The project described in this report were done as a Bachelor thesis in the course MSGC12, for a bachelor degree at the Innovation and design-engineering program at Karlstad University. The course is 22,5hp and goes for 20 weeks over the whole spring term. The project originated from an earlier project done with Swegon AB. The project goal is to find a design of a room thermostat, and demonstrate notably important features that can create an added value to Swegon or their costumers. This will later collaborate with another project that is going on simultaneously. These will unite and present a mutual product. The room thermostats existing today often has very plastic feel to them and is not very adaptable to the environments that they are placed in. They are also not very distinctive and they look pretty much the same regardless of maker. The method used in this project follows the steps set for the industrial product development process. A big part of this process is the iterative cycle were problem solving and life cycle perspective is important pillars. It is here that the modularity comes in. The project is based on a feasibility study with focus on finding innovative ways for the user to get data and make changes to their environment. To arrive at the final prototype, the project have gone through different analyses, discussions with the company, idea generation, patent check, workshop work, and concept screenings and partners in the project picked the concept which from their view were the best at Swegon. When these opinions were in, a 3d model were developed during the creation of said model, problems were encountered these were solved along the way. The model was then printed in a 3d printer. The prototype were then fitted with a light frame where the light could shine through and be projected onto the material. A complete prototype is made up of five parts, these are back plate, frame, plexiglass, light frame and material to project the symbols on. The product is not final but it points in a direction for the coming products.

Abstract This thesis presents that the closed-loop sensitivity function shaping combined with -synthesis applies to design the controller with structured uncertainties. The sensitivity function shaping is directly based on the indices of the closed-loop performances. The closed-loop frequency response and the robust stability for the system could approach the designed performances by adjusting weighting functions. Since the robust performance of the closed-loop systems bases on the index of the open-loop function in the loop shaping, it may not accomplish the requirement of the designer. The loop shaping can¡¦t be applied to design controllers for the system with structured uncertainties. Therefore, using the closed-loop sensitivity function shaping to design controller will contain the system with structured uncertainties and satisfy the closed-loop performance.

"Shaping" or "method of successive approximation" is a procedure which may be applied to increase the frequency of a response which has a low operant level, or it may also be used to bring about responses which have not been previously emitted. In "shaping," the experimenter initially reinforces a response which is within the behavorial repertoire of the subject. Then, the experimenter reinforces only responses which approximate the behavior which is desired. The final behavior is then directly reinforced.

<p>This thesis investigates the possibilities of interleaving multiple Digital to Analog converters in a high speed environment. Algorithms for interleaving and noise shaping as well as filters are tailored for high frequency operation.In the first part of the thesis, algorithms are evaluated and models to simulate errors are created. It was concluded that DAC interleaving is feasible to reach high sample rates. Interleaving or parallelization of the $\Sigma\Delta$ noise shaper proved to not be feasible for the specific application due low oversampling and high speed operation.The second part of the thesis consists of measurements on a custom SP Devices development board. These tests confirm that interleaving of DACs works as intended and that it is possible to increase the output bandwidth beyond the one of a single DAC.</p>

This thesis investigates the possibilities of interleaving multiple Digital to Analog converters in a high speed environment. Algorithms for interleaving and noise shaping as well as filters are tailored for high frequency operation.In the first part of the thesis, algorithms are evaluated and models to simulate errors are created. It was concluded that DAC interleaving is feasible to reach high sample rates. Interleaving or parallelization of the $\Sigma\Delta$ noise shaper proved to not be feasible for the specific application due low oversampling and high speed operation.The second part of the thesis consists of measurements on a custom SP Devices development board. These tests confirm that interleaving of DACs works as intended and that it is possible to increase the output bandwidth beyond the one of a single DAC.

Cables are an integral part of many engineering systems; thus, the control of cables and systems containing cables is an important problem to address. This thesis proposes to use command shaping techniques to reduce command-induced vibration in two cabled systems, a tower crane and an electrodynamic tethered satellite system in low Earth orbit. Systems containing cables often exhibit important nonlinear dynamics, which complicates the application of command shaping. As a first step to demonstrate the effectiveness of command shaping techniques for nonlinear cabled systems, nonlinear tower crane dynamics are investigated. A novel command generation technique for the slewing of tower cranes is presented, and experimental results demonstrate its increased effectiveness. Once improvement of tower crane dynamics has been demonstrated, space tether dynamics are considered. Electrodynamic tethers have the promise to become invaluable propulsive actuators for orbit boost and station keeping. Using electrodynamic tethers, it is possible to boost orbits without the use of propellant because electrical energy is used to produce a Lorentz force that creates orbit boost. Furthermore, electrodynamic tether deboost makes it possible to accelerate the deorbiting of spent rocket stages and other space debris to reduce clutter in the space environment. Unfortunately, the Lorentz force pushes transversely on the cable tether, thereby producing a significant amount of vibration and libration. This thesis proposes to use command shaping techniques to reduce the command-induced vibration from a boosting operation. Intelligent command generation will significantly reduce the amount of tether libration and string vibration. First, flexible tether dynamics in a constant, circular orbit are investigated. The work is then expanded to include the effects of orbit boosting. The robustness of the command generation techniques is established through numerical simulation.

