1. Project in Automatic Control FRT090 2012 Department of Automatic Control Faculty of Engineering Lund University

2. Projects in Automatic Control Team effort – Collaborative problem solving Get practical experience Apply course knowledge – Modeling – Identification – Control design – Implementation

3. Course plan w1 Form groups and planning – Tuesday March 13 th group announcement – Course home page http://www.control.lth.se/Education/EngineeringProgram/projects-in-automatic-control.html – Friday March 16 th 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

4. Project infrastructure Version control system – Subversion (SVN) – Version control – Collaborative development – http://subversion.apache.org/ http://subversion.apache.org/ Project management – Trac – Wiki documentation – Ticket-driven development – http://trac.edgewall.org/ http://trac.edgewall.org/ – Tutorial Wed. March 14 13:15-15:00, Lab A

5. 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

6. 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.

7. 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

8. Examination Complete project task Active participation in feedback seminars Oral project presentation Participation in demo session Written report

9. Project allocation Course participants submit: – Desired projects Rank first, second and third – Proposals for project groups – March 12 th (today!) before 16:00 – Send e-mail to karlerik@control.lth.se with cc tokarlerik@control.lth.se – martin.hast@control.lth.se martin.hast@control.lth.se – magnusl@control.lth.se magnusl@control.lth.se – anders.mannesson@control.lth.se anders.mannesson@control.lth.se Groups and projects announcement – March 13 th (tomorrow!) – See the course home page

10. 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 4 students

11. 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

12. 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=relate d http://www.youtube.com/watch?v=mJJeb3cvwjY&feature=relate d Inertia wheel Wheel on the ground 4 students

13. 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. 2 students

14. 4. Positioning of a mobile robot using optical mouse sensors Localization of mobile robot Robot control Sensor communication Signal processing AVR C programming 4 students

15. 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?

16. 6. Vision-based control a ball and plate process Ball and Plate Process Camera to measure ball position Lego NXT (or something else)