Search results for "MAS500"
showing 10 items of 47 documents
Development of a Semi-autonomous Holonomic Load Carrier with Multi-camera Perception
2020
Master's thesis in Mechatronics (MAS500) This thesis documents the development of a load carrier capable of carrying ten advanced personal robots. The robots of concern are Segway Robotics’ Loomo,which are used for education purposes at the University of Agder. They are used at multiple locations on campus, and it is desired to develop a system that can effectively transport them around. The report covers the concept generation, mechanical design, electrical design and development of a navigation system. A simple and compact design was developed and built. To achieve holonomic drive, the rig was equipped with four mecanum wheels. A mechanical design process was performed tocome up with a so…
Pump controlled hydraulic cylinder with large inertia loads
2021
Master's thesis in Mechatronics (MAS500) This thesis is centered around the commissioning, testing, modeling and experimental validation of a pump-controlled hydraulic actuator capable of controlling large inertia loads. Prior to the thesis an experimental test bed had been constructed mechanically and hydraulically, and placed at the University. The primary focus of this thesis has been finalizing the experimental test bed in terms of building the electrical setup, placing instrumentation, developing software, tuning the electrical motors, followed by commissioning and testing of the experimental system. At the time of completing the thesis, the system has been completed, successfully comm…
Developing a Free-Falling Robotic Cat With Righting Reflex
2020
Master's thesis in Mechatronics (MAS500) Changing the orientation of a body in free fall is a useful skill, found in cats. The applicationsrange from zero-gravity in space to damage control of a falling object. This thesis aims to create arobot cat able to always land on its feet. The robot cat is based on the rotating cylinder conceptsuggested by Kane and Shere, where the front and the rear of the cat each consists of a larger outercylinder rotating around a smaller inner cylinder, connected by a revolute joint. Each half of therobot cat consists of a PE100 outer pipe, an aluminum inner tube, a servo motor, an incrementaloptical encoder, and a power supply, connected by 3D printable parts.…
Adaptive Backstepping Control of Quanser 2DOF Helicopter : Theory and Experiments
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019
On-Line Oil Condition Monitoring for Marine Gearboxes : This thesis addresses the importance of oil condition monitoring in marine reduction gearboxe…
2020
Master's thesis in Mechatronics (MAS500) Failures in marine reduction gearboxes lead to substantial costs. With the use of oil condition moni-toring, these failures can be foreseen so that preemptive measures can be taken. The development ofoil condition monitoring equipment has come a long way, and it is time to start using this technology.There are various reasons why a gearbox failure, and as most of them are a result of inadequatelubrication, several things can be done to reduce these failures. By testing 3 different sensors in agearbox lubrication system, this study goes through each sensor technology and aims to figure outwhat is important to consider when selecting a sensor for oil c…
Safety assurance of high voltage control module in a robotic paint system
2020
Master's thesis in Mechatronics (MAS500)
Bolts detection and a combination of conventional and reinforcement learning based control of UR5 industrial robot
2021
Master's thesis in Mechatronics (MAS500) The main objective of this paper is to investigate the possibilities for using reinforcement learning to control a UR-5 robot. The paper also looks at how well reinforcement learning works to control a UR-5 robot. These questions are answered by constructing of matlab and simulink programes. Based on different mathworks example programs and scripts. In this study, reinforcement learning only works in the situation it is trained to perform. The author believe that it could work better if it were given other configurations/parameters. This will still be an interesting subject for further studies. According to the research done in this paper, the conven…
Cost Effective Sensor Package for Road Monitoring
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019 The companies responsible for road maintenance are expecting an increase in number of roads.It is of interest to find effective solutions to adapt to the increased work in road maintenance.Most of the road monitoring has to be done manually. This thesis is aimed to do research onhow road inspection effectively can be monitored at a low cost. The goal is to create and im-plement a sensor package in a vehicular platform. The group has provided concepts, produceda sensor package for testing, software development and tested chosen areas of interest.Traffic sign recognition, lane mark quality, vibration measurements and light intensi…
Identification of Fractional-Order Models for Viscoelastic Behavior
2020
Master's thesis in Mechatronics (MAS500). In this thesis, the fractional-order modeling of viscoelastic behavior based on measurement data obtained in the frequency domain is analyzed. Polymer samples as well as the transfer behavior of a hydraulic dashpot are investigated, whereby two different experimental setups are used for the former. Existing fractional-order transfer function estimation algorithms based on integer-order identification techniques are applied. These algorithms require a priori knowledge of the system structure including the commensurate order of differentiation. Hence an iterative procedure is used to evaluate the influence of the unknown structure. To avoid this, a gl…
Collaborative SLAM using a swarm intelligence-inspired exploration method
2020
Master's thesis in Mechatronics (MAS500) Efficient exploration in multi-robot SLAM is a challenging task. This thesis describes the design of algorithms that would enable Loomo robots to collaboratively explore an unknown environment. A pose graph-based SLAM algorithm using the on-board sensors of the Loomo was developed from scratch. A YOLOv3-tiny neural network has been trained to recognize other Loomos, and an exploration simulation has been developed to test exploration methods. The bots in the simulation are controlled using swarm intelligence inspired rules. The system is not finished, and further workis needed to combine the work done in the thesis into a collaborative SLAM system th…