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1. 1. Evaluation of Hydraulically InterconnectedSuspension Systems on TARA Machine

   Master-uppsats, KTH/Skolan för industriell teknik och management (ITM)

   Författare :Jingyao Yu; [2023]
   Nyckelord :hydraulically interconnected suspension system; full-vehicle analysis; dynamic performance; co-simulation; hydrauliskt sammanlänkade fjädringssystem; helfordonsanalys; dynamisk prestanda; sam-simulering;

   Sammanfattning : The TARA machine from Volvo is equipped with hydraulic suspension which can be connected with each other in different ways. The present study focuses on enhancing the dynamic performance of the TARA machine during its operations through the investigation of various hydraulically interconnected suspension (HIS) systems. LÄS MER

3. 2. Reaction Wheel Control System for a Self-balancing Bike : Reaction wheel based control mechanism for a small scale prototype bike

   Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)

   Författare :Reman Soryani; [2023]
   Nyckelord :Mechatronics; Control Theory; Reaction Wheel; PID Controller; Robotics; Mekatronik; Reglerteknik; Mekanik; PID reglering; Robotik;

   Sammanfattning : In this thesis, the design of a self balancing prototype bike with a reaction wheel as balancing mechanism will be investigated. Bikes are inherently unstable systems, that dynamically resemble an inverted pendulum at a stand still. LÄS MER

4. 3. Balans-en : Construction of a self-balancing robot with tilt setpoint correction

   Kandidat-uppsats, KTH/Skolan för industriell teknik och management (ITM)

   Författare :Hanna Modin; Kasper Georén; [2023]
   Nyckelord :Mechatronics; two wheeled self-balancing robot; robot; inverted pendulum; control engineering; Mekatronik; tvåhjulig självbalanserande robot; robot; inverterad pendel; reglerteknik;

   Sammanfattning : This report presents the construction of a two-wheeled self balancing robot with the ability to handle an uneven load. Two-wheeled self-balancing robots have proven to be a potential solution to the problem of efficient warehouse management, thanks to their ability to navigate tight spaces quickly and efficiently while balancing their load. LÄS MER

5. 4. Geometrisk numerisk integrering av differentialekvationer

   Kandidat-uppsats, Göteborgs universitet/Institutionen för matematiska vetenskaper

   Författare :William Karlander; Georg Kyhn; Erik Sahlin; [2022-07-08]
   Nyckelord :;

   Sammanfattning : Rapporten studerar fr¨amst Eulers symplektiska och St¨ormer-Verlets metoder applicerade p˚a hamiltonska problem. Metoderna appliceras numeriskt p˚a tre olika hamiltonska problem och j¨amf¨ors med andra numeriska metoder i form av Eulers explicita metod och Eulers implicita metod. LÄS MER

7. 5. Reinforcement Learning for Hydrobatic AUVs

   Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Grzegorz Woźniak; [2022]
   Nyckelord :Deep Reinforcement learning; Deep learning; Optimal control; Hydrobatics; Deep Reinforcement learning; Deep learning; Optimal control; Hydrobatics;

   Sammanfattning : This master thesis focuses on developing a Reinforcement Learning (RL) controller to perform hydrobatic maneuvers on an Autonomous Underwater Vehicle (AUV) successfully. This work also aims to analyze the robustness of the RL controller, as well as provide a comparison between RL algorithms and Proportional Integral Derivative (PID) control. LÄS MER