The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations.

Material handling is a term that includes all kinds of handling of material from a raw product to a finished one. ABB is active in the following segments; foundry, packaging and palletizing, metal industry and plastics industry.The demands for efficiency and reliability have been set very high in the industrial sector. Optimizing of the material handling will give the company higher cost-effectiveness. Around the robot there are different kinds of material flows, to optimize the cycle time, consisting of carriages combined in different ways.Motion Control is a complex system with main functions such as; positioning, synchronizing, indexing and more. The products in the system need to cooperate to make these functions possible therefore integration of motor- and servo products are important.

Detta examensarbete har utförts på Ovako Bar i Hällefors i syfte att kontrollera möjligheterna att automatisera en slipningsprocess på stänger med ytdefekter. Det största skälet till arbetets uppkomst är de vibrationsskador som uppstår i operatörers händer vilket i sin tur leder till sjukskrivningar.Arbetet inleddes med en nulägesanalys på Kontrollstation 7 för att kontrollera hur processen går till, hur operatörerna upplever situationen och få en större förståelse för situationen. Information om nuvarande utrustning inhämtas i syfte att kunna utvärdera möjligheter. Kontakter med potentiella leverantörer togs också, i syfte att få ytterligare bollplank.Efter nulägesanalysen inleddes förbättringsförslagsprocessen. Lösningar till problemet uppkom ur brainstorming efter kravspecifikationen.

Invoxicated is an interactive play sculpture where children can explore the wonderful and playful opportunities of sound. Talk into one end of the sculpture, and the sound will travel through the sculpture and come out in the other end. On its way, the sound gets distorted by a number of sound effects. By bending the sculpture?s body, and pressing the sculpture?s buttons, the sound effects gets altered in real time.

Just how far is it possible to make learning of new parts for recognition and robot picking autonomous? This thesis initially gives the prerequisites for the steps in learning and calibration that are to be automated. Among these tasks are to select a suitable part model from numerous candidates with the help of a new part segmenter, as well as computing the spatial extent of this part, facilitating robotic collision handling. Other tasks are to analyze the part model in order to highlight correct and suitable edge segments for increasing pattern matching certainty, and to choose appropriate acceptance levels for pattern matching. Furthermore, tasks deal with simplifying camera calibration by analyzing the calibration pattern, as well as compensating for differences in perspective at great depth variations, by calculating the centre of perspective of the image.

Automatic milking systems (AMS) have been in commercial use since 1992 and have since 1998 increased a lot. The objective of this study has been to examine the development of udder health on farms converting to AMS. The study also included a comparison of how udder health developed depending on how farms handled cows with mastitis. This was because farms choose to either milk cows with mastitis in a separate barn or in the milking robot. Other studies on udder health on commercial farms have shown that somatic cell count increases both among individual cows and in the bulk milk when converting to an AMS. No differences between before and after converting to AMS in the proportion of cows treated for mastitis can be found in the literature.

Globalization has among other tendencies led to the emergence of new ways of doing business. One of the ways for organizations to meet the demands of a new competitive landscape has been through management accounting change, a field which has become increasingly popular in research. This paper builds on that research and seeks to investigate the case of the implementation of a new management accounting system in a Swedish company which was triggered by strategic change. Commonality through the interactive approach is by some researchers seen as a key to successful change. This approach is contrasted to the importance of symbolic constructs and change recipients? cognitive effort to understand the meaning of change for which Framing theory is applied.

This is a study about the communication interaction in the context of the reference work at some public university-libraries and some private company libraries in Gothenburg and Borås. The primary purpose of the study is to investigate the communication interaction in a library situation. The second purpose is to deepen the knowledge, understanding and to establish what is important in this communication. Focus has been on how the intermediaries communicate and how she or he perceives this communication. The intermediary needs to manage the communication with all the different patrons and different information needs of the patrons.

Examensarbetet har utförts på företaget Husqvarna AB vid avdelning Concept & Features electric products (EN-NEP). Uppdraget var att utvärdera en alternativ kollisionsmetod till deras robotgräsklippare. Metoden som utvärderats går ut på att detektera kollision med hjälp av samplad data från en accelerometer samt samplad strömnivå från de bägge drivhjulens motorer.Den metod som används för att detektera kollision på nuvarande robotar fungerar väl men kräver att robotens kaross och chassi rör sig ifrån varandra för att krock skall detekteras. För att kunna reducera antalet komponenter och priset på roboten är andra metoder intressanta att utvärdera för uppdragsgivaren.En algoritm har designats i simulationsmiljö som sedan testats på ?riktigt? genom implementation i en Raspberry Pi som kommunicerar med robotgräsklipparen.

