In this report you can read about a service company that wants to introduce a new decision tool for their customers. The first question that will be answered in this report is, what information is needed for market controllers. The second question investigates how a decision tool that gives the answers to the first question would work. Theories in business and economics written by Jan Lindvall (2001) and sociotechnical work analysis written by Kim Vicente (1999) are used in this report. To find the answers to question number one, interviews with two market controllers were done.

The aim of this thesis was to investigate if the robotized welding method FSW (Friction Stir Welding) could be applied for joining a rotating structure in an aero engine at Volvo Aero Corporation. FSW is expected to introduce less defects than today?s welding methods and could therefore be suitable for critical aero components. The material is the nickel based alloy Inconel 718, however a material experimentation is outside the scope of this report.The main goal of this study is to verify if the ESAB ROSIO robot based FSW-system has a suitable work space to be able to weld the rotating structure, and if the welding tool has accessibility to the joints. The FSW-process needs a rigid fixture, and a number of fix-ture concepts are presented based on a proposed weld sequence.

This thesis work resulted in a template for how the thermal spray process can be controlled through robot programs. The robots today and their programs need to be replaced, therefore a new structure which can be matched with the new robot systems is needed. The work is limited to only concern structured programming on the new robots on Thermal Spray Centre (TC) with the programming language Rapid. The basic data for the program was retrieved from interviews with concerned personnel at TC, from studies on process parameters for thermal spray and from existing specifications at Volvo Aero Corporation (VAC). The thesis work briefly describes the process thermal spray and the four methods used at VAC.

SammanfattningTitel: Controllers anva?ndning av affa?rssystem vid utfo?rande av deras arbetsuppgifterA?mne/Kurs: Verksamhetsstyrning, Kandidatuppsats, 15 hpFo?rfattare: Martina Svensson och Elin Wiberg Handledare: Titti Eliasson Nyckelord: Controller, affa?rssystem, integration mellan controller och affa?rssystem, stora fo?retag. Syfte: Syftet a?r att underso?ka hur controllers anva?nder affa?rssystem vid utfo?rande av deras arbetsuppgifter. Genom att underso?ka interaktionen mellan controllers och affa?rssystem i verksamheten vill vi ta reda pa? hur affa?rssystem anva?nds. Syftet med uppsatsen har varit att skaffa o?kad kunskap inom omra?det som bero?r interaktionen mellan controllers och affa?rssystem, samt att ge la?saren djupare fo?rsta?else inom omra?det. Teoretisk referensram: Uppsatsens huvudomra?de a?r interaktionen mellan controllers och affa?rssystem, fo?r att kunna beskriva interaktionen har vi valt att fo?rst beskriva affa?rssystem och controllers var fo?r sig.

Due to increasing regulations regarding new diesel vehicles particulate matteremissions the new Scania truck, Scania Euro 6, has been equipped with a particulatefilter. This component effectively stores the particles in the exhaust gas but must becleaned in order to prevent itself from clogging. The filter is cleaned through aprocess named regeneration which is a thermodynamic process in which thetemperature of the filter is raised through fuel supplied to the exhaust gas.The purpose of this thesis is to contribute to the development of improved controlstrategies of the temperature during the regeneration process through thedevelopment of model-based controllers. These controllers are designed in order tohave good performance in stationary as well as automatic regeneration.In order to develop these model-based controllers a model of the system isconstructed. The model is described as a linear thermodynamic grey-box model withflow varying parameters, showing good results in validation.The model provides a simulation environment during the controller design, which isfocused around the development of linear regulators with the exhaust gas mass flowas a scheduling variable whose size determines controllers? mode of operation.

In the assembly process of airframe structures there are many drilled holes and on some parts the holes are mainly drilled manually with pneumatic handheld drilling machines. During conventional drilling in metal, burrs appear. To remove these burrs the parts of the structure must be separated and deburred before they can be put together for fastening. This is a time consuming measure and therefore expensive. To facilitate this process and lower production costs some parts of the process needs to be automated.A part of this thesis was a project in co-operation with Saab, Novator, Specma Automation and the University of Linköping.

This thesis has treated a three-axis robot which task is to serve a larger test machine tomove the modules to be tested, from the storage to the test site. The robot is composed ofthree linear actuators; two standard components of ball screw type and a custom-builtactuator of trapezoidal type. The work has mainly focused on the custom-built device to seeif it could be replaced with a standard component. Part of the work has been to look into thepicking tool and to see if there are any possibilities to improve its function.The report presents two different proposals which I decided to call Robot 1 and Robot 2 andthey aim to address the problems arising in the purpose-built linear unit and the X-axislinearity problems. Robot 1 focuses on eliminating the problems that arise around therobot's X-axis, with such simple means as possible and without making excessive materialchanges.

