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A voltage controlled galvanic simulator has been constructed for experiments on human balance. The aim is to gain knowledge about the human body's balancing behaviour and implementation for diagnostic purposes. The purpose is to stimulate the vestibular nerve in the inner ear, with a defined stimulus, measuring the resulting body sway, analysing the input and output signals with mathematical m
An experimental platform is used for research in robot programming and senor-based motion control. The platform is built around a commercially available robot with AC motors. The robot is controlled from a VME-based embedded control computer, which is also connected via Ethernet with workstations used as host computers. The VME system contains micro processors for general computing and control, bu
The thesis is a part of a project which aims at developing highly autonomous controllers. The task of rough classification of system responses is considered. Neutral networks are trained to classify system dynamics from step- and inpulse responses. Two types of networks are discussed, the backpropagation net and Kohonen's self-organizing feature map. The theory behind these algorithms are pres
This master thesis is based on the Ph D thesis by Jean Le Bail at LAG (Laboratoire d'Automatique de Grenoble) concerning Asymptotic Continuous Petri Nets (ACPN). The major properties of ACPN are presented. Four special cases are discussed: accumulation, synchronization, divergence, and conflicts. A new and improved method of solving the conflict case has been added to an already existing algor
In this report discrete time optimal control of extreme values are investigated. Both the full information case and partial information case are discussed. There has been payed special attention to numerical solution of the Bellman equation. For a special full information case the optimal controller has been obtained by a numerical solution. This controller has been compared with the minimal varia
The report discusses mathematical modeling of thermal components, such as heat exchangers and control valves. A flexible model library for simulation has been developed. The object-oriented and equation-based modeling language Omola is used to describe the components in mathematical terms. The library of models can be used to build models of more complex thermal systems, such as heat exchanger uni
