ground. The thesis work was made in cooperation with Lansen Technology AB and the task was to invent a test equipment that decides whether the sensor is working correctly. By generating certain frequencies with specific amplitude, we will expect the sensor to give a similar output. The final report includes all the parts of our work as studying, choosing components, programming, construction, results and conclusion.

The purpose of the project was to develop a product that would serve as a support for the learning of Braille. Learning Braille is a time consuming process. People who have recently suffered a visual impairment have a lower sensitivity to touch than those who have been visually impaired for a longer period. According to a study [1], the learning process can lead to depression. At the same time, the technology for support systems for the visually impaired is underdeveloped. The questions examined in the project were partly about the environment’s influence on the accuracy of the instrument’s translation of Braille. Partly, if it was possible to create an instrument that can translate Braille in standard format and at the same time be a suitable aid for a user with a visual impairment. The instrument consisted of four main parts; reading surface, reading head, audio output and keyboard. The purpose of the reading surface was to place the Braille to be translated under the reading head using a stepper motor. The reading head would then interpret the letter, which would then be called out as an audio file using the audio output. All operations of the instrument would be controlled by a keyboard with three push buttons. The resulting product was promising. The analysis showed that it was fully possible to create a functioning Braille translator. However the product requires some further development in order to be used as an effective aid / Syftet med projektet var att ta fram en produkt som skulle fungera som ett stöd för inlärning av punktskrift. Personer som nyligen drabbats av en synskada har sämre känslighet för beröring än de som varit synskadade under en längre period. Enligt en studie [1] kan tidskrävande inlärningsprocessen leda till depression, samtidigt som tekniken för stödsystem åt synskadade är underutvecklad. De frågeställningar som undersöktes i projektet handlade dels om omgivningens påverkan av exaktheten av instrumentets översättning. Dels om det var möjligt att skapa ett instrument som kan översätta punktskrift i standardformat och samtidigt vara ett passande hjälpmedel för en användare med en synskada. Instrumentet bestod av fyra huvudsakliga delar; avläsningsyta, avläsningshuvud, ljudutgång samt tangentbord. Avläsningsytans syfte var att placera punktskriften som skulle översättas under anläsningshuvudet med hjälp av en stegmotor. Avläsningshuvudet skulle därefter tolka bokstaven som sedan skulle utropas som en ljudfil med hjälp av ljudutgången. Instrumentets samtliga operationer skulle styras av ett tangentbord med tre tryckknappar. Resultatet av den framtagna produkten var lovande. Undersökningarna påvisade att det var fullt möjligt att skapa en fungerande översättare. Dock krävs det en vidareutveckling för att produkten skall kunna användas som etteffektivt hjälpmedel.

En SCARA-robot som ritar kräver en hög noggrannhet och precision. Syftet med detta projekt är att skapa en robotarm som kan rita bilder som generas av en användare i ett ritprogram, armens rörelse beräknas med hjälp av inverskinematik. Projektet undersöker hur precisionssäker roboten är samt dennes snabbhet. Under projektets gång har upprepade tester gjorts för att mäta dessa egenskaper. Roboten uppnådde en hög grad av noggrannhet när den gjorde punkter på samma ställe upprepade gånger, men den har svårt att med hög precision återskapa bildens korrekta geometri, detta visas med ett test då den skall rita en cirkel. Detta kan bero på flera olika faktorer. Det mest sannolika är att det finns glapp i armarnas kuggremsdrift, när roboten gör en cirkulär rörelse så uppkommer felet när någon av armarna byter rörelseriktning. I rapporten redogörs hur roboten har konstruerats och programmerats. / A SCARA-robot that draws requires a high level of precision and accuracy. This project aims to build a three degree of freedom robot arm that uses inverse kinematics, to draw a picture that has been assigned to it. The project explores the robot’s accuracy as well as its speed. Several measurements were conducted during the project to assess the Robot Arm’s reliability. When the robot makes points in the same position several times, it achieves near-perfect precision, but it has trouble recreating the proper geometrics of the picture being drawn. It may be caused by a variety of factors, it is most likely caused by a play in the timing belt. When the robot performs a circular movement, the problem arises when one of the arms switches its direction. In this paper, the robot’s construction and programming are described.

In this master thesis the dynamics of a modern main battle tank's turret traverse and gun elevation have been modelled. The models of dynamic motion have been coupled to two different types of electric motors, namely a direct-current motor and an induction motor. These have been modelled in MATLAB and SIMULINK together with the mechanical systems in the turret traverse and gun elevation. The goal of this project was to develop non-ideal models of the combined mechanical and electrical systems, but the main focus has been the dynamics of the electric motors. / I denna examensavhandling har modeller av elektriska motorer som driver tornet samt elevation av eldröret på en stridsvagn tagits fram. De två motorer som undersökts är en likströmsmotor och en induktionsmotor. Dessa har kopplats till mekaniska system som representerar rotation av stridsvagnens torn och elevation av eldröret. Modelleringen har gjorts i MATLAB och SIMULINK. Målet med denna studie var att ta fram icke-ideala modeller av både de elektriska motorerna och de mekaniska systemen för torn- och eldrörsdrift.

