1st Semester: Cable network in the local community
This repport deals with the theme reality and models. A theoretical model for a network is made and compared with an existing network.
Before the technical analysis and comparison, some of the social aspects of the network is discussed. Among the aspects is a discussion on the role the government has in the development and implementation of computer networks in Denmark. This report gives a glimpse into the future and a qualified guess on some of the things it might contain. It can be concluded that the model resembles reality.
This report is in Danish.
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2nd Semester: Artificial intelligence in computer games
The starting point for the report is to examine the possibilities of artificial intelligence in computer games with reference to make them more interesting for the user. To do this it is necessary to define the characteristics of intelligence.
The product of this project is a AI-unit for a game of Four-on-a-row. Based on the marked analysis the characteristics of the AI is chosen – the AI is adjusted to the user. It is examined how artificial intelligence is used in the gaming industry with reference to the game marked.
An overview of the marked structure is made and a price is estimated for the product. The implementation of the AI is completed but is not fully tested according to the demand specifications.
This report is in Danish.
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3rd Semester: Network simulation
This project is on simulation of a network. As a beginning network structure is discussed to give a general knowledge of the functionality of the involved networking objects.
Based on this knowledge the objects are generalised into terminal nodes, connections, packets and nodes. Furthermore the functionality is described as events. A design based on the analysis is made. In the design demands are set up for correctness, testability, flexibility and reusability.
The product is implemented in Java and tested for functionality. The usefulness of the program is estimated to small for actual use due to the low detail level.
This report is in Danish
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4th Semester: General purpose control unit
This report describes the construction of a general purpose control unit. The first objective is to be able to control the process of making coffee on a coffee maker.
The control unit is divided into three layers. These layers are hardware, operating system and application. The system developed, is based on the Motorola 68000 processor. This processor is well documented and therefore ideal for a study case.
The operating system is based on a multiprogrammed kernel, where each application, including the command-line, is running as a process.
The second objective is to re-program the system in Prump, which is a dedicated programming language made for the project.
The hardware part of the system and the operating system was developed and implemented. The compiler for Prump is not implemented due to lack of resources at the end of the project. This is not essential for the system, as it is still possible to write applications using the programming language C.
The objective of constructing a general purpose control unit is thereby achieved.
This report is in Danish
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5th Semester: Conference System over Network
This project deals with development of a confrence system for speech communication over network.
To achieve this, the project is divided into three sections. These are solved individually and later joined to form the final solution. These sections are audio, network and server. The audio section is about recording, playback and dataprocessing of audio with the intent to minimize the amount of data needed to be transmitted. Furthermore mixing of sound is treated. This part is backed up by a technical analysis.
The focus of the network section is transmission over network, mainly protocols. The protocols in question are TCP, UDP and network protocols developed in the project. These protocols are modelled in SDL. The section about the server deals with users and channels. This must be dealt with to know which users are connected and which channels they are connected to.
Latency and sound quality have been important issues through all phases of the project. The result of the project is an implementation of a conference system in Java. This system is evaluated according to the factors above. Based on this it is concluded that the system works properly.
This report is in Danish
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6th Semester: Model Based Control of Marine Boiler
This project deals with modelling and control of a marine boiler. The boiler at our disposal is owned by Aalborg Industries A/S. The purpose is to minimize the deviation of the water level and steam pressure from the reference. The boiler contains five control volumes, and the result is a fifth order model. The model is linearized in order to make an effective control of the boiler. The models are afterwards verified against measurements on the boiler.
The report contains design of both SISO controllers and a MIMO-controller. Both controllers are implemented in Simulink and tested on the boiler. The test showed that the SISO water level controller keeps the water level within the demanded deviation, but the pressure controller was to slow.
The MIMO-controller was not tested thoroughly enough to state whether or not the deviation is kept within the demanded limits.
This report is in Danish
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7th Semester: Generic Distributed Mission Control Center for Student Satellites
This semester writing of articles is the topic, therefore the article is posted here. There is made a bunch of worksheets as well which I have chosen not to publish. Howerver you can write to me and get them.
