n this dissertation a comparison of two evolutionary methods for evolving ANNs for robot control is made. The methods compared are SANE with enforced sub-population and delta-coding, and marker-based encoding. In an attempt to speed up evolution, marker-based encoding is extended with delta-coding. The task selected for comparison is the hunter-prey task. This task requires the robot controller to posess some form of memory as the prey can move out of sensor range.

This thesis work includes studies and simulation how magnetization of the translator in a linear generator for wave power can be automated. The translator is the moving component in the generator that is "dressed" with permanent magnets. The translator is magnetized with rectangle-shaped permanent magnets that are today's strongest permanent magnet type of neodymium-iron-boron (NdFeB).Eight equivalent metal sheets are mounted around the translator. The plates have milled tracks where 106 permanent magnets per sheet are mounted. Today the assembling of the magnets is done by hand, which is a very tedious and time-consuming work.  This project presents investigations about the automation of the translator magnetization theoretically and simulation results are preformed in ABB's robot simulation software RobotStudio. Even robot-held tool was designed that enables the robot to be able to magnetize the translator in a simple manner.  The investment cost is roughly 1.5 million SEK. With an economic life-time of five years, the investment costs are estimated to 24000 SEK / month.  According to the calculations, this project is very motivated to implement, as it provides savings up to 17 000 SEK per translator which is 10.2 million SEK assuming that the robot cell is operating at full speed the whole year.According to this thesis work the result is a 4x9 meter cell with two industrial robots of the type ABB IRB6650S.The cycle time to magnetize one translator was calculated to about 10 hours.This prototype of project can possibly be implemented in a full-scale production line and performed according to the calculations and simulations presented in the report. Further work is suggested to improve the tool.Lyssna .

The report aims to investigate how well a certain type of affordable embedded single board computer can hold up against today's more expensive computers in a computer system by doing various tests on a system with the specified requirements. The system has a Raspberry Pi as the single board computer which task is to control a camera based on coordinates obtained from a server as well as capture and stream a video signal on a network.The researches were conducted to check how much network traffic a single-chip computer sent in different video formats and how much CPU utilization was required. Studies were also made to ensure the accuracy of the camera control. The researches have been experimental, where several tests have been performed and analyzed.The results show that a sufficiently good accuracy can be obtained from the camera steering unit, in which two different servos have been investigated. When the video format MJPEG and H.264 are used, the single-chip computer is able to transmit a video signal up to 1280x720 at 15 fps.

This thesis considers the development of the software for an, newly developed, embedded real-time control system, based on a Periferal Interface Controller (PIC). The control system is developed to be used for several different applications. In this thesis work, software for two different applications are developed. The first task is a time controlled system, while the other task is implementation of aPI-/PID-controller. A user interface is also developed and implemented.The time controlled system is an automatic horse feeder, which is used for feeding horses at certain predefined points in time.

The report is the result of a master thesis at ENEA AB during the fall of 2009. Itaims to create a specification of flash memory management system which focuseson power efficiency and low RAM usage for embedded systems, and to design andimplement a prototype of such a system to facilitate further development toward thecreated specification. The system used by ENEA today is a Flash Translation Layer(FTL). It has a complex structure which prohibits modifications and customization,therefore a new flash memory management system needs to be developed.The suggested solution uses a translation layer called Metadata FTL (MFTL), wherefile system metadata and userdata are separated from each other in order to improveperformance. The partition holding userdata uses a block-level mapped translationlayer system called Fully Associative Sector Translation FTL.

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.

The report aims to investigate how well a certain type of affordable embedded single board computer can hold up against today's more expensive computers in a computer system by doing various tests on a system with the specified requirements. The system has a Raspberry Pi as the single board computer which task is to control a camera based on coordinates obtained from a server as well as capture and stream a video signal on a network.The researches were conducted to check how much network traffic a single-chip computer sent in different video formats and how much CPU utilization was required. Studies were also made to ensure the accuracy of the camera control. The researches have been experimental, where several tests have been performed and analyzed.The results show that a sufficiently good accuracy can be obtained from the camera steering unit, in which two different servos have been investigated. When the video format MJPEG and H.264 are used, the single-chip computer is able to transmit a video signal up to 1280x720 at 15 fps.

