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Design av styrsystem till rotationsstol och utveckling av numerisk modell av otolitmembran
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2007 (Swedish)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Design of control system for rotationchair and development of numerical model of otholitic membrane (English)
Abstract [en]

This master thesis is made of two parts. The first part concerns the method and results of

designing a motion control system for a piece of research-equipment called BIRGIT. The

equipment is made to be used for research on eyemovements. In the second part, a computer

model of a part of the balance organ in the inner-ear is developed. The work has been done at

the Bernadotte laboratory at S:t Erik Eye Hospital.

The equipment the control system is made for is a so-called rotationchair. A rotationchair is a

piece of eqiupment with wich it is possible to physically translate and/or rotate a person.

Doing this will stimulate the balance-senses of the person and thus causing eye movement

responses. These responses are measured by an advanced video system.

The control system consists of a user interface on a PC, a motion control unit, servo motors

and sensors. The first part of creating the control system was to find out how to control the

motors to create the desired stimuli to the test-person. This was then done by programming

the PC interface and a motion control program on the motion control unit. A large part of the

work has been spent on making sure that the different parts of the system works together in a

correct and well controlled way.

The computer model shall simulate the dynamics of the so-called otoliths that are part of the

balance organs located in the inner ears. The otoliths resembles tiny gel membranes. In the

membranes there are motion sensitive receptors, detecting linear accelerations of the head. A

requirement of the model was to make it so that it could be implemented in the user interface.

The work started by examining previous articles concerning this field of study and data was

collected. A model was made by using numerical methods. Unfortunatelly the simulations

made with this model takes to long time to execute. The model is not practically usable. No

way has been found to work around this problem.

Abstract [sv]

Den här rapporten består av två delar. Den ena delen behandlar skapandet av ett styrsystem

till en testutrustning som ska användas till forskning på ögonrörelser. I den andra delen görs

en datormodell över en del av balansorganet i örat. Arbetet har gjorts på Bernadotte

laboratoriet vid S:t Eriks ögonsjukhus.

Testutrustningen som styrsystemet görs till är en så kallad rotationsstol. Det är en utrustning

med vilken man genom att fysiskt translatera och rotera en testperson kan stimulera hjärnan

hos denna person. Med ett avancerat videosystem avläses det hur rörelserna påverkar

ögonmotoriken. Styrsystemet består av ett användargränssnitt på en PC, en styrenhet,

servomotorer och sensorer. Arbetets första del innebar att ta reda på hur motorerna ska styras

för att orsaka önskad stimulering av testpersonen samt att sedan realisera detta genom att göra

program till PC och styrenhet. En stor del av arbetet har lagts ner på att säkerställa att de olika

delarna i systemet samspelar på ett väl fungerande sätt.

Datormodellen ska simulera dynamiken hos de så kallade otoliterna som finns i balansorganet

i innerörat. Otoliterna kan liknas vid mycket små gelémembran. Dessa använder kroppen för

att detektera linjära accelerationer. Ett krav på modellen var att den skulle kunna

implementeras i det användargränssnitt som används för att styra testutrustningen. Först

undersöktes tidigare arbete gjord på området och data samlades in. En numerisk metod

användes för att göra datormodellen. Tyvärr tar simuleringarna allt för lång tid att utföra för

att de realistiskt sett ska kunna användas. Ingen lösning som undviker detta problem har

hittats.

Place, publisher, year, edition, pages
2007.
Series
MMK 2007:58 MDA306
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-100862OAI: oai:DiVA.org:kth-100862DiVA: diva2:545569
External cooperation
T Pansell, Karolinska institutet,Tony Pansell
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-08-20 Created: 2012-08-20 Last updated: 2012-08-20Bibliographically approved

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