Pulse shaping is the technique which controls the ultra-short pulse shape, and it became of great technological interest because of its potential applications in laser pulse compression, digital communications, microscopy etc. We demonstrate the idea of pulse-shaping technique and pulse propagation with low energy losses in a resonant linear absorbing medium. This thesis presents the results of a study of the propagation of Gaussian and hyperbolic secant ultrashort chirped and chirp-free pulses in homogeneously and inhomogeneously broadened resonant linear absorbers. Changes to the pulse shape and energy loss factor are presented as the pulse propagates in the absorber. The Fast Fourier method is used to numerically determine both the normalized intensity profile and the pulse spectrum. Our results show that, for pulse durations shorter than the relaxation time, chirped pulses in absorbing media obey the area theorem, with their shape changing with the propagation distance. Simulation results of the spectra of chirped pulses clearly show the burning of a spectral ’hole’ as the pulse propagates, with the pulse energy pushed away towards the wings. When compared to chirp-free pulses, chirped pulses reshape faster and develop wings in their tail due to initial phase modulation. Simulation results of the energy loss factor show that chirped pulses propagating in resonant linear absorbers sustain less energy losses than do chirp-free pulses. A comparison of chirped secant and Gaussian pulses shows that secant pulses propagate with lower energy losses. Analytic solutions are presented for long-distance asymptotic expressions of initial rms spectral bandwidth as well as for the attenuation factor of chirped Gaussian pulses. These analytical results are in agreement with numerical simulations. The comparison of energy losses of short chirped Gaussian pulses and long pulses of any profile in linear absorbers is also discussed in the thesis.

No description available.

The bulge forming process is a method for shaping tubular components using an internal hydrostatic pressure combined with an axial compressive force. Initial investigations involved carrying out an extensive literature survey to determine the components which could be formed and the types of machines which have been used. Subsequent to this, initial tests were carried out using a previously designed die and tool block in conjunction with a compression testing machine. In these tests copper tubes were formed into expander/reducers and cross pieces by manual adjustment of the axial force and internal pressure. Having obtained experience of the difficulties associated with this die and toolblock, and the loading requirements necessary for theforming process, a new bulge forming machine was designed. The design of the machine was based on the following main criteria: (i) The machine should be free standing and self contained. (ii) The axial deformation of the ends of the tube blank should besynchronised to allow the bulge to form centrally on the tube. (iii) The internal bulge forming pressure should be externallycontrollable during the forming process. (iv) The design should incorporate facilities for subsequent automatic control using a micro-processor/computer. On the basis of these requirements, a machine was designed, built andcommissioned. After correcting a few problems encountered in the commissioning of the machine, a series of tests were carried out, forming tee and cross pieces from copper tube of two different wall thicknesses. These were found to be fairly easy to produce on this new machine. From the resulting components, formed at various combinations of internal pressure and axial compressive force, the limits for a successful forming operation were established. Further analysis of these components was then undertaken to evaluate the effects of the internal pressure and axial compressive force on the bulge height and the wall thickness in the deformation zone. From these results, which have been illustrated graphically, the greatest effect on the resulting bulge can seen to be the axial compressive force. An extension of a theoretical analysis has also been presented, which predicts the wall thickness distribution around the bulge zone. Comparison of these predictions with the experimental wall thickness distributions shows fairly good agreement, especially at the root and tip of the side branch.

Crane motion induces payload oscillation that makes accurate positioning of the payload a challenging task. As the payload size increases, it may be necessary to utilize multiple cranes for better control of the payload position and orientation. However, simultaneously maneuvering multiple cranes to transport a single payload increases the complexity and danger of the operation. This thesis investigates the dynamics and control of dual-hoist bridge cranes transporting distributed payloads. Insights from this dynamic analysis were used to design input shapers that reduce payload oscillation originating from various crane motions. Also, studies were conducted to investigate the effect input shaping has on the performance of human operators using a dual-hoist bridge crane to transport distributed payloads through an obstacle course. In each study, input shaping significantly improved the task completion time. Furthermore, input-shaping control greatly decreased operator effort, as measured by the number of interface button pushes needed to complete a task. These results clearly demonstrate the benefit of input-shaping control on dual-hoist bridge cranes. In addition, a new system identification method that utilizes input shaping for determining the modal frequencies and relative amplitude contributions of individual modes was developed to aid in the dynamic analysis of dual-hoist bridge cranes, as well as other multi-mode systems. This method uses a new type of input shaper to suppress all but one mode to a low level. The shaper can also be used to bring a small-amplitude mode to light by modifying one of the vibration constraints.