Dissertations / Theses on the topic 'Robotics in automation'
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Conocimiento, Dirección de Gestión del. "IEEE Robotics and Automation Magazine." IEEE, 2004. http://hdl.handle.net/10757/655311.
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Lundahl, Oskar. "Utmaningar och möjligheter vid införande av Robotic Process Automation för verksamheter." Thesis, Högskolan i Skövde, Institutionen för informationsteknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15812.
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Automatisering av arbetsprocesser har varit ett aktuellt tema för många verksamheter i många år. Ofta är dessa automatiseringar relaterade till fysisk automation som exempelvis robotar vid produktionslinjer. Men med dagens teknik finns det potential för att automatisera arbetsprocesser i verksamheters back-office processer. Robotic process automation, eller förkortat som RPA, är en teknik som har förmågan att imitera användarens steg i en arbetsprocess och återskapa arbetsprocessen utan den mänskliga resursen. Denna studie har som syfte att fastställa utmaningar och möjligheter som är relaterade vid införande av RPA i verksamheter. Genom intervjuer och tidigare publicerat material om RPA, skall denna studie erbjuda en djupare förståelse kring utmaningar och möjligheter för den stigande trenden robotic process automation.Automation has been a hot topic for many businesses for a number of years now. The term is usually related to automation of physical machinery like robots to speed up production and assembling of cars. But with currently technology, the automation has taken a step further. Automation is now capable of automating back-office processes. Robotic Process Automation, also known as RPA, is a technology that is capable of imitating the users step in a business process and replicate it automatically, without human intervention. The purpose of this study is to determine the challenges and opportunities related to the implementation of RPA in businesses. By performing interviews and examining existing material about RPA, this study aims to deliver a deeper and wider understanding of the rising technology that is Robotic Process Automation.
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Selke, Klaus Kurt Willi. "Intelligent assembly in flexible automation." Thesis, University of Hull, 1988. http://hydra.hull.ac.uk/resources/hull:8053.
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This work investigates the automation of assembly cells and the need to incorporate sensor-guided decision techniques. The experience of industry in this area is examined by observing a real cell on the shop floor. From the collected data conclusions point to an alternative error interpretation which describes the successful completion rather than an enumeration of errors. A methodology for the description of the process in robotic assembly is developed. The constituent phases in handling components are identified as Feeding, Transport and Mating. Each phase has well defined characteristic properties which can be determined using appropriate sensing mechanisms. The mating phase is given special attention by proposing the method of information Spaces as a suitable frame work for sensor fusion and context directed interpretation. Thus the successful progress is described regarding any deviations as errors. They in turn can be interpreted in the context in which they were encountered and recovery is accomplished in the demonstration cell by operator taught routines. Where error repetition occurs, a simple look-up technique suffices to remove the need for another operator intervention. The required data structures and the implementation of the experimental cell are discussed. It is concluded from the results that the principle of knowledge-based assembly control exhibits an intelligent behaviour which contributes to an increase in the cell productivity. This method addresses only a part of the overall problem of assembly automation, but it has a central place in the system and could be extended to the complete system.
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Fredmer, Andreas. "Application and Control of Robotic Manipulator through PLC." Thesis, Luleå tekniska universitet, Institutionen för teknikvetenskap och matematik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-62324.
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This thesis analyses the background of the kinematics and control of an articulated robotic arm in order to control it’s motor controllers with a custom controller using PLC programming. The goal was to create a MATLAB simulation of a manipulator and then establish a working configuration. This would then later be used by the division of Signals and Systems at LTU to educate students in PLC programming for autonomous setups with the robotic manipulator. The thesis was successful following the schedule established at the beginning and most of the objectives were accomplished. The results were a functioning control framework of Siemens PLC that could control the manipulators motor controllers to preform pickand place tasks in conjunction with a conveyor belt.
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Hives, Paul, of Western Sydney Nepean University, and of Mechatronic Computer and Electrical Engineering School. "Automation and modelling of robotic polishing." THESIS_XXX_MCEE_Hives_P.xml, 2000. http://handle.uws.edu.au:8081/1959.7/297.
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This research effort highlights emerging areas in the field of robotic polishing and includes an extensive literature survey conducted by the author. This survey shows that areas in need of further investigation for achieving automated polishing are surface measurement, CAD/CAM integration and polishing mechanics. The work conducted has been based on the use of an available robot end-effector for polishing unknown three-dimensional surfaces. A model for determining the mass of material removed during the polishing process is based on hardness testing, surface grinding and milling theory. Using this model the material removed during the polishing process is compared to results from practical experiments. Polishing trajectory for a robot-end effector to follow has been produced using CAD files in Initial Graphics Exchange Specification (IGES) format. Using these files and two types of polishing patterns, the surface roughness of polished surfaces has been compared for simple planar polygonal surfaces.Master of Engineering (Hons)
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Gewriye, Kristian. "Automatisering av kvalitetsinspektion vid storskalig fordonsproduktion : En fallstudie vid Scania CV." Thesis, Luleå tekniska universitet, Institutionen för ekonomi, teknik och samhälle, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79993.
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Graden av automation inom industrin ökar ständigt, inom fordonstillverkning fasas allt fler produktionsnära personal ut till förmån för automatiska system och robotar. På Scanias hyttfabrik i Oskarshamn är stora delar av produktionen automatiserad och det söks ständigt efter nya möjligheter till effektivisering via automation. Detta examensarbete syftade till att utvärdera om kvalitetsinspektionen efter applicering av grundfärg kan automatiseras. Genom att analysera processen genomfördes utvärderingar av två automatiska inspektionssystem som i dag används inom fordonstillverkning. Historisk data analyserades för att identifiera vad ett potentiellt automatiskt inspektionssystem bör klara av. I samband med detta samlades information in för att identifiera vad dessa inspektionssystem faktiskt klarar av. Detta ställdes emot varandra och föranledde en investeringskalkyl för att ta fram en återbetalningstid, samt för att upptäcka vilka monetära besparingar det går att erhålla via ett automatiskt inspektionssystem. Analys genomfördes där fördelar och nackdelar med både dagens arbetssätt samt ett eventuellt framtida arbetssätt med automatiska system vägdes samman. Dessutom analyserades det till vilken grad kvalitetinspektionsprocessen hos Scania kan automatiseras, och vilka kvalitativa vinningar det leder till. I tillägg återger examensarbetet generella slutsatser på hur automatiska inspektionssystem fungerar samt presenterar resultat på om tekniken i dagsläget är mogen, och till vilken utsträckning. Avslutningsvis presenteras rekommendationer till Scania utifrån möjligheter och potentiella besparingar. Rekommendationen är att inte investera i ett automatiskt inspektionssystem, eftersom examensarbetet kommit fram till att inget av de utvärderade systemen kan operera på en tillfredsställande nivå. Tekniken är det vill säga inte ännu mogen för att automatisera denna typ av process.