This paper deals with the development of a generic mission control center for use with SSETI Express and AAUSAT-II, which are student satellite projects by the European Space Agency and Aalborg University, respectively. The mission control center will be distributed through the Internet utilizing ground stations in Aalborg and Svalbard to establish communication with these satellites. The objective is to allow tele operation through a graphical user interface from a remote location. Stanford University offers an advanced system for distributing ground stations. However, as this is still under development it is not relied upon in this project.
The design utilizes the open source database management system MySQL for storing all communication with the satellites. The database design was complicated by the differences between the communication protocols for SSETI Express and AAUSAT-II and a generic design of the mission control center was required.
Java was chosen as implementation language as it provides convenient networking features such as Remote Method Invocation, which was used for distributing the graphical user interface through the Internet. Furthermore, the portability of Java programs allows the graphical user interface to run on most hardware platforms and operating systems. The implementation comprises a graphical user interface which allows generic definition of tele commands and telemetry formats based on the SSETI Express communication protocol. It supports manual and automated communication through multiple ground stations provided that appropriate drivers are implemented. During integration at the European Space Research and Technology Centre (ESTEC) a communication link to the SSETI Express satellite was established, and telemetry was successfully received and stored in the database.
For the mission control center to function with AAUSAT-II, reimplementation of some protocol specific parts are required. However, the developed mission control center framework can be reused.
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8th Semester: Control of Fuel Cell Based Cogenerative Power Plant
This report describes the development of controllers for a fuel cell based cogenerating power plant capable of producing electricity and heated water for domestic use.
Nonlinear models of the plant, sensors and, actuators are derived and linearised. Sensors and actuators are linearised using first order Taylor approximation, robust control, and variable zero-placement lead compensators.
Based on a model of the plant, optimal controllers and a PID controller structure are designed and implemented.
Tests of the two controller types have shown that the optimal controllers have slightly better performance in term of reference tracking than the PID controllers. Energy efficiencies from 65% to 75% of the higher heating value of hydrogen are achieved.
The report is not made public available, but feel free to send me an email, if you want a copy.
9th Semester: Modelling and Implementation of Discrete Event Systems
I spent my 9th semester at Queen’s University in the Discrete event systems lab under supervision of Karen Rudie.
The report deals with the analysis, design and implementation of a software toolkit to assist with the problem solving for supervisory control of discrete event systems. It also investigates the possibilities of representing a certain class of discrete event system problems in a way that is more effective than automata.
A toolkit was developed to aid in solving problems concerning the centralised control of discrete event systems. The solution was intuitive to use platform independent software, based on the interface from IDES. It was found that for certain kinds of discrete event systems, it is possible represent them as inequalities and realise supervisors in the same way, thereby making the solution smaller in terms of needed memory.
Besides the report a paper with the title Supervisory Control of Flowlines by Modelling the Legal Language as Inequalities, was produced. The paper was published in Proceedings of WODES 06 – 8th international Workshop on Discrete Event Systems.
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10th Semester: Model Based Control of Benson Boilers – A Hybrid Approach
This project evaluates a hybrid systems theoretical approach to modelling and controlling the high pressure steam part of a power plant. Based on a new definition of a composed hybrid system, proposed in the report, a hybrid model is developed and evaluated using measurements from Skærbækværket Unit 3. Generally the hybrid model shows good similarity with the measurements.
Both one-mode model predictive controllers, based on a single operating point in the hybrid model, and multiple-mode model predictive controllers based on multiple operating points, were developed. The one-mode controllers were capable of following a step in the load of $5 kg/s$ live steam flow, but had a steady state error due to nonlinearities in the output function, and violated constraints. The multiple-mode controller had similar problems as the one-mode controller, and due to the operating points being to far apart the controller could not switch between the two modes. Placing the operating points of the models for the multiple-mode controller close together yielded an infeasible controller; it was not possible to compute control moves within feasible time.
The report also proposes an approach of how to make a state observer for a hybrid system. Although improvements are needed, the result is promising.
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