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Your role
Background
In recent years, the defense of critical underwater infrastructure has been gaining attention, with a subsequent, ever-increasing interest in industry to provide the best solutions. Saab has a large number of underwater vehicles, be it AUVs (Autonomous Underwater Vehicles) or ROVs (Remotely Operated Vehicles), and to stay ahead of the competition the need for research and development is critical. Guidance, navigation and control of these vehicles is necessary, but demanding, presenting wide possibilities for improvements. With the constantly increased performance of computer hardware, theoretical solutions that have previously been considered too computationally demanding are now instead becoming valid options for real time systems. For control specifically, this has been the case for strategies revolving around system models and optimization, such as MPC (Model Predictive Control).
This thesis aims to analyze the comparative performance of model based solutions in comparison to classic control strategies and the limitations presented by a real time implementation in operational scenarios.
Description of the Master's Thesis
The main goal of this thesis is to develop and implement a model based controller on a so called BlueROV - commonly used for experimental development - and analyze performance compared to classic control strategies and limitations in a real time system. Further areas to explore include parameter tuning and model refinements, controller robustness with changing system dynamics and model uncertainties, optimization considerations etc.
The BlueROV enables different configurations and open-source software which makes it a great platform for quicker and easier system development and testing. The framework for the hardware and software is currently being worked on in a student project in collaboration between Saab Underwater Systems and KTH during the fall of 2024. This includes setting up a simulation and development environment, custom hardware configuration for mission scenario and a foundational MPC implementation.
The thesis will be conducted both in a simulated environment and a subsequent hardware implementation. The objective is to deliver a code repository with the implementation of the controller(s) and a report that documents the work and results.
The general outline of the thesis is to first do a comprehensive literature study on model based controllers and similar work done on underwater vehicles and on BlueROV specifically. Following the literature study, the next step is to get familiar with the hardware and software as well as understanding the work done by the previous student group. During this part the foundational simulation and development environment needs to be set up. A mission scenario or scenarios needs to be defined as well as performance metrics.
Implementation on the BlueROV will primarily be made in C/C++ while performance analyzes might be easier in Matlab. As such, experience in these languages is advantageous but experience in other languages could also prove useful.
The proposed thesis is divided into the following tasks:
- Conduct a thorough literature review
- Setup simulation and development environments
- Define mission scenario(s) and performance metrics
- Develop, implement and analyze results from both simulation and real tests and provide ideas for future work
Your profile
The suggested work is suitable for one or two students with an interest in automatic control, programming and hardware. You are at the end of your education in engineering physics, applied mathematics, statistics or any other related field and about to start your Master Thesis work for 30 HP. Knowledge in C/C++ or similar programming language is considered an advantage.
This position requires that you pass a security vetting based on the current regulations around/of security protection. For positions requiring security clearance additional obligations on citizenship may apply.
What you will be a part of
Behind our innovations stand the people who make them possible. Brave pioneers and curious minds. Everyday heroes and inventive troubleshooters. Those who share deep knowledge and those who explore sky-high. And everyone in between.
Joining us means making an impact together, contributing in our own unique ways. From crafting complex code and building impressive defence and security solutions to simply sharing a coffee with a colleague, every action counts. We encourage you to take on challenges, to create smart inventions and grow in our friendly and tech-savvy workspace. We have a solid mission to keep people and society safe.
Saab is a leading defence and security company with an enduring mission, to help nations keep their people and society safe. Empowered by its 23,000 talented people, Saab constantly pushes the boundaries of technology to create a safer and more sustainable world.
Saab designs, manufactures and maintains advanced systems in aeronautics, weapons, command and control, sensors and underwater systems. Saab is headquartered in Sweden. It has major operations all over the world and is part of the domestic defence capability of several nations. Read more about us here
Last application date
30-11-2024
Contact information
Marina Rantanen Modéer, Manager
marina.rantanenmodeer@saabgroup.com
Oscar Hermansson, Master’s Thesis Supervisor
oscar.hermansson@saabgroup.com
Kindly observe that this is an ongoing recruitment process and that the position might be filled before the closing date of the advertisement.