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Conocimiento, Dirección de Gestión del. "Guía de acceso para IEEE Robotics and Automation Magazine." IEEE, 2021. http://hdl.handle.net/10757/655311.
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Lu, Su. "Subtask Automation in Robotic Surgery: Needle Manipulation for Surgical Suturing." Case Western Reserve University School of Graduate Studies / OhioLINK, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1607429591883517.
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Rosino, Jeffery. "AUTONOMOUS ROBOTIC AUTOMATION SYSTEMWITH VISION FEEDBACK." Master's thesis, University of Central Florida, 2004. http://digital.library.ucf.edu/cdm/ref/collection/ETD/id/2645.
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In this thesis, a full design, development and application of an autonomous robotic automation system using vision feedback is performed. To realize this system, a cylindrical manipulator configuration is implemented, using a personal computer (PC) based PID controller from National Instruments. Full autonomous control will be achieved via a programmable human machine interface (HMI) developed on a PC using Borland C++ Builder. The vision feedback position control is accomplished using an ordinary "off-the-shelf" web camera. The manuscript is organized as follows; After Chapter 1, an introduction to automation history and its role in the manufacturing industry, Chapter 2 discusses and outlines the development of the robotic kinematics and dynamics of the system. A control strategy is also developed and simulated in this chapter. Chapter 3 discusses color image processing and shows the development of the algorithm used for the vision feedback position control. Chapter 4 outlines the system development, which includes the hardware and software. Chapter 5 concludes with a summary, and improvement section. The process used as a basis for the design and development of this thesis of this thesis topic was constructed from a manual capacitor orientation check test station. A more detailed definition and objective is presented in the introduction.M.S.E.E.
Department of Electrical and Computer Engineering
Engineering and Computer Science
Electrical Engineering
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Holm, Martin, and Robert Lager. "Automation av materialhantering vid en kallsåg." Thesis, Uppsala universitet, Industriell teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-326143.
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The purpose of this bachelor thesis was to evaluate and propose a solution for how the material handling of steel rods produced by a metal cutting machine could be automated. The intention of the automation was to meet an increasing demand and to ensure that the quality requirements set are met. These quality requirements are defined by a removal of the small steel edge which occurs on the rod after the cutting process, as well as making sure that the rods meet the specified length tolerances. Initially, a data collection and status analysis of the process was carried out, where problem areas were identified and a requirements specification was formulated. Based on these findings, several solution proposals were generated. The proposed solutions were evaluated and used as a basis on which further development of automation solutions were conducted. During this development, a software simulation environment was used to simulate and evaluate the resulting concepts. Included with these concepts were drawings of necessary constructed equipment, simulation models and cost estimates. The work resulted in two concepts based on the use of industrial robotics. The concept that was considered most suitable for the task is based on an implementation of an ABB IRB 1600 industrial robot with a magnetic gripping tool, a stand-alone station for removing remaining steel edges from the rod, and a measuring arrangement to make sure that the tolerance requirements are met.Detta examensarbete utfördes med syftet att undersöka om och hur materialhanteringen vid en kallsåg för stålstänger kunde automatiseras. Detta för att hantera en ökad efterfråga och säkerställa att de kvalitetskrav som ställs blir uppfyllda. Kvalitetskrav avser här att kvarvarande grader som uppstår på stängerna vid kapning ska vara borttagna och att stängerna ska uppfylla specificerade längdtoleranser. I arbetet genomfördes inledningsvis en datainsamling och nulägesanalys av processen där problemområden identifierades och en kravspecifikation formulerades. Utifrån dessa genererades sedan flera lösningsförslag. De framställda lösningsförslagen utvärderades och utgjorde sedan en grund för vidareutveckling av automationslösningar. Under vidareutvecklingen användes en robot simuleringsmjukvara för att simulera och utvärdera koncept. Till dessa koncept framställdes tillhörande konstruktioner, simuleringsmodeller och kostnadsuppskattningar. Arbetet resulterade i två koncept för automation baserade på ett användande av industrirobotar. Det koncept som bedömdes som mest lämpat för uppgiften bygger på en implementering av en ABB IRB 1600 industrirobot med ett magnetiskt gripverktyg, en fristående station för avgradning av stänger samt en mätanordning för att kontrollera att toleranskrav uppfylls.
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Ibanez-Guzman, Javier. "Robotic tools and automation aids for modular construction of building." Thesis, University of Reading, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.358027.
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Sandén, Pernilla, and Jeff Pertot. "Autonomous cleaning robot as a service : Exploring value co-creation opportunities for an autonomous cleaning robot in the context of a cleaning service." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166828.
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The purpose of this thesis is to explore the value co-creation opportunities for an autonomous cleaning robot, in the context of a cleaning service, by using several prototyping methods. Assuming a service perspective, with an exploratory, multi-stakeholder, and collaborative approach, a case study of an autonomous cleaning robot currently in development is conducted. With the methodological approach of sequentially and iteratively going through the phases of Mapping and Ideation, Conceptualization, Prototyping, and Data analysis, a total of 10 co-creative, stakeholder-centric workshops were conducted, using various prototyping methods e.g. Contextual value network mapping and Desktop walkthrough. Findings show that the value that an autonomous cleaning robot can bring different stakeholders in the context of a cleaning service is multi-facetted and can be divided in to eight different Aspects, where each value carries a different implication at the level of the individual and the level of the system. Furthermore, a list of seven different Design parameters and four different Design problems are presented, which should be used as guidelines when further developing a cleaning service that uses an autonomous cleaning robot. Finally, the implications of the findings are put into a broader perspective through discussion, with topics such as the impact of more robots in society.
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Bentabol, Muñoz Emilio, Ibáñez Carlos Bosque, Ruiz Pedro González, de Mendoza Jose Manuel Hurtado, and Zúñiga Enrique Ruiz. "Linking Wise-ShopFloor to an ABB IRB-140 Robot : Remote control, monitoring, and programming of an ABB robot IRC 5 through the internet." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-13933.
