Search results for "MAS500"
showing 10 items of 47 documents
A Self-Contained Electro-Hydraulic Cylinder: Modeling, Control Design, Simulation and Experimental Validation
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 In the constant effort to improve the efficiency of hydraulic systems, the pressure drop over hydraulic valves has been one of the major obstacles. In the Self-Contained Electro-Hydraulic Cylinder, the directional valve and the hydraulic power unit have been replaced by a bi-directional axial piston pump and a Permanent Magnet Synchronous Motor. Actuation of the cylinder is performed by controlling the direction of rotation and the velocity of the motor. Originally the purpose of this project was to: "Design a proper control algorithm for an existing novel selfcontained electro-hydraulic cylinder, implement it on the main boom o…
Modelling, Identification and Control of a 5-DOF Shotcrete Robot : Development of a Framework for Automatic Application of Shotcrete for AMV 4200H
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019 Today, process automation is the primary area of development in the shotcrete industry. Automaticshotcrete operations can yield an increase in operational efficiency and personnel safety as well asreductions in cost and environmental impact. This thesis develops a framework for automaticapplication of shotcrete using the AMV 4200H and provides an automatic spraying mode usinginteroceptive sensing. The shotcrete vehicle is equipped with a five degrees-of-freedom manipulatorand is currently operated manually. Our contributions include solving the forward kinematicsthrough the Denavit-Hartenberg convention, and the inverse kinemati…
Fractional-order controller design with partial pole-zero cancellation
2021
Master´s thesis in Mechatronics (MAS500)
Design and Development of a Multi-Mode, Two-Wheeled, Self-Balancing Service Platform
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019 This thesis covers the design and development of a multi-mode, two-wheeled, self-balancing serviceplatform. The purpose of such a platform is to assist people with transportation tasks in crowdedspaces like airports by consuming as little space as possible and minimizing its overall footprint.This is solved by constructing a robot that can transition between bicycle and differential driveconfigurations and keep its balance in both configurations as well as in the transition processbetween them. A two-wheeled, self-balancing robot is an inherently unstable system that can bebased on the theory of an inverted pendulum. The unstabl…
Development of a vision-based measurement system for relative motion compensation
2014
Masteroppgave i mekatronikk MAS 500 Universitetet i Agder 2014 Motion compensation is used in many applications where no relative motion between two objects is desired. In the offshore industry, motion compensation systems are used to increase the operational window during load transfers like crane operations or positioning of gangways for personell transfer. In most systems one or more motion reference units (MRU) are used to measure motion with respect to a world reference frame and compensate for this motion. For motion compensation between two independently moving objects, a MRU-based solution becomes complex when measurements must be exchanged and combined. Vision systems have existed …
Robust design of a remote motion control system for hydraulic mechatronic drive with wireless operation
2021
Master´s thesis in Mechatronics (MAS500)
State Estimator using Hybrid Kalman and Particle Filter for Indoor UAV Navigation
2021
Master's thesis in Mechatronics (MAS500) Unmanned aerial vehicles (UAVs) are being used for outdoors inspection and surveying tasks. When operating in an outdoor environment, the global navigation satellite system (GNSS) is predominantly used for position aiding, and magnetometers are used for heading aiding. In combination with an inertial sensor, these sensors form the backbone for state estimation for drones operating in an outdoor environment. A desire to utilize UAVs for inspections in indoor environments means that new challenges are faced. One of these challenges is that the traditional GNSS is unavailable for position aiding, and magnetometers can be unreliable in the presence of in…
Implementering av maskinsyn for montering av fasadeplater
2017
Masteroppgave i mekatronikk MAS500 - Universitetet i Agder 2017 The construction industry has seen a surge in efficiency and automation solutions in recent years. MacGregor, in cooperation with the University of Agder want to use crane and lifting technology to streamline construction processes. Facade panels are widely used due to ease of installation and require minimal maintenance. The process associated with installation has an automation potential. This thesis looks at the implementation of machine vision for installation of facade panels. Installation is done using a ABB IRB6600 industrial robot and a vacuum tool. The machine vision is based on OpenCV and C++. The main components of t…
Condition monitoring of steel wire ropes
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 By utilising the measurements from a commercial acoustic emission sensor system, magnetic tester and a camera system, conducted during four separate simple bending fatigue tests of steel wire ropes (SWR), several measurable quantities of the SWR which indicate deterioration were identi ed. Based on the measurements of a commercial acoustic emission sensor system of one of the tests in this thesis, the fatigue process of a SWRs in a simple bending test is three-phase, with a relatively long rstand second phase, showing little- and steady increase in activity, respectively, followed by a shorter phase with a ramp up of activity. T…
Modeling, Simulation and Control for Marine Crane Operations
2020
Master's thesis in Mechatronics (MAS500) Marine cranes play an important part in offshore operations. They are expected to perform awide range of different tasks, such as handling the load safely offshore. Nowadays, the offshoreoil fields and wind farms are detected and developed, thus more and more offshore platforms arebuilt. The scale and capacity of crane vessels are developing rapidly to fulfill the construction needof offshore platforms and offshore wind farms. Heavy crane, placed on-board vessel, is affected byvessel motions induced by environmental forces such as wind, waves and current, and vice versa.Therefore, the investigation of coupled dynamics between heavy crane and vessel, …