Web Services har vuxit i popularitet de senast åren. Användningen av inbyggda systemökar också ständigt, och möjligheten att göra inbyggda system tillgängliga via Web Services öppnar nya möjligheter.Detta arbete visar på möjligheter och problem med standardiserade textbaserade protokoll för kommunikation i inbyggda system med små resurser. XML-RPC och SOAP studeras ur detta perspektiv. SOAP befinns vara mer komplext att implementera stöd för än XMLRPC i den begränsade testmiljön, som har 32kB internminne. XML-RPC visar sig ge fördelar över proprietära protokoll främst när det gäller underhållbarhet och återanvändbarhet..

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.

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.

Bakgrund: Robot-assisterad kirurgi har blivit alltmer popul?rt och effektivt som en alternativ teknik till traditionell ?ppen kirurgi. Detta tillv?gag?ngss?tt som anv?nder ett avancerat system f?r att genomf?ra kirurgiska ingrepp har utvecklats ?ver tid och inneb?r flera f?rdelar som ?kad precision och kontroll samt minskad risk f?r komplikationer. Trots framstegen st?r kirurgiska team inf?r utmaningar med anpassning till den nya tekniken och behovet av att utveckla strategier f?r att uppn? optimalt resultat.

This report presents a master thesis project performed at Elekta AB during the fall of 2013 and early 2014. Elekta is a medical technology company and their main product in the Stockholm office is a gamma knife used for radiosurgery. The gamma knife contains a cluster of a dozen motor servos and motors used for adjusting the patient and the radiation sources over a CAN bus. A self-developed hardware-in-loop simulator running on a PC with LabVIEW is currently being used for integration level testing of the control system of the gamma knife. The simulator has some problems with it not running in real-time and having other performance issues.

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..

During spring 2009 a three meter tall and laughing robot was developed in collaboration between Royal Institute of Technology and Royal University College of Fine Arts. The robots function and esthetics is based on an existing toy robot called Elmo. Elmo is 30 cm tall but now the goal was to make it 1000 times bigger in order to present it on the spring exhibition of Royal University College of Fine Arts. Due to only four months of developing and building time a demand of fast determination and good planning was required. In order to make a good structure for the project it is divided into five phases: Analysis of Elmo, planning, concept development, detail construction and finally product development and testing.In the first phase valuable knowledge is obtained according to the movements and geometry of Elmo.

This report presents a master thesis project performed at Elekta AB during the fall of 2013 and early 2014. Elekta is a medical technology company and their main product in the Stockholm office is a gamma knife used for radiosurgery. The gamma knife contains a cluster of a dozen motor servos and motors used for adjusting the patient and the radiation sources over a CAN bus. A self-developed hardware-in-loop simulator running on a PC with LabVIEW is currently being used for integration level testing of the control system of the gamma knife. The simulator has some problems with it not running in real-time and having other performance issues.

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 objective of this work was to evaluate and implement a number of energy saving functions for a specific embedded system. The functions were then grouped into a number of energy levels with known properties in terms of functionality, energy consumption, and transition time between the levels.The embedded system consisted of an AT91 ARM9 processor, GSM/GPRS modem, display, Ethernet and other peripheral units. Some energy saving methods that were considered were suspend to RAM, suspend to disk, frequency scaling, and methods for saving energy in the modem, Ethernet, USB and display backlight. The functions were grouped into levels and an interface was specified for controlling the energy level.It proved possible to get known properties within the defined energy levels, even though the paritioning of functions into these levels proved to be sub-optimal in a typical application usage scenario because it was designed for mainly energy consumption, not usage.The final result is a number of energy saving functions grouped into levels, which are controllable via an application interface. Each of the levels have a known energy consumption in both loaded and un-loaded mode..

Detta examensarbete är en undersökning av hur många liggbås som finns i olika skötselsystem för robotmjölkning med dels fri kotrafik och dels olika former av styrd kotrafik. Undersökningen föreslogs av Växa Sverige och är en enkät som skickades ut till 70 lantbrukare. Användbara svar till undersökningen lämnades av 44 av lantbrukare. I undersökningen har vi valt att redovisa resultaten i 5 olika kategorier, Milk first, Feed first, Frigående kotrafik, Flerboxsystem och Ekologiska. Det finns idag inga rekommendationer för antalet liggbås per mjölkningsrobot baserade på praktisk erfarenhet, för lantbrukare som ska bygga nytt stall. De enda riktlinjer som finns är robotföretagens teorier och Sveriges djurskyddlag som kräver minst ett liggbås per ko. I studien framkom att det var en stor variation i antal liggbås per robot och även i önskade antalet liggbås per robot. Faktorer som påverkade antalet liggbås var kornas medelavkastning, aktuellt system för kotrafik och hur lantbrukarna vande in kvigorna och sinkor till roboten innan kalvning.

The objective of this work was to evaluate and implement a number of energy saving functions for a specific embedded system. The functions were then grouped into a number of energy levels with known properties in terms of functionality, energy consumption, and transition time between the levels.The embedded system consisted of an AT91 ARM9 processor, GSM/GPRS modem, display, Ethernet and other peripheral units. Some energy saving methods that were considered were suspend to RAM, suspend to disk, frequency scaling, and methods for saving energy in the modem, Ethernet, USB and display backlight. The functions were grouped into levels and an interface was specified for controlling the energy level.It proved possible to get known properties within the defined energy levels, even though the paritioning of functions into these levels proved to be sub-optimal in a typical application usage scenario because it was designed for mainly energy consumption, not usage.The final result is a number of energy saving functions grouped into levels, which are controllable via an application interface. Each of the levels have a known energy consumption in both loaded and un-loaded mode..

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.

During the last years the need for real-time database services has increased due to the growing number of data-intensive applications needing to enforce real-time constraints. The COMponent-based Embedded real-Time database (COMET) is a real-time database developed to meet these demands. COMET is developed using the AspeCtual COmponent-based Real-time system Development (ACCORD) design method, and consists of a number of components and aspects, which can be composed into a number of different configurations depending on system demands, e.g., Quality of Service (QoS) management can be used in unpredictable environments. In embedded systems with requirementson high up-time it may not be possible to temporarily shut down the system for reconfiguration. Instead it is desirable to enable dynamic reconfiguration of the system, exchanging components during run-time.