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The aim of this project is integrate the new robot IRB140 from ABB inside the application Wise ShopFloor (Web-based integrated sensor-driven e-ShopFloor) and the integration of a web camera inside the application as well. In order to integrate the ABB IRB140 inside the application, a Java 3D model has to be created, the kinematics and collision constrains have to be defined also and the GUI application modified to fit the virtual model and the camera inside the application. The user has to be able to jog the web camera and zoom it. Changes in the server side have been done in order to introduce new functionalities such as the sessions management, the communication mechanism now is more general using Java inheritance.Wise-ShopFloor
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Hives, Paul. "Automation and modelling of robotic polishing /." View thesis, 2000. http://library.uws.edu.au/adt-NUWS/public/adt-NUWS20030617.081601/index.html.
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Thesis (M.Sc. (Hons)) -- University of Western Sydney, Nepean, 2000."Thesis submitted for the degree of Master of Engineering (Hons), School of Mechatronic, Computer & Electrical Engineering, University of Western Sydney, Nepean" Bibliography : leaves 129-141.
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Gholami, Shahbandi Saeed. "Semantic Mapping in Warehouses." Licentiate thesis, Högskolan i Halmstad, CAISR Centrum för tillämpade intelligenta system (IS-lab), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-32170.
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This thesis and appended papers present the process of tacking the problem of environment modeling for autonomous agent. More specifically, the focus of the work has been semantic mapping of warehouses. A semantic map for such purpose is expected to be layout-like and support semantics of both open spaces and infrastructure of the environment. The representation of the semantic map is required to be understandable by all involved agents (humans, AGVs and WMS.) And the process of semantic mapping is desired to lean toward full-autonomy, with minimum input requirement from human user. To that end, we studied the problem of semantic annotation over two kinds of spatial map from different modalities. We identified properties, structure, and challenges of the problem. And we have developed representations and accompanied methods, while meeting the set criteria. The overall objective of the work is “to develop and construct a layer of abstraction (models and/or decomposition) for structuring and facilitate access to salient information in the sensory data. This layer of abstraction connects high level concepts to low-level sensory pattern.” Relying on modeling and decomposition of sensory data, we present our work on abstract representation for two modalities (laser scanner and camera) in three appended papers. Feasibility and the performance of the proposed methods are evaluated over data from real warehouse. The thesis conclude with summarizing the presented technical details, and drawing the outline for future work.Automatic Inventory and Mapping of Stock (AIMS)
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Strömvall, Lisa, and Linn Duàn. "Robotics Process Automation : Väsentliga faktorer som bör beaktas i ett beslutsunderlag." Thesis, Linnéuniversitetet, Institutionen för ekonomistyrning och logistik (ELO), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:lnu:diva-85957.
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Abstract Bachelor thesis, Degree of Master of Science in Business and Economics, School of Business and Economics at Linnaeus University in Växjö, Spring 2019, 2FE24E. Title: Robotics Process Automation - Important factors to take into consideration in a decision basis Authors: Linn Duàn och Lisa Strömvall Examiner: Pia Nylinder Advisor: Elin Funck Background and problem discussion: Robotics Process Automation (RPA) is a form of automation that has become a tool for achieving increased efficiency and quality improvements. In this study, we have chosen to investigate which factors that are important to take into consideration in a decision basis when implementing RPA. Increased efficiency, shorter lead times, increased customer satisfaction and improved job satisfaction are some of the many benefits that RPA can offer a company. However, it is important that the implementation is done on well-adapted processes and that previous documentation is available for evaluation. To know if an RPA is a profitable project, companies can use an ABC calculation or an investment analysis. Regarding the employees, RPA can cause concern among employees who are afraid that robotization will lead to a reduction of jobs in the future. But in relation with RPA taking over repetitive tasks, employees can apply excess time on more qualified tasks. Purpose: The purpose of the study is to highlight relevant parts of a decision basis by evaluating RP A. By highlighting important elements in a profitability analysis, identifying qualitative effects and obstacles that arise in connection with RPA, the study will present essential factors that should be taken into consideration in a decision basis. Method: A qualitative research approach has been used where we started from an evaluation study to answer our purpose. The insurance companies Folksam and If have been used for empirical collection. During six semi-structured interviews, questions have been asked about the reasons behind the implementation, how RPA is used, positive and negative effects, and issues concerning the employees' experiences at the implementation phase. Finally, all data have been transcribed, analyzed and sent back to the respective respondent for validation. It also explains the quality criteria’s and ethical considerations that permeate the work. Conclusion: The study results in important factors that should be taken into consideration when a decision basis is presented. The factors are presented as components in an investment analysis, lost/added activities in an ABC-calculation, and identification of qualitative effects as well as obstacles that limit the desired efficiency. Furthermore, it is explained how the different parts of the decision basis are interdependent and that they should be used as a complement to constitute a well-founded basis, to determine whether an implementation of RPA is appropriate or not. Key words: Robotics Process Automation, automation, efficiency, qualitative effects, calculation, decision basis.
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Martinsson, Jonas. "Examine vision technology for small object recognition in an industrial robotics application." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-28218.
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This thesis explains the development of a computer vision system able to find and orient relatively small objects. The motivations is exchanging a monotonous work done by hand and replace it with an automation system with help of an ABB IRB 140 industrial robot. The vision system runs on a standard PC and is developed using the OpenCV environment, originally made by Intel in Russia. The algorithms of the system is written in C++ and the user interface in C++/CLI. With a derived test case, multiple vision algorithms is tested and evaluated for this kind of application. The result shows that SIFT/SURF works poorly with multiple instances of the search object and HAAR classifiers produces many false positives. Template matching with image moment calculation gave a satisfying result regarding multiple object in the scene and produces no false positives. Drawbacks of the selected algorithm developed where sensibility to light invariance and lack of performance in a skewed scene. The report also contains suggestions on how to precede with further improvements or research.
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Modin, Ivan. "Development of an Automatic Control Platform for Food Waste Management." Thesis, Uppsala universitet, Institutionen för elektroteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-451933.
