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Academic literature on the topic 'Robotteknik och automation'
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Dissertations / Theses on the topic "Robotteknik och automation"
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Fors, Christoffer, and Philip Johansson. "Kollaborativa Robotar : Verifiering av kraft och tryck vid kollision mellan robot och människa." Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-21938.
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Collaborative robots are a new type of robot that unlike industrial robots are to be used in close relation to humans without physical walls. Due to this, high demands are placed on the safety of collaborative robots as people must not be harmed. To verify the safety between robot and human, collision measurements are made. For the past 10 years, the number of published articles dealing with Human RobotCollaboration has gone from almost none to approximately 3000 published articles per year. It can also be seen that research on collisions together with cooperation between robots and humans has increased during the same period but not at all in the same size. The thesis is made together with Scania which is a truck manufacturer in Sweden. Scania has its own requirements for safety around collaborative robots and they require that collision measurements in the form of pressure and force take place during each implementation of a collaborative robot. The purpose is to provide a broader knowledge of collaborative robots and their safety. To provide knowledge of how collision measurements should be made and with which tools. Using a spiral development model, several practical measurements were performed on a collaborative robot. Other methods used were interviews, literature study, calculations and benchmarking. The results show that the values set in the robot do not always correspond to those obtained during practical feeds. It uses the robot to show permissible forces in a collaborative position, but also many impermissible force measurements have taken place at different switches and at different speeds. The distance between the robot's base and the robot’s arm where the collision cuts make a great impact on the measurements and show that it can be a danger. Running a collaborative robot at high speeds without external safety equipment also demonstrates risks. Pressure measurements show a large uncertainty of the result and the result is also above the permissible limit in several cases. The impermissible pressures indicate danger for people to work in close contact with collaborative robots. The high difference in the measurement result is only for pressure measurements and the result at 100measurements over force gave a low variation.
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Gewriye, Kristian. "Automatisering av kvalitetsinspektion vid storskalig fordonsproduktion : En fallstudie vid Scania CV." Thesis, Luleå tekniska universitet, Institutionen för ekonomi, teknik och samhälle, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-79993.
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Graden av automation inom industrin ökar ständigt, inom fordonstillverkning fasas allt fler produktionsnära personal ut till förmån för automatiska system och robotar. På Scanias hyttfabrik i Oskarshamn är stora delar av produktionen automatiserad och det söks ständigt efter nya möjligheter till effektivisering via automation. Detta examensarbete syftade till att utvärdera om kvalitetsinspektionen efter applicering av grundfärg kan automatiseras. Genom att analysera processen genomfördes utvärderingar av två automatiska inspektionssystem som i dag används inom fordonstillverkning. Historisk data analyserades för att identifiera vad ett potentiellt automatiskt inspektionssystem bör klara av. I samband med detta samlades information in för att identifiera vad dessa inspektionssystem faktiskt klarar av. Detta ställdes emot varandra och föranledde en investeringskalkyl för att ta fram en återbetalningstid, samt för att upptäcka vilka monetära besparingar det går att erhålla via ett automatiskt inspektionssystem. Analys genomfördes där fördelar och nackdelar med både dagens arbetssätt samt ett eventuellt framtida arbetssätt med automatiska system vägdes samman. Dessutom analyserades det till vilken grad kvalitetinspektionsprocessen hos Scania kan automatiseras, och vilka kvalitativa vinningar det leder till. I tillägg återger examensarbetet generella slutsatser på hur automatiska inspektionssystem fungerar samt presenterar resultat på om tekniken i dagsläget är mogen, och till vilken utsträckning. Avslutningsvis presenteras rekommendationer till Scania utifrån möjligheter och potentiella besparingar. Rekommendationen är att inte investera i ett automatiskt inspektionssystem, eftersom examensarbetet kommit fram till att inget av de utvärderade systemen kan operera på en tillfredsställande nivå. Tekniken är det vill säga inte ännu mogen för att automatisera denna typ av process.
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Fatnassi, Eddi. "Modväxlare." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-38872.
