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.

Bakgrunden till examensarbetet är Medius behov av rapporter för uppföljningav verksamheten. Medius använder sig sedan årsskiftet 2008-2009 av affärssy- stemetMicrosoft dynamics AX. I verksamheten finns ett behov av ett antal standardiseraderapporter för uppföljning som inte existerar i Dynamics AX idag samt en portaldär dessa rapporter lätt kan hittas.Syftet med examensarbetet är att ta fram enhifi-prototyp som visar hur rapporter för verksamhetsuppföljning kan standardiserasoch presenteras i ett webbgränssnitt.Arbetet som utförts i examensarbetet kan delasin i fyra steg. Först gjordes ett antal intervjuer med personal från olika nivåer iorganisationen för att få en bra bild av vilka rapporter som det fanns ett behov av.Därefter sammanställdes dessa intervjuer till scenarion som sedan användes för attta fram en kravspecifikation i det tredje steget. I det sista steget utvecklades självahifi-prototypen utifrån kravspecifikationen.Vissa av rapporterna som prototypeninnehåller är informationsmässigt väldigt att generera.

This thesis studies the concept of balance in the management control systems (MCS) of a small Swedish company within the IT-sector. The aim is to evaluate the importance of balance and dynamics in MCS and investigate which factors affect them. The frameworks used are Simons (1994) four levers of control, and the five-factor model for balance and dynamics by Mundy (2010). The small IT company - the object of the case study - has grown extensively in the last years and needs to develop more formal MCS without losing efficiency and creativity in their fast-moving industry. The case study reveals that balancing MCS is important also in smaller companies with less formal MCS.

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.

When driving hard and cornering on a circuit good control of a car?s roll is desired, so the car reaches steady state quickly but yet in a controlled fashion. This control is mainly given by the combination of the cars springs, shock absorbers and anti-roll bars.The aim of this report is to investigate, analyze and measure a Porsche Boxster?s turn in behaviour and roll dynamics as well as with the aid of simulation results give suggestions for improvement of the previous mentioned combination.Two different simulations were made, one based on a simpler model that was based on an evolved version of the bicycle model in Matlab and one was more advanced model in the simulation software rFactor. Measurements of the real car was made using a GPS-based measurement system.

One important issue faced by companies is to secure their information and resources from intrusions. For accessing a resource almost every system uses the approach of assigning a unique username and a password to all legitimate users. This approach has a major drawback. If an intruder gets the above information then he can become a big threat for the company and its resources. To strengthen the computer security there are several biometric methods for identity verification which are based on the human body?s unique characteristics and behavior including fingerprints, face recognition, retina scan and signatures.

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.

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.

This thesis investigates the dynamics of the relationship between a leader and the followers within a chosen organization. The research on leadership has generally been focused on the leader, and consequently treating the followers like passive subordinates. We pursue a more multidimensional view of the subject, meaning that leadership descends from an interaction between leaders and followers, which makes it relevant to study the dynamics of the relationship from both perspectives. We chose to do a qualitative case study on a middle- and preschool which has won a price for being an ideal place to work at. This price peaked our interest to investigate why the relationships are highly functional in this particular organization.

What is customer satisfaction and when does it occur? Microsoft?s customers and partners state that product quality is the strongest driver for customer satisfaction. To be able to increase customer satisfaction Microsoft must know how their partners and customers define product quality. This study investigates product quality in general terms but also in the context of the product Microsoft Dynamics CRM in addition to experience from some of Microsoft?s customers and partners.

The thesis strives to reveal the dynamics between a central and a peripheral shopping area in Kalmar, Sweden. The establishment of larger shopping centers has become a hallmark of postindustrial cities. Cities globally are at risk of creating an urban economic rift between the central and peripheral shopping areas. By establishing major shopping venues around the traditional central business districts, cities hope to create a larger customer hinterland and thereby also increased economic growth. The aim of this thesis is answered by two research questions regarding collaboration and competition between two shopping areas; the central Kvarnholmen and peripheral Hansa City Mall.

In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

At a manufacturing company, due to the competition the price is reducedtowards the manufacturing cost. Therefore it is important to maintain control ofones costs and keep calculations up-to-date.This thesis deals with cost accounting at a aluminium-processing company. The report focuses on calculating machine cost per hour since the manufacturing costs are the major part of the total product cost.Managers on the company believe that the costs they use in calculations todayneither is up-to-date nor advantageous in a market aspect and due to that their calculations need to be revised. The machines cost per hour is a major part in the manufacturing calculation. The company wants to provide a competitive price that also covers their costs.