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According to the facts presented by The United Nations in their 12th goal - ensure sustainable consumption and production patterns - of the 17 sustainability goals, an estimated third of all food produced each year ends up wasted, in the bins of consumers and retailers or spoiling, due to poor transportation and harvesting practices. Reducing food waste is therefore one of the indispensable tasks to accomplish this goal. This degree project aims to develop, as proof of concept, an automatic control platform for food waste management and implement it in a form of a prototype. The platform is intended to handle the workflow automatically, taking in food waste, weighing it, getting it photographed for image recognition and transporting it to a specified bin according to the classification of food waste using image recognition. The classification part is, however, not included in this project. The prototype of the control platform consists of a mechanical construction, a weighing scale, a stepper motor, a servomotor and a Raspberry Pi single-board computer. The mechanical construction was designed using CAD (computer aided design) and made with a 3D printer. On the top of the construction is an open flat platform, for placing food waste, which has two walls on the sides, one opening in the front and a robot arm in the back. The robot arm is moved forward, to offload food waste, and backward by a servomotor. The platform is mounted a base with a stand which supports the mechanical construction. It is rotated using a stepper motor installed in the base and stops at three different postions at 90, 180 and 270 degrees, respectively, which are to represent the three different categories of food waste that is to be classified using image recognition. The Raspberry Pi is the controller that is programmed to coordinate the whole workflow. The prototype is finished and tested. The test results have shown that it works well as a control platform that can handle the workflow, starting at the position to take in food waste, then weighing it and transporting it to three different specified positions, respectively.
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Pettersson-Gull, Pontus, and Johan Johansson. "INTELLIGENT ROBOTIC GRIPPER WITH AN ADAPTIVE GRASP TECHNIQUE." Thesis, Mälardalens högskola, Inbyggda system, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-40573.
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This thesis presents a robotic gripper with an intelligent sensor system to grasp objects with an adaptive grasp technique. Two techniques are used, one for small objects and one for large objects. The sensor system is able to detect the object and measure its size to adapt the grasp. Optical motion sensors are used to see when the object is slipping between the fingers which means that more force needs to be applied. This makes it possible to grasp rigid and soft objects without damaging them. The functionality of the gripper was tested on eight objects with various characteristics. The results show that it can adapt the grasp technique and grasping force to the objects’ size and softness. It also shows that adding one more grasp technique made it possible to grasp more objects, compared to a different gripper with a single grasp technique which were used as a foundation for this thesis.
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Ericson, Stefan. "Vision-Based Perception for Localization of Autonomous Agricultural Robots." Doctoral thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-13408.
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In this thesis Stefan investigates how cameras can be used for localization of an agricultural mobile robot. He focuses on relative measurement that can be used to determine where a weeding tool is operating relative a weed detection sensor. It incorporates downward-facing perspective cameras, forward-facing perspective cameras and omnidirectional cameras. Stefan shows how the camera’s ego-motion can be estimated to obtain not only the position in 3D but also the orientation. He also shows how line structures in the field can be used to navigate a robot along the rows.
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Al-Saour, Rafal. "Automatisering av stackning." Thesis, Uppsala universitet, Elektricitetslära, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-348148.
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This project describes the process and the result of automating a moment in the production of a wave power generator. The project goal is to improve a stacking tool, as well as simulating this process to be able to use it in the production of stator valleys. The project started with an investigation and a study of the tool, which has been used in laboratory work at Angstrom Laboratory at Uppsala University. It was necessary to study even the robot, which was used in the automating. The project started by constructing a prototype based on the design of the old tool. The tool became updated with suction cups and electromagnets. The first task which resulted an advantage of the new prototype was to make the sheets movement more reliable. The disadvantage is that it can only take one sheet at a time which prolongs the stacking time. The second task was to simulate the stackning momentum. To simulate the entire process of the project, a robot cell model was created in the "ABB-Robotstudio" program. The aim was to develop a specific simulation moment based on a previous research project (Robotized Stacking of the Uppsala University Wave Energy Converter Generator Stator) by Erik Hultman and Marcus Linder at Uppsala University. The results of the tests showed that the instrument worked as it supposed to do and steering of the stator’s sheets movement was secure.
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Summer, Matthew D. "Design algorithm of a novel computer-controlled gripper for a live bird transfer system." Thesis, Georgia Institute of Technology, 2002. http://hdl.handle.net/1853/17139.
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Fatnassi, Eddi. "Modväxlare." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-38872.
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Detta projekt handlar om att effektivisera EMC-testning genom att undersöka hur en modväxlare konstrueras samt hur denna styrs och ifall det behövs återkoppling för denna ska uppnå funktionell nivå. Syftet med modväxlare är att man enklare ska kunna testa emissions- och immunitetsnivåer av nya tekniska uppfinningar och på så sätt värna om framtidens elektromagnetiska milj¨o. Under arbetets g˚ang har en modv¨axlare designats med CAD varpå modellen har skalats ner för att testa positionsnogrannhet, acceleration och tidsåtgång för körning. Avslutningsvis har man dragit slutsatser baserat på testerna och med hjälp av dessa framfört anvisningar till hur en fullskalig modväxlare bör konstrueras.
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Rådman, Marcus. "Implementation and testing of a path tracker for a full-scale Unmanned Ground Vehicle." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-73079.
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This project is the implementation and testing of a path tracker for a car-sized Unmanned Ground Vehicle. The vehicle, a Toyota Land Cruiser, was provided by SSC and hadpreviously been modified for remote operation. The developed path tracker uses a "follow the carrot" algorithm and has been writtenin C using the Robot Operating Software (ROS) framework and has been integrated intothe vehicles existing ROS powered software. During the implementation, the Gazebo rigid body simulator was used to simulate a simplified vehicle. Integration with the real sensors was performed using a small-scalecar, both indoors with the aid of a Vicon motion capture system and outdoors utilizingonly sensors available to the full-size car. The small-scale tests showed promise, howeverwhen full-scale field tests were performed the results showed some problems and reasonsfor these are discussed.
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Li, Songyu. "A NEW HANDS-FREE FACETO FACE VIDEOCOMMUNICATION METHOD : Profile based frontal face videoreconstruction." Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-155689.
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Expósito, Idir, and Itsaso Mujika. "Reductions in Energy Consumption through Process Optimisation and Variable Production." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15209.
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Energy efficiency is becoming an important objective for modern manufacturing industry. The aim of this work is to improve energy efficiency of an automated system. Since a majority of production processes are limited by an external bottleneck, the hypothesis of this work is that reducing the processing rate of the restricted processes can lead to saving in energy and resources. A methodology based on optimisation at process, cell and line levels is developed and evaluated over different scenarios.The developed methodology is then applied to a simulated production cell to study its efficacy quantitatively. In this particular case, the proposed approach yields a decrease in energy consumption of 49% at maximum production capacity. This decrease can be greater if there is an external factor such as low demand or another stage in the production line.
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Fonooni, Benjamin. "Robot Learning and Reproduction of High-Level Behaviors." Licentiate thesis, Umeå universitet, Institutionen för datavetenskap, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-87258.