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Detta projekt handlar om att effektivisera EMC-testning genom att undersöka hur en modväxlare konstrueras samt hur denna styrs och ifall det behövs återkoppling för denna ska uppnå funktionell nivå. Syftet med modväxlare är att man enklare ska kunna testa emissions- och immunitetsnivåer av nya tekniska uppfinningar och på så sätt värna om framtidens elektromagnetiska milj¨o. Under arbetets g˚ang har en modv¨axlare designats med CAD varpå modellen har skalats ner för att testa positionsnogrannhet, acceleration och tidsåtgång för körning. Avslutningsvis har man dragit slutsatser baserat på testerna och med hjälp av dessa framfört anvisningar till hur en fullskalig modväxlare bör konstrueras.
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Rådman, Marcus. "Implementation and testing of a path tracker for a full-scale Unmanned Ground Vehicle." Thesis, Luleå tekniska universitet, Institutionen för system- och rymdteknik, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-73079.
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This project is the implementation and testing of a path tracker for a car-sized Unmanned Ground Vehicle. The vehicle, a Toyota Land Cruiser, was provided by SSC and hadpreviously been modified for remote operation. The developed path tracker uses a "follow the carrot" algorithm and has been writtenin C using the Robot Operating Software (ROS) framework and has been integrated intothe vehicles existing ROS powered software. During the implementation, the Gazebo rigid body simulator was used to simulate a simplified vehicle. Integration with the real sensors was performed using a small-scalecar, both indoors with the aid of a Vicon motion capture system and outdoors utilizingonly sensors available to the full-size car. The small-scale tests showed promise, howeverwhen full-scale field tests were performed the results showed some problems and reasonsfor these are discussed.
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Li, Songyu. "A NEW HANDS-FREE FACETO FACE VIDEOCOMMUNICATION METHOD : Profile based frontal face videoreconstruction." Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-155689.
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Expósito, Idir, and Itsaso Mujika. "Reductions in Energy Consumption through Process Optimisation and Variable Production." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15209.
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Energy efficiency is becoming an important objective for modern manufacturing industry. The aim of this work is to improve energy efficiency of an automated system. Since a majority of production processes are limited by an external bottleneck, the hypothesis of this work is that reducing the processing rate of the restricted processes can lead to saving in energy and resources. A methodology based on optimisation at process, cell and line levels is developed and evaluated over different scenarios.The developed methodology is then applied to a simulated production cell to study its efficacy quantitatively. In this particular case, the proposed approach yields a decrease in energy consumption of 49% at maximum production capacity. This decrease can be greater if there is an external factor such as low demand or another stage in the production line.
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Fonooni, Benjamin. "Robot Learning and Reproduction of High-Level Behaviors." Licentiate thesis, Umeå universitet, Institutionen för datavetenskap, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-87258.
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Learning techniques are drawing extensive attention in the robotics community. Some reasons behind moving from traditional preprogrammed robots to more advanced human fashioned techniques are to save time and energy, and allow non-technical users to easily work with robots. Learning from Demonstration (LfD) and Imitation Learning (IL) are among the most popular learning techniques to teach robots new skills by observing a human or robot tutor. Flawlessly teaching robots new skills by LfD requires good understanding of all challenges in the field. Studies of imitation learning in humans and animals show that several cognitive abilities are engaged to correctly learn new skills. The most remarkable ones are the ability to direct attention to important aspects of demonstrations, and adapting observed actions to the agents own body. Moreover, a clear understanding of the demonstrator's intentions is essential for correctly and completely replicating the behavior with the same effects on the world. Once learning is accomplished, various stimuli may trigger the cognitive system to execute new skills that have become part of the repertoire. Considering identified main challenges, the current thesis attempts to model imitation learning in robots, mainly focusing on understanding the tutor's intentions and recognizing what elements of the demonstration need the robot's attention. Thereby, an architecture containing required cognitive functions for learning and reproducing high-level aspects of demonstrations is proposed. Several learning methods for directing the robot's attention and identifying relevant information are introduced. The architecture integrates motor actions with concepts, objects and environmental states to ensure correct reproduction of skills. This is further applied in learning object affordances, behavior arbitration and goal emulation. The architecture and learning methods are applied and evaluated in several real world scenarios that require clear understanding of goals and what to look for in the demonstrations. Finally, the developed learning methods are compared, and conditions where each of them has better applicability is specified.
