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.

I YS-NY studien (YTstridsfartyg NYtt) ingår långräckviddig precisionsbekämpning av markmål som en ny förmåga.Uppsatsens syfte är att belysa utvecklingen inom stridsdelsteknologin, och föreslå möjliga stridsdelsuppbyggnader förmarkmålsfunktionen. Arbetet börjar med att undersöka de politiska och militära förutsättningarna för att anskaffa ettmarkmålskoncept. Därefter belyses den framtida insats- och verkansmiljön, tillsammans med de idébilder som liggertill grund för Försvarsmaktens utformning, i avsikt att identifiera möjliga mål för konceptet. De tekniskautvecklingstrenderna för stridsdelar och en kort analys av olika framtida markmålsRobotsystem ger tillsammans medmålkatalogen uppslag till olika tänkbara stridsdelskonstruktioner. Dessa är baserade på kombinationsstridsdelar ochmodulära stridsdelar som är den troliga utvecklingen.

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.

Föreliggande kandidatarbete har till syfte att undersöka fenomenet Webskrapning. Webbskrapnings-program (också kända som Web Wanderers, Crawlers, Spiders eller skrapare) är program som söker igenom webben automatiskt för att extrahera information från webbsidor. Ett exempel på web skrapning är när ett företag samlar in data om prissättningar på en vara eller en tjänst och sen använder informationen för att producera billigare erbjudanden. Detta ger företaget en fördel så att de kan fokusera mera på att marknadsföra sin sida/tjänster. Utöver detta så blir de utsatta företagens servrar också hårt belastade med trafik (skrapning) från ?icke kunder?.

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.

Föreliggande kandidatarbete har till syfte att undersöka fenomenet Webskrapning. Webbskrapnings-program (också kända som Web Wanderers, Crawlers, Spiders eller skrapare) är program som söker igenom webben automatiskt för att extrahera information från webbsidor. Ett exempel på web skrapning är när ett företag samlar in data om prissättningar på en vara eller en tjänst och sen använder informationen för att producera billigare erbjudanden. Detta ger företaget en fördel så att de kan fokusera mera på att marknadsföra sin sida/tjänster. Utöver detta så blir de utsatta företagens servrar också hårt belastade med trafik (skrapning) från ?icke kunder?. Efter att ha genomsökt både akademiska och allmänna källor via informationsinsamling, av denna information så dras slutsatsen att man inte fullt ut kan hindra skrapning av hemsidor. Detta på samma sätt som man inte fullt ut kan hindra någon IT-attack, det finns inga 100 % vattentäta system.

Former studies have shown that a considerable part of industries? energy usage can stem from idle times in the production. This thesis, carried out at Siemens Industry sector, evaluates the potential for using the control system to automatically put machines into energy saving mode during idle times. The main part of the thesis consists of a case study performed on machine tools at a Scania production site in Södertälje. Through load measurements the potential for energy savings was determined.The results show that there is a great potential for energy savings during idle times at the site.

Axelopererade personer har svårt att röra sig under några veckor efter operationen. Den som bor i glesbygden och blir opererad i axeln eller armen måste regelbundet åka långa sträckor för att besöka sjukvården och bli undersökt. Frågan är om det går att minska dessa bilturer och samtidigt behålla vårdkvaliteten? Man har kunnat reducera patienternas resande till och från sjukvården med hjälp av en enkel videokonferensanläggning som patienten får låna hem. Med denna utrustning kan patienten upprätta videomöten med vårdpersonalen istället för att åka till sjukvården.

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 .

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.

I uppsatsen studeras hur ett svenskt försvar mot kryssningsrobotar och ballistiska robotar kan utformas.Uppsatsen konstaterar att en aktör med tillgång till kryssningsrobotar och ballistiska robotar har enfjärrbekämpningsförmåga till en förhållandevis låg kostnad. För att ytterligare förstärka sinfjärrstridspotential kan aktören förse dessa vapensystem med massförstörelseeffekt. Uppsatsen visar att ettframtida försvarskoncept mot det aktuella hotet är en kombination av offensiva och defensiva insatser. Föratt skydda nationen från insatser med massförstörelsevapen burna av en kryssningsrobot krävsvapensystem med långa räckvidder så att bekämpningen kan ske över hav eller obefolkade områden. Enbekämpad stridsdel med massförstörelsevapen kan resultera i ett restnedfall med förödande effekt.

Value stream mapping is a tool that is frequently used by many different companies. It is a great tool used to achieve the work that follows the theories of lean production. The tool is used, however, only frequent on the factory floor and the method is also designed based on this type of use.An interest of applying the method on administrative parts of the company has occurred lately. Administrative parts of the company refers to the part that does all the planning such as purchasing, receiving orders, customer contact, contact with factory floor and other work that is made around the actual manufacturing. But the knowledge about applying value stream mapping on the planning part of the company is lacking because the method is relatively new.In this work, a comparison is made between the introduction of value stream analysis on production and planning.

Value stream mapping is a tool that is frequently used by many different companies. It is a great tool used to achieve the work that follows the theories of lean production. The tool is used, however, only frequent on the factory floor and the method is also designed based on this type of use.An interest of applying the method on administrative parts of the company has occurred lately. Administrative parts of the company refers to the part that does all the planning such as purchasing, receiving orders, customer contact, contact with factory floor and other work that is made around the actual manufacturing. But the knowledge about applying value stream mapping on the planning part of the company is lacking because the method is relatively new.In this work, a comparison is made between the introduction of value stream analysis on production and planning.

Value stream mapping is a tool that is frequently used by many different companies. It is a great tool used to achieve the work that follows the theories of lean production. The tool is used, however, only frequent on the factory floor and the method is also designed based on this type of use.An interest of applying the method on administrative parts of the company has occurred lately. Administrative parts of the company refers to the part that does all the planning such as purchasing, receiving orders, customer contact, contact with factory floor and other work that is made around the actual manufacturing. But the knowledge about applying value stream mapping on the planning part of the company is lacking because the method is relatively new.In this work, a comparison is made between the introduction of value stream analysis on production and planning.

There is two dairy farms in Sweden with ability to be opened on both long sides, one outside Hjo and the other one, Brandstadholm, north of Sjöbo. When there is no measures and results or not enough literature about natural ventilation and especially on this kind of air inlet, makes my tests very interesting not only on Alnarp, but among other companies. I would like to find out if there is any air movements direct on the cows, how high/low temperature, air humidity, light intensity and noise standard inside the barn. Does Brandstadholm fulfil the rules and regulations when it comes to climate inside the barn? Could this system become the new dairy barn instead of the conventional barns in Sweden? I am going to focus on the animals environment, after all they are the one who is going to spend the most of the time in the barn. I used five electrical loggers distributed inside the barn to measure the temperature and one of the loggers measured the air humidity, every 15th minute. One logger were placed on the outside which measured both temperature and air humidity.