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Learning techniques are drawing extensive attention in the robotics community. Some reasons behind moving from traditional preprogrammed robots to more advanced human fashioned techniques are to save time and energy, and allow non-technical users to easily work with robots. Learning from Demonstration (LfD) and Imitation Learning (IL) are among the most popular learning techniques to teach robots new skills by observing a human or robot tutor. Flawlessly teaching robots new skills by LfD requires good understanding of all challenges in the field. Studies of imitation learning in humans and animals show that several cognitive abilities are engaged to correctly learn new skills. The most remarkable ones are the ability to direct attention to important aspects of demonstrations, and adapting observed actions to the agents own body. Moreover, a clear understanding of the demonstrator's intentions is essential for correctly and completely replicating the behavior with the same effects on the world. Once learning is accomplished, various stimuli may trigger the cognitive system to execute new skills that have become part of the repertoire. Considering identified main challenges, the current thesis attempts to model imitation learning in robots, mainly focusing on understanding the tutor's intentions and recognizing what elements of the demonstration need the robot's attention. Thereby, an architecture containing required cognitive functions for learning and reproducing high-level aspects of demonstrations is proposed. Several learning methods for directing the robot's attention and identifying relevant information are introduced. The architecture integrates motor actions with concepts, objects and environmental states to ensure correct reproduction of skills. This is further applied in learning object affordances, behavior arbitration and goal emulation. The architecture and learning methods are applied and evaluated in several real world scenarios that require clear understanding of goals and what to look for in the demonstrations. Finally, the developed learning methods are compared, and conditions where each of them has better applicability is specified.
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Karlsson, Patrick, and Emil Johansson. "Object Identifier System for Autonomous UAV : A subsystem providing methods for detecting and descending to an object. The object is located in a specified area with a coverage algorithm." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37072.
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Using UAVs in everyday life has been increasing in recent years. UAV is an agile vehicle and often comes integrated with a camera and sensors which makes it suitable for object detection and tracking. In this thesis, we present a subsystem with a limited hardware setup only consisting of an on-board computer and a camera that is mounted on a UAV. The subsystem provides techniques to maneuver, detect and descend to an object, all executed autonomously. The system is implemented in Robotic Operating System (ROS). The object detection is implemented as a convolutional neural network provided by TensorFlow Object Detection API. This thesis covers the necessary steps to adopt a pre-trained TensorFlow model to specific needs and compares three different TensorFlow models considering accuracy, frames per second and energy efficiency. Additionally, methodologies to cover a predefined area and position an object in relation to the camera is proposed. Experiments are executed both in a real-world and simulated environment and the results are promising for the implemented system.Användandet av UAVs i det vardagliga livet har ökat markant de senaste åren. En UAV är ett agilt fordon som ofta kommer integrerat med en kamera samt sensorer som gör det till ett lämpligt fordon för objektigenkänning och spårning. I den här avhandligen presenterar vi ett delsystem med en hårdvaruplattform endast bestående av en inbyggd dator och en kamera. Delsystemet tillhandahåller metoder som gör det möjligt för UAV:en att styras, känna igen objekt och landa på det detekterade objektet autonomt. Systemet implementeras i Robotic Operating System (ROS). Objektigenkänningen är implementerat som ett konvolutionellt neuralt nätverk tillhandahållt av TensorFlow Object Detection API. Avhandlingen omfattar stegen nödvändiga att ta för att anpassa en TensorFlow model till sina egna behov och gör jämförelser mellan tre olika Tensorflow modeller med avseende på precision, bildrutor per sekund och energi effektivitet. Dessutom presenteras metoder för att söka av ett fördefinierat område och positionering av ett objekt relativt komeran. Under experiment, både i simulering och verkliga världen, har lovande resultat framkommit.
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Gunning, Robin. "A performance comparison of coverage algorithms for simple robotic vacuum cleaners." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-229676.
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Cheap automatic robotic vacuum cleaners keep their cost down by having less sensors and many of them focus on using a single frontal bumper sensor, this makes it important to be able to get good coverage of a room with no knowledge of said room. This paper investigates whether the algorithm boustrophedon is enough to get a good coverage of a simple room with a maximum of two furnitures and only 90 degree corners. A graphical simulation were made to test the algorithms that are commonly used in cheap automatic robotic vacuum cleaners to compare them with the result of only using boustrophedon. The results show that the best algorithms are the non-deterministic random walk and all combined. Boustrophedon tends to get stuck when the room is not empty and it only cleans half the room when starting in the middle of the room, while being the fastest and gets most coverage in an empty room when starting in a corner.Billiga automatiska dammsugare håller kostnaderna nere genom att minska antalet sensorer och många av dem använder endast en stötfångare med stötsensor framtill, vilket gör det viktigt att kunna få en bra täckning av ett rum utan vetskap om rummet. I denna rapport undersöks om algoritmen boustrophedon räcker för att få en bra täckning av ett enkelt rum med som mest två möbler och endast 90 graders hörn. En grafisk simulering gjordes för att testa de algoritmer som vanligtvis används i billiga automatiska dammsugare för att jämföra dem med resultatet av att endast använda boustrophedon. Resultaten visar att de bästa algoritmerna är den icke-deterministiska random walk och alla algoritmer kombinerade. Boustrophedon tenderar att fastna när rummet inte är tomt och den rengör bara hälften av rummet när man börjar i mitten av rummet, men den är snabbast och får mest täckning i ett tomt rum när man börjar i ett hörn.
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Ramavaram, Harish Rao. "Software and Control Design for 2-D Floating Satellite Simulator." Thesis, Luleå tekniska universitet, Rymdteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-70067.
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Lindgren, Billy, and Giancarlo Kuosmanen. "An Autonomous Robot for Collecting Waste Bins in an Office Environment." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-39940.
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The aim of this work is to introduce autonomous robots for collecting waste bins in an officeenvironment. Since the environment will contain humans, therefore, the robot-human interactionis essential so that neither the robot nor humans come in harm’s way. To prevent this, the robotneeds to be able to communicate with the humans, and it has to operate in a safe way in the officeenvironment. To facilitate this there is a need to investigate the state-of-the-art in various fieldssuch as: mapping, path planning and, machine-human interaction. The result is a robot that isable to map an indoor environment and use the map to its advantages for producing a suitable pathfrom any given position to any desired location. While traversing the path, sensor data is gatheredfor obstacle detection and avoidance in order to handle dynamic environments.
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Lilja, Mattias. "Robotverktyg till Smartpacker plockmaskin." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-36852.
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Lotz, Max. "Depth Inclusion for Classification and Semantic Segmentation." Thesis, KTH, Robotik, perception och lärande, RPL, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233371.