This master thesis studies how much the cycle time, i.e. the time it takes for an industrial robot to perform a given task, can be reduced if an extra degree of freedom (DOF) is added to the robot system. The extra DOF consists of a linear track, which is supposed to be used in an optimal way. The problem has been studied using simulations in the robot simulation tool RobotStudio. To be able to run an optimization in Matlab, with the RobotStudio simulation cycle time as the object function, communication between Matlab and RobotStudio has been set up with an interface written in Visual Basic.

Due to increasing regulations regarding new diesel vehicles particulate matteremissions the new Scania truck, Scania Euro 6, has been equipped with a particulatefilter. This component effectively stores the particles in the exhaust gas but must becleaned in order to prevent itself from clogging. The filter is cleaned through aprocess named regeneration which is a thermodynamic process in which thetemperature of the filter is raised through fuel supplied to the exhaust gas.The purpose of this thesis is to contribute to the development of improved controlstrategies of the temperature during the regeneration process through thedevelopment of model-based controllers. These controllers are designed in order tohave good performance in stationary as well as automatic regeneration.In order to develop these model-based controllers a model of the system isconstructed. The model is described as a linear thermodynamic grey-box model withflow varying parameters, showing good results in validation.The model provides a simulation environment during the controller design, which isfocused around the development of linear regulators with the exhaust gas mass flowas a scheduling variable whose size determines controllers? mode of operation.

Picker robots are often mounted close to each other above a conveyor belt. To be able topack robots even closer, it is desirable to reduce the footprint of the robot?s base. One way toachieve this is to skew the arms of the robot which makes it possible to move them closer toeach other.This Master Thesis has been carried out at ABB Corporate Research. The purpose is toevaluate the benefits and drawbacks for the idea of making today?s Picker robot morecompact by skewing the arms.

Denna rapport behandlar utveckling av en tvåhjulig balanserande robot. En PID-regulator är implementerad i en mikrokontroller, som även AD-omvandlar en sensorsignal, samt styr motorer via H-bryggor med pulsbreddsmodulering. I rapporten förklaras framtagning av diskret PID-regulator, processorkort, motorkort, val av komponenter och sensor för att mäta robotens vinkel mot ett vertikalplan.Roboten kan balansera stillastående, men behöver kompletteras ytterligare med hjulåterkoppling för att kunna balansera medan den kör. Roboten balanserar med mätdata från en mekanisk golvavkännare (potentiometer). Andra sorters sensorer diskuteras också, t ex accelerometer, gyro och optisk sensor..

This thesis work resulted in a template for how the thermal spray process can be controlled through robot programs. The robots today and their programs need to be replaced, therefore a new structure which can be matched with the new robot systems is needed. The work is limited to only concern structured programming on the new robots on Thermal Spray Centre (TC) with the programming language Rapid. The basic data for the program was retrieved from interviews with concerned personnel at TC, from studies on process parameters for thermal spray and from existing specifications at Volvo Aero Corporation (VAC). The thesis work briefly describes the process thermal spray and the four methods used at VAC.

To make wave power more competitive on the market Uppsala University leads projects that examine how to accomplish better efficiency in the production. One of these projects is described in this report and examines whether it is possible to make the production of dovetails more efficient by using an industry robot of type ABB IRB6000 S3 M91. This project is using an already presented working method, from a previous project, which involves that the robot picks up the dovetail and moves against fixed cutting machines where the dovetail will be drilled, threaded and milled. Drilling and threading are the sub operations that will be examined in this project where experiments are made with the presented working method and with equipment from Uppsala University.Experiments show whether it is possible to drill the holes in the dovetail within specifications by using the specific robot and the presented working method. The threading operation is examined theoretically if it is possible to accomplish by using the same working method.

The goal of this Master thesis has on the one hand been to create a simulation environment for robots, where not only the simulations in this work can be performed, but also similar robot simulations, and on the other hand to study regulators that can increase the possibilities of rejecting disturbances on an industrial robot. The robot model used has three degrees of freedom, corresponding to the three main links on ABB:s IRB7600. The simulation environment is created using Matlab, Simulink, and Robotics Toolbox. It is constructed in a general way and can be used for simulations of other robot objects created in Robotics Toolbox. A gain scheduling is added to the LQ-regulator, where the feedback matrix is varied depending on the arm position in the workspace.

This bachelor thesis describes the process of developing a two wheeled robot with activebalancing. The robot is designed to go straight ahead until it reaches a finish line. Then it shallstop to stand still balancing. The workload in the group has been divided according to theprevious individual projects, which are attached. The design of the robot is inspired by theconcept of the Segway.