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Karlsson, Patrick, and Emil Johansson. "Object Identifier System for Autonomous UAV : A subsystem providing methods for detecting and descending to an object. The object is located in a specified area with a coverage algorithm." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37072.
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Using UAVs in everyday life has been increasing in recent years. UAV is an agile vehicle and often comes integrated with a camera and sensors which makes it suitable for object detection and tracking. In this thesis, we present a subsystem with a limited hardware setup only consisting of an on-board computer and a camera that is mounted on a UAV. The subsystem provides techniques to maneuver, detect and descend to an object, all executed autonomously. The system is implemented in Robotic Operating System (ROS). The object detection is implemented as a convolutional neural network provided by TensorFlow Object Detection API. This thesis covers the necessary steps to adopt a pre-trained TensorFlow model to specific needs and compares three different TensorFlow models considering accuracy, frames per second and energy efficiency. Additionally, methodologies to cover a predefined area and position an object in relation to the camera is proposed. Experiments are executed both in a real-world and simulated environment and the results are promising for the implemented system.Användandet av UAVs i det vardagliga livet har ökat markant de senaste åren. En UAV är ett agilt fordon som ofta kommer integrerat med en kamera samt sensorer som gör det till ett lämpligt fordon för objektigenkänning och spårning. I den här avhandligen presenterar vi ett delsystem med en hårdvaruplattform endast bestående av en inbyggd dator och en kamera. Delsystemet tillhandahåller metoder som gör det möjligt för UAV:en att styras, känna igen objekt och landa på det detekterade objektet autonomt. Systemet implementeras i Robotic Operating System (ROS). Objektigenkänningen är implementerat som ett konvolutionellt neuralt nätverk tillhandahållt av TensorFlow Object Detection API. Avhandlingen omfattar stegen nödvändiga att ta för att anpassa en TensorFlow model till sina egna behov och gör jämförelser mellan tre olika Tensorflow modeller med avseende på precision, bildrutor per sekund och energi effektivitet. Dessutom presenteras metoder för att söka av ett fördefinierat område och positionering av ett objekt relativt komeran. Under experiment, både i simulering och verkliga världen, har lovande resultat framkommit.
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Gunning, Robin. "A performance comparison of coverage algorithms for simple robotic vacuum cleaners." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-229676.
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Cheap automatic robotic vacuum cleaners keep their cost down by having less sensors and many of them focus on using a single frontal bumper sensor, this makes it important to be able to get good coverage of a room with no knowledge of said room. This paper investigates whether the algorithm boustrophedon is enough to get a good coverage of a simple room with a maximum of two furnitures and only 90 degree corners. A graphical simulation were made to test the algorithms that are commonly used in cheap automatic robotic vacuum cleaners to compare them with the result of only using boustrophedon. The results show that the best algorithms are the non-deterministic random walk and all combined. Boustrophedon tends to get stuck when the room is not empty and it only cleans half the room when starting in the middle of the room, while being the fastest and gets most coverage in an empty room when starting in a corner.Billiga automatiska dammsugare håller kostnaderna nere genom att minska antalet sensorer och många av dem använder endast en stötfångare med stötsensor framtill, vilket gör det viktigt att kunna få en bra täckning av ett rum utan vetskap om rummet. I denna rapport undersöks om algoritmen boustrophedon räcker för att få en bra täckning av ett enkelt rum med som mest två möbler och endast 90 graders hörn. En grafisk simulering gjordes för att testa de algoritmer som vanligtvis används i billiga automatiska dammsugare för att jämföra dem med resultatet av att endast använda boustrophedon. Resultaten visar att de bästa algoritmerna är den icke-deterministiska random walk och alla algoritmer kombinerade. Boustrophedon tenderar att fastna när rummet inte är tomt och den rengör bara hälften av rummet när man börjar i mitten av rummet, men den är snabbast och får mest täckning i ett tomt rum när man börjar i ett hörn.
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Ramavaram, Harish Rao. "Software and Control Design for 2-D Floating Satellite Simulator." Thesis, Luleå tekniska universitet, Rymdteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-70067.
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