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The majority of computer vision algorithms only use RGB images to make inferencesabout the state of the world. With the increasing availability of RGB-D cameras it is im-portant to examine ways to effectively fuse this extra modality for increased effective-ness. This paper examines how depth can be fused into CNNs to increase accuracy in thetasks of classification and semantic segmentation, as well as examining how this depthshould best be effectively encoded prior to inclusion in the network. Concatenating depthas a fourth image channel and modifying the dimension of the initial layer of a pretrainedCNN is initially examined. Creating a separate duplicate network to train depth on, andfusing both networks in later stages is shown to be an effective technique for both tasks.The results show that depth concatenation is an ineffective strategy as it clamps the ac-curacy to the lower accuracy of the two modalities, whilst late fusion can improve thetask accuracy beyond that of just the RGB trained network for both tasks. It is also foundthat methods such as HHA encoding which revolve around calculating geometric prop-erties of the depth, such as surface normals, are a superior encoding method than sim-pler colour space transformations such as HSV. This only holds true when these depthimages are normalised over the maximum depth of the dataset as opposed to the maxi-mum depth of each individual image, thus retaining geometric consistency between im-ages. The reverse holds true for simpler colour space transformations.Majoriteten av algoritmerna för datorseende använder bara färginformation för att dra sultsatser om hur världen ser ut. Med ökande tillgänglighet av RGB-D-kameror är det viktigt att undersöka sätt att effektivt kombinera färg- med djupinformation. I denna uppsats undersöks hur djup kan kombineras med färg i CNN:er för att öka presentandan i både klassificering och semantisk segmentering, så väl som att undersöka hur djupet kodas mest effektivt före dess inkludering i nätverket. Att lägga till djupet som en fjärde färgkanal och modifiera en förtränad CNN utreds inledningsvis. Sedan studeras att istället skapa en separat kopia av nätverket för att träna djup och sedan kombinera utdata från båda nätverken. Resultatet visar att det är ineffektivt att lägga till djup som en fjärde färgkanal då nätverket begränsas av den sämsta informationen från djup och färg. Fusion från två separata nätverk med färg och djup ökar prestanda bortom det som färg och djup erbjuder separat. Resultatet visar också att metoder så som HHA-kodning, är överlägsna jämfört med enklare transformationer så som HSV. Värt att notera är att detta endast gäller då djupbilderna är normaliserade över alla bilders maxdjup och inte i varje enskild bilds för sig. Motsatsen är sann för enklare transformationer.
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La, Duc-Vinh, and Rami Ishac. "Stalker Robotplattform." Thesis, Högskolan i Halmstad, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-28937.
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I robotikkursen Autonoma Mekatroniska System på Halmstad Högskola finns ett problem som kan uppstå vid bygget av deras hjulförsedda mobila robotar. Studenter har en tendens att bygga roboten så att den körs med maximal effekt från start till inbromsning. Detta medför att vid test av deras robotar så slits motorerna ut fortare vilket ger en onödig kostnad. För att minska på kostnaden är målet med detta projekt att bygga och reglera en sådan robot med hjälp av en banplanerare. Banplaneraren skapar mjuka övergångar vid start och inbromsning av roboten vilket gör att motorerna inte slits ut lika fort. I detta projekt ska vi utveckla en robot som kan användas som ett pedagogiskt undervisningsmaterial. Roboten ska vara en mall i kursen för studenterna så de kan se att det går bygga en robot som kan köras med mjuka övergångar. Roboten ska både kunna följa ett rörligt objekt med ett bestämt avstånd och har möjlighet att rotera. I detta projekt har även en undersökning av en modellerad och en verklig motor gjorts genom systemidentifiering. Resultatet blev en robot som kan följa ett rörligt objekt med ett bestämt avstånd där start och inbromsning görs mjukt. Med denna robot kan studenter se att det är möjligt att bygga en robot som körs med mjuka övergångar, vilket leder till mindre slitage av motorerna. Stegsvar och bodediagram har plottats fram genom systemidentifieringen där skillnader och likheter mellan verklig och modellerad motor kan ses.In the robotics course Autonomous Mechatronic Systems at Halmstad University there is a problem that may occur during the construction of their wheeled mobile robots. Students have a tendency to build the robot so that it runs with maximum efficiency from start to braking. This means that when testing their robots, the motors wear out faster, which is providing an unnecessary cost. To reduce the cost, the goal of this project is to build and regulate such a robot using a positionplanner. The positionplanner creates smooth transitions at start and braking of the robot so that the motors does not wear out as fast. In this project, we will develop a robot that can be used as an educational teaching materials. The robot will be a template in the course for the students so they can see that it is possible to build a robot that can run with smooth transitions. The robot should both be able to follow a moving object with a fixed distance and be able to rotate. In this project, an investigation of a modeled and actual motor has been made through a systemidentification. The result was a robot that can follow a moving object with a fixed distance where starting and braking is done smoothly. With this robot, students can see that it is possible to build a robot running with smooth transitions, which leads to less wear on the motors. Stepresponses and bodeplots have been plotted through the systemidentification where differences and similarities between real and modeled motor can be seen.
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Papadimitriou, Andreas. "Modeling and Control of Air-based Actuated Robots." Licentiate thesis, Luleå tekniska universitet, Signaler och system, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-83387.
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The aim of this thesis is to advance and increase the quality of the field of maintenance and exploration with the use of air-based robotic platforms. The fields that will be addressed are focusing on: a) Identification of adhesion system of climbing robots, b) the control of adhesion level and motion of climbing robots, c) the path planning based on constraints posed from platforms’ mobility characteristics and sensor requirements and d) The attitude control of a morphing Micro Aerial Vehicle (MAV) during in-flight structural re-configurations.Towards this envisioned aim, this thesis will present the following main theoretical contri-butions: a) The development and control of a Thrust Vectoring Vortex Climbing Robot (TVV-CR) which utilizes an Electric Ducted Fan (EDF) for achieving simultaneous locomotion and adhesion without the need of active motorized wheels for traversing surfaces of different ori-entations, b) the design, development, and control of a revised Vortex Robot (VR) based on differential steering platform and the ability to dynamically control the force needed for a con-tinuous adhesion, c) a general modeling methodology, extendable to different adhesion control technologies, of the minimum exerted force of a Climbing Robot (CR) required to achieve ad-hesion regardless of surface orientation d) a set-membership identification and Explicit Model Predictive Control (EMPC) for a Vortex Actuation System (VAS) e) the experimental evalua-tion of the VR under the control framework of an EMPC for the estimated via Autoregressive-Moving-Average with eXternal input (ARMAX) identification VAS f) the formulation of a path planning algorithm for the VR operation under an area coverage scenario while considering the surface characteristics and set inspection specifications. g) the design of a switching Model Predictive Control (MPC) to support the online structural reformation of a foldable quadrotor.In the first part of this thesis, the vision, motivation, open challenges, contributions, and future works are discussed, while in the second part the full articles connected to the presented contributions are presented in the annex.
