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  • 1.
    Andersson, Karl
    Mid Sweden University, Faculty of Science, Technology and Media, Department of Electronics Design.
    PLC Lab Station: An Implementation of External Monitoring and Control Using OPC2014Independent thesis Basic level (university diploma), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The PLC is frequently used when implementing automated control, which is animportant part of many modern industries. This thesis has been carried out incollaboration with ÅF Consult in Sundsvall, who were in need of a PLC labstation for educational purposes. The overall aim of this thesis has been todesign and construct such a lab station and also to implement a solution forexternal monitoring and control possibilities. The methodology of this projecthas included a literary study, followed by the implementation of the actualsolutions and finally an evaluation of the project. The finished lab stationincludes a conveyor belt and a robotic arm controlled using two PLCs. Theconveyor belt is designed to be able to store, transport, differentiate and sortsmall cubes of various materials, and the robotic arm is designed as a pick-andplacedevice that can move the cubes between different positions on the labstation. The monitoring and control solution is set up using an OPC clientserverconnection on a PC and it provides a graphical user interface where thelab station can be monitored and controlled externally. The lab station offersdiverse functionality, but due to some inconsistency in the included equipmentit is not entirely reliable. The external monitoring and control solution alsoprovides good functionality, but the time frame of the project resulted in a lessextensive implementation than originally intended. The overall solutions are,however, considered to offer a functional and proper platform for educationalpurposes.

  • 2.
    Gebre, Tamrat Gebremedhin
    Mid Sweden University, Faculty of Science, Technology and Media, Department of Electronics Design.
    Automatic recognition of tree trunks in images: Robotics in forest industry2014Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
  • 3.
    Malik, Abdul Waheed
    et al.
    Mid Sweden University, Faculty of Science, Technology and Media, Department of Electronics Design. COMSATS Institute of Information Technology, Abbottabad, Pakistan.
    Thörnberg, Benny
    Mid Sweden University, Faculty of Science, Technology and Media, Department of Electronics Design.
    Anwar, Qaiser
    Mid Sweden University, Faculty of Science, Technology and Media, Department of Electronics Design.
    Johansen, Tor Arne
    Norwegian University of Science and Technology, Trondheim, Norway .
    Shahzad, Khurram
    Mid Sweden University, Faculty of Science, Technology and Media, Department of Electronics Design.
    Real Time Decoding of Color Symbol for Optical Positioning System2015In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 12, no 5Article in journal (Refereed)
    Abstract [en]

    This paper presents the design and real-time decoding of a color symbol that can be used as a reference marker for optical navigation. The designed symbol has a circular shape and is printed on paper using two distinct colors. This pair of colors is selected based on the highest achievable signal to noise ratio. The symbol is designed to carry eight bit information. Real time decoding of this symbol is performed using a heterogeneous combination of Field Programmable Gate Array (FPGA) and a microcontroller.  An image sensor having a resolution of 1600 by 1200 pixels is used to capture images of symbols in complex backgrounds. Dynamic image segmentation, component labeling and feature extraction was performed on the FPGA. The region of interest was further computed from the extracted features. Feature data belonging to the symbol was sent from the FPGA to the microcontroller. Image processing tasks are partitioned between the FPGA and microcontroller based on data intensity. Experiments were performed to verify the rotational independence of the symbols. The maximum distance between camera and symbol allowing for correct detection and decoding was analyzed. Experiments were also performed to analyze the number of generated image components and sub-pixel precision versus different light sources and intensities. The proposed hardware architecture can process up to 55 frames per second for accurate detection and decoding of symbols at two Megapixels resolution. The power consumption of the complete system is 342mw.

  • 4.
    Marco Rider, Jaime
    Mid Sweden University, Faculty of Science, Technology and Media, Department of Electronics Design.
    Optical communication with underwater snake robots: Design and implementation of an underwater wireless optical communication system2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Eelume AS is a norwegian company that develops autonomous underwater vehicles. Their flagship model is an underwater snake robot that performs inspection, maintenance and repair operations. For the time being, Eelume has been using acoustic communications between their AUV's and the docking station, but it has a big drawback: bandwidth. Eelume is interested in streaming live high-quality video from their AUV's to the docking station, which requires several megabits per second. As underwater radio frequency communications are not possible, wireless optical communications seem to be the best available alternative.

     

    The focus of this Thesis is to design an underwater wireless optical communications system that could be implemented on the Eelume AUV, although it is designed as a standalone embedded system that could be integrated into any other platform. Two prototypes were designed and tested through-air: a low-cost system featuring a PIN photodiode that can stream a 1.5 Mbps video signal over 0.5 meters and a high-sensitivity system featuring an avalanche photodiode that can stream a 2.5 Mbps video signal over 10.5 meters.

     

    Even if further underwater testing is needed and some inherent limitations in the design like the precise calibration or the ambient light noise effects could be mitigated. The results achieved by this high-sensitivity system demonstrates that a high-bandwidth mid-range underwater wireless optical communication system featuring a blue/green LED array as the light source and an avalanche photodiode as the photodetector is a viable solution for streaming live high-quality video over several meters even in very turbid seawaters.

  • 5.
    Norberg, Johan
    Mid Sweden University, Faculty of Science, Technology and Media, Department of Electronics Design.
    PLC Lab Station: Simulating an Automatic Quality Control of Loaf Products2014Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
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