project in automatic control frt090 2012 department of automatic control faculty of engineering lund...
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Project in Automatic ControlFRT090
2012
Department of Automatic Control
Faculty of Engineering
Lund University
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Projects in Automatic Control
• Team effort – Collaborative problem solving
• Get practical experience• Apply course knowledge
– Modeling– Identification– Control design– Implementation
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Course plan• w1 Form groups and planning
– Tuesday March 13th group announcement– Course home page
http://www.control.lth.se/Education/EngineeringProgram/projects-in-automatic-control.html
– Friday March 16th deadline for project plans– Tutorials
• w2-w3 Project work– Feedback seminars 1 – Tutorials
• 2.5 weeks of holiday and exams • w4-w7 Project work
– Feedback seminar 2– Presentations in w7 or the week after
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Project infrastructure• Version control system – Subversion (SVN)
– Version control– Collaborative development– http://subversion.apache.org/
Project management – Trac– Wiki documentation– Ticket-driven development– http://trac.edgewall.org/
– Tutorial Wed. March 14 13:15-15:00, Lab A
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Project plan
• An overview of the project.• Descriptions of the key parts of the project,
including materials and methods to be used.
• A decomposition of the project into sub tasks and a suggested allocation of the project resources to key tasks.
• A time plan
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Hints for project planning
• Break project into manageable subtasks• Establish dependencies between subtasks• Estimate time required each subtask (manhours/days)• For each week estimate how many hours every
member of the team will work• Plan deadlines for each subtask using the estimates
above• Put any spare time you might have in the end of the
schedule, not the beginning!• Every week follow up on your progress compared to
your timeplan, and reschedule if you are falling behind.
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Feedback seminars
• Two feedback seminars with different themes• Modeling/Design (March 29-30)• Implementation (May 7-8)
• Hand in written mini-report two days before seminar• All groups prepare presentations
• Choices of methods• Results• Lessons learnt
• 3-4 groups get to present• Emphasize feedback between groups and knowledge
transfer
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Examination• Complete project task• Active participation in feedback seminars• Oral project presentation• Participation in demo session• Written report
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Project allocation
• Course participants submit:– Desired projects
• Rank first, second and third
– Proposals for project groups– March 12th (today!) before 16:00– Send e-mail to [email protected] with cc to
– [email protected]– [email protected]– [email protected]
• Groups and projects announcement– March 13th (tomorrow!)– See the course home page
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1. Control of a Lego process using Modelica/Dymola
Build a self-balancing robot with Lego Mindstorms Physical modelling using Modelica Model calibration Control design and simulation Automatic code generation User interaction and animation Get in touch with the industry
4students
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Special Tutorials Monday 19 March, Lab A
Modelica/Dymola Overview – 13:15 – 15:00 Modelica_EmbeddedSystems and Lego Mindstorms student kit – 15:15 – 17:00
Fixed-Point Arithmetics Tutorial Date to be announced
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2. Design and control of a one-wheeled Lego Segway•Balance in the forward direction with a wheel on the ground•Lateral balance with an inertia wheel•State estimation with gyros and accelerometers•Programming on Lego NXT
• several language options• NQC/NXC, Java
• Can it be done?•http://www.youtube.com/watch?v=OnRV-ggJmQ4
•http://www.youtube.com/watch?v=mJJeb3cvwjY&feature=related
Inertia wheel
Wheel on the ground
4students
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3. Sensor filtering using IMU (Inertial Measurement Unit) Combine
accelerometer/gyro measurements to try and estimate movement/position
Evaluate performance/limitations
Key topics Rigid body dynamics Sensor fusion /
Extended Kalman Filter
Quaternions Embedded C-
programming, Atmel AVR microcontroller.
2students
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4. Positioning of a mobile robot using optical mouse sensors
• Localization of mobile robot• Robot control• Sensor communication• Signal processing• AVR C programming
4students
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5. Vision-based control of an unusual ball and beam process• Ball and Beam Process• Camera and image processing
to measure ball position• Programming in Java on PC• Model-based state-feedback
control design• Differently shaped beams• Is it possible?
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6. Vision-based control a ball and plate process
• Ball and Plate Process• Camera to measure ball position• Lego NXT (or something else)