Search results for "MAS500"
showing 10 items of 47 documents
Modelling, Simulation and Control of offshore crane Develop a kinematic and dynamic crane model and study of several control designs
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 This master thesis is about Modelling, Simulation and Control of a MacGregor Active Heave Compensation (AHC) 250t crane operating on the supply vessel Gran Canyon. The crane model was developed mathematically using robot modeling theory including both kinematic and dynamic equations. This model was developed and simulated in Matlab and Simulink and further compared, where the two models showed equal results. Control designs for an offshore crane can be developed in several ways, but in this thesis the control task only concerns position control of the crane and can be divided into two control tasks. The main goal is to determine…
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…
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…
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…
Fractional-order controller design with partial pole-zero cancellation
2021
Master´s thesis in Mechatronics (MAS500)
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…
PRACTICAL APPLICATION OF ADVANCED CONTROL : An evaluation of control methods on a Quanser AERO
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 In the past years, rotorcraft have received much attention in our society. These provide great accessibility and are utilized in many areas of application. The complex dynamics of rotorcraft make them di cult to control, and the applications demand stable, safe, and agile devices. This thesis investigates the use of advanced control methods and evaluates their e ectiveness using a 2DOF (pitch and yaw) ' ight control experiment-platform'; the Quanser AERO. The main goal of the project is development and evaluation of angular-position controllers for the AERO, using conventional and advanced control theory. This includes cascade P…
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…
Kick Detection During Offshore Drilling using Artificial Intelligence
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019 An uncontrolled or unobserved influx or kick during drilling has the potential to induce awell blowout, one of the most harmful incidences during drilling both in regards to economicand environmental cost. Since kicks during drilling are serious risks, it is important both toimprove kick detection performance and capabilities, and to develop automatic flux detectionmethodology. There are clear patterns during an influx incident. However, due to complexprocesses and sparse instrumentation, it is difficult to predict the behavior of kicks or lossesbased on sensor data combined with physical models alone. Emerging technologies with…