This is a master thesis from Linköpings University with an emphasis on mobile working hydraulic systems. This thesis was conducted at and in collaboration with Väderstad AB with the premise to make it easier for smaller tractor’s and tractor’s with small hydraulic pumps installed to drive bigger and more advanced planters. The seed machine Spirit and the precision planter Tempo have been studied with focus on the fertilizer fan and augers. The machines are dragged behind a tractor and a rehydraulically powered from the tractor’s built in hydraulic pump. The project covers a study of concepts with the aim to expand the hydraulic capacity by installing a pump which is driven by the tractor’s power take-off. The goal was to present different solutions for how the concepts could be designed. The different concepts were compared and evaluated from a performance, energy efficiency and economic perspective. The purpose of this concept study was to present a solution which through further development can be suggested as an addonoption for customers with smaller tractors. This thesis contains a theorysection where mobile hydraulic systems, tractor’s and the above-named seed machine and planter are treated. The concepts are based on the theory and a method for generating and creating concepts is described. All concepts are studied in the simulation software Hopsan. Reference systems based on the current design of the planters were modelled in Hopsan together with disturbances. The models were validated through different experimental tests and were later used to evaluate the concepts. Through the concept study eleven different concepts had to undergo the tests in order to see how they deal with disturbances and how well they can achieve the goals. The ability to obtain a predetermined rotational speed for the fan and to do it with high efficiency at a low cost was considered as essential performance for this project. The concepts with closed-loop control proved to be the best from a performance perspective. Systems with pumps with variable displacement had the highest efficiency and the concepts with fixed displacement pumps are the most inexpensive alternatives. As a result of a display of variation of performance in different areas a model where the customers themselves can choose which parameters are important was made. The model, together with the input from the customers, can then present the concept which is the most suitable for the task. / Detta är ett examensarbete på masternivå vid Linköpings universitet med inriktning mot mobila hydraulsystem. Arbetet utfördes i samarbete med Väderstad AB med utgångspunkten att försöka göra det lättare för traktorer med liten installerad hydrauleffekt att driva större och mer krävande såmaskiner. Väderstads såmaskin Spirit och precisionssåmaskin Tempo studerades med fokus på gödningsfläkt och tillhörande omrörningsskruvar. Maskinerna kopplas baktill på en traktor och drivs hydrauliskt av traktorns inbyggda hydraulpump. Arbetet behandlar en konceptstudie för att utöka traktorns hydrauliska kapacitet genom att installera ett externt pumpsystem som drivs av traktorns kraftuttagsaxel. Målet var att presentera olika konceptlösningar på det externa pumpsystemet för att sedan jämföra och utvärdera dem för att komma fram till det alternativ som står sig bäst ur ett prestandamässigt, energieffektivt och ekonomiskt perspektiv. Syftet var att de framtagna koncepten ska kunna vidareutvecklas till förslag som tillval till kunder vid inköp av ovan nämnda såmaskiner. Arbetet innefattar en förstudie där teori om såmaskiner och traktorer behandlas, en konceptgenereringsfas och simuleringar i simuleringsverktyget Hopsan. Referensmodeller för såmaskinerna modellerades tillsammans med olika störningar. Modellerna validerades genom tester och användes för att utvärdera de framtagna koncepten. Totalt genererades elva koncept som fick genomgå tester för att se vilka som hanterar störningar bäst och uppnår förutbestämda mål. Konceptens förmåga att hålla ett bestämt varvtal, hålla ner kostnaden och samtidigt ha en god verkningsgrad är parametrarna som ansågs vara väsentliga i detta projekt. De koncept med återkopplade system visade sig ha bäst prestanda och hade lättast att hålla det bestämda varvtalet. System med pumpar med variabelt deplacement hade den högsta verkningsgraden och de enklare koncepten med pumpar med konstant deplacement är de mest kostnadseffektiva alternativen. I och med att de elva koncepten uppvisade varierande prestanda för olika förutsättningar konstruerades en viktningsmodell där kunden själv får gradera hur viktiga hen tycker egenskaperna är och således erhålla den konceptlösning som lämpar sig bäst för uppgiften.

<p>A vehicle that carries a person sitting in a wheelchair has been rebuilt. The original vehicle was provided with a petrol engine, hydrostatic drive and a mechanical steering rod, making it noisy and hard to maneuver. The purpose with this project was to convert the vehicle to make it more environmental and easier to drive.A new design has been proposed where an electrical drive has replaced the noisy combustion engine and an electrical motor with joystick control has replaced the manual steering.</p><p>The project was divided into two parts. One mechanical part where the construction of the drive and steering were to be decided. The other part involved programming the microprocessor and implementation of all the necessary electrical for the control system of the vehicle. The rebuild of the machine to a complete electrical machine was successful and the performance is similar to the original construction but easier to drive, less noisy and more environmental.</p>

A vehicle that carries a person sitting in a wheelchair has been rebuilt. The original vehicle was provided with a petrol engine, hydrostatic drive and a mechanical steering rod, making it noisy and hard to maneuver. The purpose with this project was to convert the vehicle to make it more environmental and easier to drive.A new design has been proposed where an electrical drive has replaced the noisy combustion engine and an electrical motor with joystick control has replaced the manual steering. The project was divided into two parts. One mechanical part where the construction of the drive and steering were to be decided. The other part involved programming the microprocessor and implementation of all the necessary electrical for the control system of the vehicle. The rebuild of the machine to a complete electrical machine was successful and the performance is similar to the original construction but easier to drive, less noisy and more environmental.