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.

Dynamiken för en starkt accelerande robot har modellerats. Modellen linjäriseras så att roboten beskrivs som ett linjärt tidsvariabelt system. Denna representation beskriver roboten väl då robotens anblåsningsvinkel, vilket är vinkeln mellan robotkroppen och robotens hastighet, är liten. Eftersom det ej är möjligt att mäta alla robotens tillstånd har en observatör tagits fram i form av ett Kalmanfilter. Problematik vid framtagandet av observatören diskuteras i rapporten.

The impact of computer programs in safety-critical systems has increased in the past decades and computer-based systems can now be found in a wide range of applications. A new approach for developing dependable systems is documenting all design rationale that affects safety using Intent Specifications. A recent approach for developing complex systems efficiently and in an upgradeable manner is Component-Based System Engineering. In this thesis, these approaches are combined in the development and upgrade of a Remote Robot Control Unit by using the tool SpecTRM. The case study showed that Intent Specifications and CBSE could successfully be combined.

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 includes an energy survey of the Herrgården pre-school, which has a modern heating- and ventilation system, and a comparison with Östers pre-school which has an older system. An energy survey of Östers pre-school has already been done by a group of three students and all the calculations and values have been collected from that survey. As of today, both pre-schools are heated thru district heating. It will be much easier to make smart and feasible energy-saving-measures by first conducting the energy survey.Herrgården pre-school in Gävle houses 81 children, therteen teachers, one cleaner and one cook. It was finished in the middle of 2009 and the staff has been very pleased with the in-door climate.

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.

Syftet med denna studie är att undersöka hur en social robot kan användas inom svensk demensvård och vilka effekter den har på patienterna. Roboten som används är Paro, en japansk sälrobot som har tagits fram för att kunna ge samma effekter som levande djur i djurterapi. Kontakt med djur medför ofta aktivitet och vardagsglädje vilket även är viktiga begrepp i vård av människor med demens.Studien genomfördes som en fem veckors fallstudie på ett vårdhem. Det empiriska materialet utgjordes av direkta observationer av de boendes interaktion med Paro samt halvstrukturerade intervjuer med personalen. Observationerna nedtecknades som fältanteckningar.Resultatet pekar på att sälen, i likhet med riktiga djur, kan tillföra aktivitet och välmående för vissa individer samt stimulera en grupp till samtal och ökad social kontakt.

The aim of the thesis is to analyse and understand resolution, repeatability and reproducibility of the measurement system for package distance. The measurement system for package distance is already in use, no Gage R&R has been performed on the system and before spreading use of the system the quality of the system has to be understood and approved.

Habituation to an automatic milking system (AMS) for cows in their first lactation differs from habituation to other milking systems. In AMS the cows are supposed to visit the milking station (MS) voluntarily. The milking takes place individually during the whole day, except when the milking system is cleaned. Milking is carried out without any human survey. The aim of the study was to describe the cow?s introduction in AMS in their first lactation.

Syftet med arbetet var att göra ett koncept av en robotcell som kunden skulle presentera för den Europeiska koncernen. Med konceptet som grund skulle koncernen ta ett beslut om de ville investera i en robotcell för att kunna utöka sin produktflora. Ett krav för att tillverka robotcellen var att göra den så flexibel som möjligt eftersom kunden ville producera olika varianter av samma produkt. En simulering i robotstudio blev en grund för en film som visade hur materialet tillverkades i robotcellen och även vilka materialprocesser som ingick vid förädlingen av materialet.Varje koncept började med en ritning i sketch för få en enkel överblick av hur layouten kunde se ut. Därefter bestämdes det om layouten var realistisk och om det skulle bli någon 3D modell av layouten.

According to the study [1] several firefighters are killed in action each year. This happens naturally in various ways. One of the major factors is that firefighters often do not know how the environment looks like, for example that a building in an industrial area contains hazardous gas cylinders. Without a solution, fire-fighters will continue to die in duty. It is therefore important to solve this problem so that we can minimize the risks and save lives.The goal of this project was a control system for pneumatic artificial muscles.

When an error occurs in an IT system that is vital for the production of a major industry, the consequences can be great. To quickly identify and correct errors is important as a stop in a system can lead to a break in production, which is costly for the industry. Our task in this thesis has been to develop a system for ÅF that facilitates the debugging process of the system Paperline. The system's target audience is ÅF-call personnel that provides support for Paperline 24 hours a day if something goes wrong. The system consists of a Windows service, a database and a web application and is developed mainly with the techniques C#.NET, MVC 5, Google Charts, Javascript, HTML, CSS, and Entity Framework.

Arbetet undersöker grafikkortets lämplighet att tolka L-system i realtid. L-system är ett strängomskrivningssystem som beskriver strukturen hos botaniska former. Lsystem tolkas med hjälp av sköldpaddstolkningen för att få en geometrisk tolkning. För att utvärdera om grafikkortet är lämpat att tolka L-system i realtid har två system implementerats. Det ena systemet tolkar L-system på processorn och det andra systemet tolkar L-system på grafikkortet.

This thesis primarily includes a study on whether companies can develop a mathematical activity that supports students' motivation in mathematics. The work was done together with Midroc Electro, a company that pays attention to the difficulty of recruiting and therefore was interested in investigating how the business world would be able to contribute.The thesis can be divided into three stages. The first part comprised by a exploration into research on student motivation regarding mathematics as well as numerous interviews with engineers to see how the research findings did fit with Midroc Electros reality. In these studies it became clear that the student who aims for a profession whose education or work requires math belongs to the group of students who primarily manage their studies in mathematics, that is, those that have the greatest motivation to work hard and complete their studies.Research information and interviews were compared and resulted in the thesis second part, Midroc Challenge. An activity where students primarily came to learn about the engineering profession and secondly how mathematics can be used in the engineering profession.