Allt större och större andel företag väljer att presentera och förmedla varor och tjänster via e-handel. En viktig aspekt vid e-handel är att kunden känner förtroende för e-handelsapplikationen och företaget. Denna rapport redogör för vilken inverkan multimediala inslag har för förtroendet av en e-handelsapplikation, vid initialt användande. En undersökning har genomförts med hjälp av en kooperativ utvärdering av fyra e-handelsapplikationer vilka innehåller olika typer av multimediala inslag har.Resultatet av undersökningen visar att multimediala inslag inverkar positivt på förtroendet för e-handelsapplikationer. Däremot finns indikationer på att för hög grad av multimedialt inslag inverkar negativt på förtroendet för e-handelsapplikationer..

This report is a description of a developed educational simulator over rail vehicles and its components. The simulator is a hardware-based prototype over a door system on rail vehi- cles. System specialists and technicians will use the prototype. The Simulator should give the user a technical demonstration on how components work in a door system. The proto- type consists of motor, switch, relay and sensor.

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.

Med en växande produktionsindustri i Asien så blir det allt svårare för företag i Europa och Sverige att konkurrera med den effektiva och framförallt billiga arbetskraft som erbjuds i öst. För att kunna konkurrera på ett effektivt sätt så har industrirobotindustrin växt kraftigt under de senaste åren. Detta är en rapport på hur ett koncept har påbörjats för att implementera ett Ethernet baserat kommunikationssystem kallat EtherCAT i ett robotsystem från Motoman. En testutrustning har byggts och simulerat en kommunikation med en PLC. Ett första HMI gränssnitt har skrivits som översätter informationen från PLCn för att göra informationen lättförståelig för människor.

This report is a description of a developed educational simulator over rail vehicles and its components. The simulator is a hardware-based prototype over a door system on rail vehi- cles. System specialists and technicians will use the prototype. The Simulator should give the user a technical demonstration on how components work in a door system. The proto- type consists of motor, switch, relay and sensor.

A degree project has been carried out at Motion Control, Västerås. The degreeproject ?Grafisk Skärm för Inbyggda System? have developed a first prototype of anembedded system with a display, a graphical user interface with touchscreen andpossibilities to communicate with external units.The work initiated with surveys of critical components. A technical specification forthe desired end product was developed. With the technical specification as support,design specifications for hardware and firmware were developed.After the specifications were done, a circuit diagram was developed and a circuitboard was made.

Den nya standarden Eurokod kräver omställningar på byggprojekteringskontoren i det hänseende att personalen måste lära sig att använda och följa denna standard. För knutpunkter i stål har det hittills funnits stöd i form av beräkningsmetoder och handböcker, men ännu har inte någon utförlig hjälp om hur man hanterar dem med Eurokod utkommit. Trots att dimensioneringsprocessen av knutpunkterna är mycket viktig vid projektering av stålkonstruktioner är processen långsammare än den kan vara. Därför vore det bra om man fann ett enklare och snabbare sätt att dimensionera knutpunkter i enlighet med Eurokod.Intervjuer har visat att dimensioneringsprocessen hittills fungerat så att beräkningarna sker för hand av en konstruktör enligt BKR:s regler, för att sedan modelleras i 3D av en projektör som slutligen får sina ritningar granskade av en tredje person.Genom fallstudier av standardknutpunkten BP1 söktes en förbättrad dimensioneringsprocess jämfört med den som intervjuerna beskrev. I fallstudierna dimensionerades BP1 för hand och med programmen Autodesk Robot Structure Professional Analysis 2011 och modellerades med Tekla Structure 16.0, hela tiden i enlighet med Eurokod.

The aim of this report is to give a description of a diploma work of 20 points that has been performed during the spring 2006 at Ericsson AB in Borås. The report accounts for the problem and procedure during the diploma work. The software used for this project was embedded in a radio link. The RAM in this radio link was divided into several regions where two were used for memory allocation. The current allocation of memory in the radio link was not optimized with regards to performance, security and memory use and the configuration used made it difficult to determine the memory use of the system and the actual memory need.