Detta kandidatarbete undersöker problemet med konvergeringen av narrativ och interaktion och varför en konvergering mellan dessa hämmar deltagarens inlevelse i ett spel. Utifrån spelet Traverser redovisas i detta kandidatarbete processen och resultatet av hur ett interaktivt narrativ kan väcka inlevelse hos deltagaren genom att låta berättandet ske subtilt och icke-linjärt, där spelaren uppmanas till att vilja utforska narrativet på egen hand i form av en miljö i Traverser. This bachelor?s thesis discusses the problem of converging narrative and interaction and why the convergence between the two tends to arrest the participants immersion within a game. Through an interactive narrative by letting the narration take place subtly and nonlinearly, this bachelor?s thesis reports the process and result of how an interactive narrative could provoke immersion within the game Traverser, where the actor is urged to explore the narrative independently in the shape of an environment..

This thesis analyses how friendship between children is described in four Swedish childrens books, published in 1995-2001 and recommended in Barnbokstipset, which is used in libraries for recommending books. Today there are many childrens books that describe various aspects of childrens everyday lives and these books can have an influence on the children who read them. But I found that there has not been much research about how friendship is described in childrens books, although much has been written about the importance of social relationships with peers for childrens lives and development. I analyze the books one by one with the help of a number of questions and categories that I have constructed beforehand. In the analysis I apply Zick Rubins theory of two different stages in childrens understanding of friendship and William Corsaros theory of interactive space which deals with who is allowed to join in games and friendships and who is not allowed to do so and how this is played out.

A rhetorical analysis of the educational interactive film ?Riskprofilen?, produced by the Swedish Civil Contingencies Agency (Swedish: Myndigheten för Samhällsskydd och Beredskap). This essay uses the theories and methods of Procedural Rhetoric, as described by Professor Ian Bogost, and Visual Rhetoric, as described by Professor Brigitte Mral to analyse the interactive and visual component parts of the artefact, and compares them to the intended purposes of the artefact as stated by documents pertaining to its creation, found to be those of educating the public; marketing the agency; and driving traffic to its webpage. The artefact is through analysis found to fulfil the purposes of marketing the Agency and of likely increasing traffic to the website upon which it is hosted. Regarding the primary, educational purpose this analysis finds that the artefact does not teach a user the accident-avoidance strategies it claims to do, but is dependent upon further materials..

Under 1990 talet tilldelades det nya stridsflygplanet JAS 39 Gripen det svenska flygvapnet. I detta högpresterande system innefattas en del vapen. Ett av de vapensystem är den inköpta amerikanska jaktroboten AIM-9 Sidewinder, eller robot 74 (Rb74) som den benämns i Sverige. I Gripensystemet bärs denna robot fäst på sida i vingens yttre kant, vilket är på liknande sätt som t.ex. de amerikansktillverkade F-18 Hornet flygplanen.

Detta kandidatarbete undersöker problemet med konvergeringen av narrativ och interaktion och varför en konvergering mellan dessa hämmar deltagarens inlevelse i ett spel. Utifrån spelet Traverser redovisas i detta kandidatarbete processen och resultatet av hur ett interaktivt narrativ kan väcka inlevelse hos deltagaren genom att låta berättandet ske subtilt och icke-linjärt, där spelaren uppmanas till att vilja utforska narrativet på egen hand i form av en miljö i Traverser. This bachelor?s thesis discusses the problem of converging narrative and interaction and why the convergence between the two tends to arrest the participants immersion within a game. Through an interactive narrative by letting the narration take place subtly and nonlinearly, this bachelor?s thesis reports the process and result of how an interactive narrative could provoke immersion within the game Traverser, where the actor is urged to explore the narrative independently in the shape of an environment.

Människa-robot-interaktion är ett viktigt område inom både nutida och framtida forskning för att möjliggöra en industriell miljö anpassad för de människor som arbetar i den, samt för att utveckla nya metoder för en effektivare produktion. En viktig fråga är den påverkan form och färg har på människan, sett ur ett psykologiskt perspektiv. En litteraturstudie har gjorts kring den mänskliga upplevelsen av och påverkan från färg och form. Vidare gjordes en studie som syftade till en bedömning av studenters åsikter kring några specifika färger på industrirobotar samt former på robotgripdon.Det kunde konstateras att vitt och orange som färg på industrirobotar föredras framför användning av röda eller blå, sett ur ett perspektiv av orsakad ängslan. Resultatet stämmer överens med tidigare studier återgivna inom den litteratur som studerats; vitt ses som en lugnande färg och orange är använt i riskfyllda miljöer för att öka uppmärksamheten.