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Ejdeholm, Dawid, and Jacob Harsten. "Manipulation Action Recognition and Reconstruction using a Deep Scene Graph Network." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-42405.
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Convolutional neural networks have been successfully used in action recognition but are usually restricted to operate on Euclidean data, such as images. In recent years there has been an increase in research devoted towards finding a generalized model operating on non-Euclidean data (e.g graphs) and manipulation action recognition on graphs is still a very novel subject. In this thesis a novel graph based deep neural network is developed for predicting manipulation actions and reconstructing graphs from a lower space representation. The network is trained on two manipulation action datasets and uses their, respective, previous works on action prediction as a baseline. In addition, a modular perception pipeline is developed that takes RGBD images as input and outputs a scene graph, consisting of objects and their spatial relations, which can then be fed to the network to lead to online action prediction. The network manages to outperform both baselines when training for action prediction and achieves comparable results when trained in an end-to-end manner performing both action prediction and graph reconstruction, simultaneously. Furthermore, to test the scalability of our model, the network is tested with input graphs deriving from our scene graph generator where the subject is performing 7 different demonstrations of the learned action types in a new scene context with novel objects.
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Ginsberg, Fredrik. "Optimizing multi-robot localization with Extended Kalman Filter feedback and collaborative laser scan matching." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-48748.
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Localization is a critical aspect of robots and their industrial applications, with its major impact on navigation and planning. The goal of this thesis is to improve multi-robot localization by utilizing scan matching algorithms to calculate a corrected pose estimate using the robots' shared laser scan data. The current pose estimate relative to the map is used as the initial guess for the scan matching. This corrected pose is fused using several different localization configurations, such as an Extended Kalman Filter in combination with the Adaptive Monte Carlo Localization algorithm. Simulations showed that localization improved by resetting the Monte Carlo particle filter with the pose estimate generated by the collaborative scan matching. Further, in simulated scenarios, the collaborative scan matching implementation improved the accuracy of typical Monte Carlo Localization configurations. Furthermore, when filtering based on the number of reciprocal correspondences between the scan match output and the target scan, one could extract highly accurate pose estimates. When resetting the Monte Carlo Localization algorithm with the pose estimates, the localization algorithm could successfully recover from severe errors in the global positioning. In future work, additional testing needs to be done using these extracted pose estimates in a dedicated map-based multi-robot localization algorithm.
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Soman, Sopal. "An Automated Methodology for Identification and Analysis of Erroneous Production Stop Data." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-19126.
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The primary aim of the project is to automate the process of identifying erroneous entries in stop data originating from a given production line. Machines or work stations in a production line may be stopped due to various planned (scheduled maintenance, tool change, etc.) or unplanned (break downs, bottlenecks, etc.) reasons. It is essential to keep track of such stops for diagnosing inefficiencies such as reduced throughput and high cycle time variance. With the increased focus on Industry 4.0, many manufacturing companies have started to digitalize their production processes. Among other benefits, this has enabled production data to be captured in real-time and recorded for further analysis. However, such automation comes with its problems. In the case of production stop data, it has been observed that in addition to planned and unplanned stops, the data collection system may sometimes record erroneous or false stops. There are various known reasons for such erroneous stop data. These include not accounting for the lunch break, national holidays, weekends, communication loss with data collection system, etc. Erroneous stops can also occur due to unknown reasons, in which case they can only be identified through a statistical analysis of stop data distributions across various machines and workstations. This project presents an automated methodology that uses a combination of data filtering, aggregation, and clustering for identifying erroneous stop data with known reasons referred to as known faults. Once the clusters of known faults are identified, they are analyzed using association rule mining to reveal machines or workstations that are simultaneously affected. The ultimate goal of automatically identifying erroneous stop data entries is to obtain better empirical distribution for stop data to be used with simulation models. This aspect, along with the identification of unknown faults is open for future work.
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Khan, Yousuf, and Edier Otalvaro. "Human-Robot Interaction Using Reinforcement Learning and Convolutional Neural Network." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-50918.
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Proper interaction is a crucial aspect of team collaborations for successfully achieving a common goal. In recent times, more technically advanced robots have been introduced into the industrial environments sharing the same workspace as other robots and humans which causes the need for human-robot interaction (HRI) to be greater than ever before. The purpose of this study is to enable a HRI by teaching a robot to classify different human facial expressions as either positive or negative using a convolutional neural network and respond to each of them with the help of the reinforcement learning algorithm Q-learning.The simulation showed that the robot could accurately classify and react to the facial expressions under the instructions given by the Q-learning algorithm. The simulated results proved to be consistent in every conducted experiment having low variances. These results are promising for future research to allow for the study to be conducted in real-life environments.
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Moberg, Viktor Erik Olof. "Den obemannade tröskeln." Thesis, Försvarshögskolan, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-9529.
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Den obemannade tröskeln är en uppsats på magisternivå efter avslutade studier på HOP1 vid Försvarshögskolan. Syftet med att skriva den var att försöka ge ett bidrag till anskaffningsprocessen av nya autonoma system till den svenska marinen. Detta gjordes genom att använda de tydligast framträdande dimensionerande teorierna ur svensk militärstrategisk doktrin och skapa ett analysverktyg utifrån detta, tillsammans med andra enligt författaren viktiga svenska kulturella principer, nämligen efterlevnaden av krigets lagar och hänsyn till kostnad. Studien är konstruerad som en kvalitativ, utforskande fallstudie med den svenska marinens undervattensförmåga som studerat fall. Resultaten visar på att marinen kan ha mycket stor nytta av dessa system, men att det initialt är viktigt att få ut system tidigt som direkt stödjer befintliga plattformar i deras verksamhet.
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Junger, Oscar. "Datastödd målföljare med två integrerade mikroprocessorer." Thesis, Högskolan i Gävle, Elektronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-35825.
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Winberg, Jessica, and Svensson Hanna. "En hissautomations begränsningar och tillgångar : En fallstudie som undersöker hur en hissautomation bör användas i en plockmiljö." Thesis, Jönköping University, JTH, Logistik och verksamhetsledning, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-53872.
