PhD Course: Applied Control and Sensor Fusion Martin Enqvist, David - - PowerPoint PPT Presentation

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Sep 16, 2022 515 likes •700 views

PhD Course: Applied Control and Sensor Fusion Martin Enqvist, David Trnqvist AUTOMATIC CONTROL M. Enqvist, D. Trnqvist REGLERTEKNIK PhD Course: Applied Control and Sensor Fusion LINKPINGS UNIVERSITET Background 2(11) Some

SLIDE 1

PhD Course: Applied Control and Sensor Fusion

Martin Enqvist, David Törnqvist

M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 2

Background

2(11)

Some knowledge about how to implement control and

sensor fusion methods might be useful in your future careers.

M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 3

Background

2(11)

Some knowledge about how to implement control and

sensor fusion methods might be useful in your future careers.

Questions about implementation issues are frequent when

supervising students in our project course.

M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 4

Background

2(11)

Some knowledge about how to implement control and

sensor fusion methods might be useful in your future careers.

Questions about implementation issues are frequent when

supervising students in our project course.

We have a need for nice demonstration examples.
M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 5

Background

2(11)

Some knowledge about how to implement control and

sensor fusion methods might be useful in your future careers.

Questions about implementation issues are frequent when

supervising students in our project course.

We have a need for nice demonstration examples.
It is often really fun to work with real applications.
M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 6

Main Idea

3(11)

Initiate a project course for PhD students Automatic Control
M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 7

Main Idea

3(11)

Initiate a project course for PhD students Automatic Control
The course will mainly be a (practical) self-study course

with large freedom for the participants to organize their work hours.

M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 8

Main Idea

3(11)

Initiate a project course for PhD students Automatic Control
The course will mainly be a (practical) self-study course

with large freedom for the participants to organize their work hours.

Practical project courses have been given before at

Automatic control (cf. the project-oriented studies in the ECSEL graduate course: acoustic OFDM communication, etc.)

M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 9

Main Idea

3(11)

Initiate a project course for PhD students Automatic Control
The course will mainly be a (practical) self-study course

with large freedom for the participants to organize their work hours.

Practical project courses have been given before at

Automatic control (cf. the project-oriented studies in the ECSEL graduate course: acoustic OFDM communication, etc.) Here are some project suggestions. . .

M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 10

Lego Segway Robot

4(11)

Features:

State estimation and

control

IMU or light sensor
DC motors
M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 11

Lego Car with Electronic Stability Program

5(11)

Features:

Control
Gyro/IMU
DC motors
M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 12

Aircraft Waypoint Navigation

6(11)

Features:

Arduino microcontroller
GPS
Waypoint control
M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 13

Tracking Applet for iPhone

7(11)

Features:

iPhone & Pioneer

programming

OpenCV for iPhone
Target tracking and

adaptive following

M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 14

DSP and Microcontroller Programming

8(11)

Features:

DSPIC platform
DSP programming
Sound application:

Real-time sound effects, air drums, etc.

M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 15

Other Ideas

9(11)

DC motor with ultra sound sensor for reference values
Square root implementation of Kalman filters using some

suitable platform

. . . (Own ideas are most welcome!)
M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 16

Organization

10(11)

Credits: 6hp
Project work: 100h
Solving exercises from the other projects: 40h
Presentations, etc.: 20h
M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 17

Organization

10(11)

Credits: 6hp
Project work: 100h
Solving exercises from the other projects: 40h
Presentations, etc.: 20h
1–3 PhD students in each project group
It is not mandatory to complete all projects (some will be

more like a pre-study)

Some projects might be continued as student projects,

MSc theses or PhD student projects (or as internal development projects)

M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET

SLIDE 18

Time Plan

11(11)

May 17: Sign up for a project
June 14: Project proposals are due
September 15: Final reports and exercise for others to do
completed. Brief presentation around this date.
October 15: Exercises from other projects done.
M. Enqvist, D. Törnqvist

PhD Course: Applied Control and Sensor Fusion

AUTOMATIC CONTROL REGLERTEKNIK LINKÖPINGS UNIVERSITET