Search results for "S5"
showing 10 items of 201 documents
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…
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…
Digital Twin of 3d Motion Compensated Gangway Use of Unity Game Engine and TwinCAT PLC Control for Hardware-in-the-Loop Simulation
2021
Master's thesis in Mechatronics (MAS500) This thesis presents the development, implementation, and testing of a digital twin representing a 3D compensated gangway located on a service operation vessel for wind farms The real-time simulator runs on a separate thread in the Unity game engine and interfaces with a PC-based control system, including the control algorithms. The simulations in Unity achieve a step time of 5 μs, and the communication to the control system has a latency of 10ms.The PLC program in TwinCAT, running real-time on a separate computer, controls the hydraulic actuated gangway simulator with acceptable accuracy in 3m waves. Active damping employing pressure feedback to int…
Modelling of a Braitenberg inspired guidance system for an Autonomous surface vessel (ASV)
2020
Master's thesis in Mechatronics (MAS500)
Development of Genetic and GPU-Based Brute Force Algorithms for Optimal Sensor Placement
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 Optimal sensor placement is a complicated task where several parameters have to be considered simultaneously. The problem has been a subject of much research in the last decades, but there does not seem to be a consensus regarding how to solve the problem. With the increasing use of sensors in a variety of applications, e.g. surveillance and motion tracking, optimal placement is desirable due to the possible reduction of the total cost. In this thesis, a method for solving the static 3D Sensor Placement Problem is presented. From a 3D model of the environment, the constraints of the problem can be de ned in the User Interface, i…
Development of System for Deterrence of Animals using Artificial Intelligence
2021
Master's thesis in Mechatronics (MAS500) This thesis is part of the Mechatronics masters program at the University of Agder (UiA). It describes the development of an animal deterrence system, using computer vision with embedded systems for edge computing. Household cats can run freely around in neighborhoods, but all neighbors may not appreciate it. This project seeks to develop a harmless and accurate system for keeping cats away. The solution is to use a state-of-the-art object detector to look for cats in an area. Using an embedded system to run the object detector and tracking method. Design a two-axis turret with servo motors and a camera. The object detector used for this project was …
Tapping beam recognition and measurement with infrared camera : Optimisation of an industrial process using an thermal imaging camera and computer vi…
2021
Master's thesis in Mechatronics (MAS500) This thesis presents the research and development of an application for recognition and measuring of a ferrosilicon tapping beam using an Infrared (IR) camera. Ferrosilicon production is a highly endothermic process, requiring large amounts of energy to operate; thus, the need for increased efficiency is constant. Using an IR camera for non-intrusive measurements of the tapping beam and developing computer vision algorithms that can identify distinctive process parameters are investigated in this project. Today a videostream from an IR camera overlooking the tapping area at Elkem Thamshavn is directly displayed in the tapping control room with no for…
INTELLIGENT ROBOTIC REHABILITATION THROUGH A HUMAN-ROBOT INTERACTION : A starting point for a robotic infrastructure which can be an aid for physioth…
2021
Master's thesis in Mechatronics (MAS500) This thesis contains a starting point for a robotic infrastructure which can be an aid for physiotherapists by issuing and adjusting assistive or resistive exercises. With added equipment for specialized operations, the Halodi EVEr3 Robot could be utilized as a basis for this kind of infrastructure. When a physiotherapist is performing a lower extremity rehabilitative movement on a patient, theEVEr3 robot could record this behaviour and mimic it for a desired number of repetitions. The design of a prototype is thought to be done safely as a collaboration with healthcare professionals.
Design and Stiffness Analysis of a 5-axis Gantry-Tau Milling Machine
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 The Gantry-Tau is a Parallel Kinematic Machine (PKM) structure that possesses many advantages as a milling machine, where it has a low moving mass, high stiffness and a large workspace to footprint ratio. This thesis presents a new milling machine design based on this structure, as a continuation of a formerly constructed prototype, see [1]. This includes selection of new actuators for the linear drives as well as the development of a new tool platform and two joint concepts. A short workspace analysis is presented on the proposed design, which includes calculation of valid workspace and an analysis on the required joint mobilit…