Cooperative Robot Manipulators for Parcel picking and placing

In this thesis, a control scheme for lifting parcels using two robot manipulators is presented. The robots do not have a rigid grasp on the object. Instead, they use friction to lift the parcels. First, a controller calculates the desired force to make sure the parcels do not slip. The required force, as well as a trajectory are then sent to a...

Dynamic modelling and nonlinear model predictive control of a reversible solid oxide fuel cell: for grid-tied power tracking

The primary objective of this work is to research and develop a dynamic model and an advanced control strategy for a reversible solid oxide fuel cell in a grid to ensure load tracking whilst maintaining fuel utilisation and temperature dynamics within a safe range. This report presents the successful development of the dynamic model and...

Robust optimal sensor placement for optimal estimation: A framework and application to adaptive optics

The goal of this thesis is to present a framework which can be used to optimize the observer and controller performance by placement of sensors and actuators on a continuous domain. The framework provides choices of model structure, cost functions and optimization methods to perform the placement. Systems which would be suitable for the use of...

Adaptive Optics with Curvature Wavefront Sensor

When acquiring information using imaging techniques, one wants to achieve the best possible resolution in order to obtain valuable results. In the ideal scenario the size of the smallest resolved object features is limited by the wave properties of light, with a number of techniques developed to overcome this limit. In real life measurements the...