Bachelor and Master Theses

To apply for conducting this thesis, please contact the thesis supervisor(s).
Title: Configuring TSN traffic for distributed real-time control of a Furuta inverted pendulum
Subject: Computer network engineering, Distributed systems
Level: Basic, Advanced
Description:

Within the context of the Mälardalen University Automation Research Center (MARC) research profile, a use case is set up to support research related to digital infrastructure and the computing continuum. In this thesis, the Furuta pendulum (Quanser QUBE Servo with inverted pendulum module) is used as a representative cyber-physical system to evaluate Time-Sensitive Networking (TSN) communication.

The system consists of distributed nodes for control and image processing, communicating with the pendulum setup. TSN will be configured to connect image processing, low-level control and high-level control nodes. The effects of TSN configuration, sensor delay (latency), and sensor errors will be investigated. 

The effect of delay has been evaluated, and control strategies have been implemented [1]. Machine learning for estimating the pendulum state has also been evaluated in terms of latency and accuracy [2].

Suitable TSN configurations will be investigated. The low- and high-level control components from [1] will be separated into different nodes and adapted to communicate over the network. The effects of sensor error will be evaluated, and potentially the camera-based component from [2] will be included to replace or complement the pendulum encoder readings.

References:

[1] Mahmoud Ayoub: “Comparing The Effects Of Latency And Jitter in Distributed Furuta Pendulum Control: Latency and Jitter Effects in Distributed Furuta Pendulum Control” (2026) https://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-77646.

 

[2] Anton Lund Gulliksson and Martin Sandberg: CNN-BASED ANGLE ESTIMATION FOR A FURUTA PENDULUM ON EDGE HARDWARE (2026)  https://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-77962
Start date: 2027-01-01
End date: 2027-06-30
Prerequisites:
  • Networking and real-time communication basics
  • Preferably, knowledge of TSN concepts and Linux networking.
  • Basic understanding of control systems is helpful for interpreting results
IDT supervisors: Anna Friebe
Examiner: Mohammad Ashjaei
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