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Fors, Christoffer, and Philip Johansson. "Kollaborativa Robotar : Verifiering av kraft och tryck vid kollision mellan robot och människa." Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-21938.
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Collaborative robots are a new type of robot that unlike industrial robots are to be used in close relation to humans without physical walls. Due to this, high demands are placed on the safety of collaborative robots as people must not be harmed. To verify the safety between robot and human, collision measurements are made. For the past 10 years, the number of published articles dealing with Human RobotCollaboration has gone from almost none to approximately 3000 published articles per year. It can also be seen that research on collisions together with cooperation between robots and humans has increased during the same period but not at all in the same size. The thesis is made together with Scania which is a truck manufacturer in Sweden. Scania has its own requirements for safety around collaborative robots and they require that collision measurements in the form of pressure and force take place during each implementation of a collaborative robot. The purpose is to provide a broader knowledge of collaborative robots and their safety. To provide knowledge of how collision measurements should be made and with which tools. Using a spiral development model, several practical measurements were performed on a collaborative robot. Other methods used were interviews, literature study, calculations and benchmarking. The results show that the values set in the robot do not always correspond to those obtained during practical feeds. It uses the robot to show permissible forces in a collaborative position, but also many impermissible force measurements have taken place at different switches and at different speeds. The distance between the robot's base and the robot’s arm where the collision cuts make a great impact on the measurements and show that it can be a danger. Running a collaborative robot at high speeds without external safety equipment also demonstrates risks. Pressure measurements show a large uncertainty of the result and the result is also above the permissible limit in several cases. The impermissible pressures indicate danger for people to work in close contact with collaborative robots. The high difference in the measurement result is only for pressure measurements and the result at 100measurements over force gave a low variation.
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Selle, Teodor. "Att Välja Rätt Digitala Tvilling." Thesis, Karlstads universitet, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-85454.
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Today’s automation systems are becoming way more complex in their design and system complexity is increasing. To design, develop and make sure automation system can reach the market as rapidly as possible, requires a new work method to match these new demands and requirements. By working with simulation and modeling of industrial automation systems, is it possible to streamline the development process and maintain a high level of quality.
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Olsson, Anders. "Extended target tracking using Gaussian processes on stick-pixel defined objects." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35782.
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In this work, I present the performance of a extended target tracking algorithm that utilizes Gaussianprocesses. The extended target tracking algorithm is evaluated on objects corresponding to roadusers, with automotive use in mind. The measurements that denes the object to be tracked arederived from stereo image sensor disparity and is called Stick-pixels or Stixels. The process ofgenerating these measurements are also presented in this work.It consists of two separate methods,one relying on stereo image frames and one purely dened by object characteristics and pose. Theextended target tracking algorithm has been tested on three types of simulated road users, car, cyclistand pedestrian. To evaluate the performance of the target tracking algorithm three measures areused, error in position, orientation discrepancy over time and intersection over union.
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Palm, William, and Fredrik Fischer. "PATH CONTROL OF AN AUTOMATED HAULER." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35913.
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The vision of self driving cars has existed for a long time and the field of autonomous vehicles has been of great interest to researchers and companies. Volvo construction equipment presented their Electrical Site project in September 2016, with predictions of reducing carbon emission up to 95% and total cost of ownership by 25%. In the project, multiple autonomous haulers are intended to work in a fleet, loading, unloading and charging in a cyclic behavior. This masterthesis focus on the lateral control system of the automated hauler platform HX. The platform is modeled in an comprehensive simulation environment and three different control algorithms have been implemented and tested; An adaptive Proportional, Integral and Derivative (PID) controller, Stanley and the Proportional Integral + Proportional controller. The PID controller is tuned using the Nyquist stability criterion and the other two algorithms are tuned using a Genetic Algorithm. Results indicate that, to reach the optimal performance of the tested algorithms, manual tuning from experimental testing is required.
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Pettersson, Rasmus. "Continuous localization in indoor shifting environment." Thesis, Uppsala universitet, Fasta tillståndets elektronik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-326270.
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In this Master Thesis different approaches to mobile localization within construction environments are investigated. At first an overview of different sensors commonly used within localization is presented together with different map representations and a system consisting of a laser scanner and wheel encoders is chosen. The hardware is prepared for the open source ROS environment and three different algorithms for localization are tested. Two algorithms, Gmapping and HectorSLAM, used for Simultaneous Localization and Mapping, are compared. The best map is then used by a Monte Carlo localization algorithm, AMCL, for autonomous navigation. It is found that HectorSLAM produces the most accurate map, given that the grid refinement level is fine enough for the environment. It is also found that the maximum Kullback Leiber distance, used in AMCL, needs to be calibrated in order to perform a sufficient navigation.
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Karlsson, Ahlexander, and Robert Skoglund. "Video-rate environment recognition through depth image plane segmentation for indoor service robot applications on an embedded system." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35595.
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As personal service robots are expected to gain widespread use in the near future there is a need for these robots to function properly in a large number of different environments. In order to acquire such an understanding this thesis focuses on implementing a depth image based planar segmentation method based on the detection of 3-D edges in video-rate speed on an embedded system. The use of plane segmentation as a mean of understanding an unknown environment was chosen after a thorough literature review that indicated that this was the most promising approach capable of reaching video-rate speeds. The camera used to capture depth images is a Kinect for Xbox One, which makes video-rate speed 30 fps, as it is suitable for use in indoor environments and the embedded system is a Jetson TX1 which is capable of running GPU-accelerated algorithms. The results show that the implemented method is capable of segmenting depth images at video-rate speed at half the original resolution. However, full-scale depth images are only segmented at 10-12 fps depending on the environment which is not a satisfactory result.
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Larsson, Linus, and Karl Fransson. "Automatisera återanvändning av elektronisk utrustning." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37091.
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August, Tynong. "Automated test process." Thesis, Uppsala universitet, Signaler och System, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-396275.
Full textAbstract:
This thesis investigates solutions to automate a lab process and give the customer basis for investment. An analysis of the current lab process and interviews with the staff were performed to set requirements for an automated solution. The customer wants to perform an analysis on a large number of combinations between antibiotics and bacteria. The issues that an automated solution is not able to handle were identified for the customer. A market analysis of existing solutions was preformed and contact was established with different suppliers. The suggested products were evaluated by performance and if they would be able to adapt to the process. The evaluation shows that with the same number of working hours the customer can increase the productivity with 6.7 times using a semi-automated system and a fully-automated system will result in an increase of 18.3 times. A guidance of how the customer will implement the system is described in the report. The report shows that an automated solution will make their process more efficient.