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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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Lindgren, Billy, and Giancarlo Kuosmanen. "An Autonomous Robot for Collecting Waste Bins in an Office Environment." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-39940.
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The aim of this work is to introduce autonomous robots for collecting waste bins in an officeenvironment. Since the environment will contain humans, therefore, the robot-human interactionis essential so that neither the robot nor humans come in harm’s way. To prevent this, the robotneeds to be able to communicate with the humans, and it has to operate in a safe way in the officeenvironment. To facilitate this there is a need to investigate the state-of-the-art in various fieldssuch as: mapping, path planning and, machine-human interaction. The result is a robot that isable to map an indoor environment and use the map to its advantages for producing a suitable pathfrom any given position to any desired location. While traversing the path, sensor data is gatheredfor obstacle detection and avoidance in order to handle dynamic environments.
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Lilja, Mattias. "Robotverktyg till Smartpacker plockmaskin." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-36852.
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Pettersson-Gull, Pontus, and Johan Johansson. "INTELLIGENT ROBOTIC GRIPPER WITH AN ADAPTIVE GRASP TECHNIQUE." Thesis, Mälardalens högskola, Inbyggda system, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-40573.
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This thesis presents a robotic gripper with an intelligent sensor system to grasp objects with an adaptive grasp technique. Two techniques are used, one for small objects and one for large objects. The sensor system is able to detect the object and measure its size to adapt the grasp. Optical motion sensors are used to see when the object is slipping between the fingers which means that more force needs to be applied. This makes it possible to grasp rigid and soft objects without damaging them. The functionality of the gripper was tested on eight objects with various characteristics. The results show that it can adapt the grasp technique and grasping force to the objects’ size and softness. It also shows that adding one more grasp technique made it possible to grasp more objects, compared to a different gripper with a single grasp technique which were used as a foundation for this thesis.
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Lotz, Max. "Depth Inclusion for Classification and Semantic Segmentation." Thesis, KTH, Robotik, perception och lärande, RPL, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233371.
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The majority of computer vision algorithms only use RGB images to make inferencesabout the state of the world. With the increasing availability of RGB-D cameras it is im-portant to examine ways to effectively fuse this extra modality for increased effective-ness. This paper examines how depth can be fused into CNNs to increase accuracy in thetasks of classification and semantic segmentation, as well as examining how this depthshould best be effectively encoded prior to inclusion in the network. Concatenating depthas a fourth image channel and modifying the dimension of the initial layer of a pretrainedCNN is initially examined. Creating a separate duplicate network to train depth on, andfusing both networks in later stages is shown to be an effective technique for both tasks.The results show that depth concatenation is an ineffective strategy as it clamps the ac-curacy to the lower accuracy of the two modalities, whilst late fusion can improve thetask accuracy beyond that of just the RGB trained network for both tasks. It is also foundthat methods such as HHA encoding which revolve around calculating geometric prop-erties of the depth, such as surface normals, are a superior encoding method than sim-pler colour space transformations such as HSV. This only holds true when these depthimages are normalised over the maximum depth of the dataset as opposed to the maxi-mum depth of each individual image, thus retaining geometric consistency between im-ages. The reverse holds true for simpler colour space transformations.Majoriteten av algoritmerna för datorseende använder bara färginformation för att dra sultsatser om hur världen ser ut. Med ökande tillgänglighet av RGB-D-kameror är det viktigt att undersöka sätt att effektivt kombinera färg- med djupinformation. I denna uppsats undersöks hur djup kan kombineras med färg i CNN:er för att öka presentandan i både klassificering och semantisk segmentering, så väl som att undersöka hur djupet kodas mest effektivt före dess inkludering i nätverket. Att lägga till djupet som en fjärde färgkanal och modifiera en förtränad CNN utreds inledningsvis. Sedan studeras att istället skapa en separat kopia av nätverket för att träna djup och sedan kombinera utdata från båda nätverken. Resultatet visar att det är ineffektivt att lägga till djup som en fjärde färgkanal då nätverket begränsas av den sämsta informationen från djup och färg. Fusion från två separata nätverk med färg och djup ökar prestanda bortom det som färg och djup erbjuder separat. Resultatet visar också att metoder så som HHA-kodning, är överlägsna jämfört med enklare transformationer så som HSV. Värt att notera är att detta endast gäller då djupbilderna är normaliserade över alla bilders maxdjup och inte i varje enskild bilds för sig. Motsatsen är sann för enklare transformationer.
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Larsson, Linus, and Karl Fransson. "Automatisera återanvändning av elektronisk utrustning." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37091.
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La, Duc-Vinh, and Rami Ishac. "Stalker Robotplattform." Thesis, Högskolan i Halmstad, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-28937.
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I robotikkursen Autonoma Mekatroniska System på Halmstad Högskola finns ett problem som kan uppstå vid bygget av deras hjulförsedda mobila robotar. Studenter har en tendens att bygga roboten så att den körs med maximal effekt från start till inbromsning. Detta medför att vid test av deras robotar så slits motorerna ut fortare vilket ger en onödig kostnad. För att minska på kostnaden är målet med detta projekt att bygga och reglera en sådan robot med hjälp av en banplanerare. Banplaneraren skapar mjuka övergångar vid start och inbromsning av roboten vilket gör att motorerna inte slits ut lika fort. I detta projekt ska vi utveckla en robot som kan användas som ett pedagogiskt undervisningsmaterial. Roboten ska vara en mall i kursen för studenterna så de kan se att det går bygga en robot som kan köras med mjuka övergångar. Roboten ska både kunna följa ett rörligt objekt med ett bestämt avstånd och har möjlighet att rotera. I detta projekt har även en undersökning av en modellerad och en verklig motor gjorts genom systemidentifiering. Resultatet blev en robot som kan följa ett rörligt objekt med ett bestämt avstånd där start och inbromsning görs mjukt. Med denna robot kan studenter se att det är möjligt att bygga en robot som körs med mjuka övergångar, vilket leder till mindre slitage av motorerna. Stegsvar och bodediagram har plottats fram genom systemidentifieringen där skillnader och likheter mellan verklig och modellerad motor kan ses.In the robotics course Autonomous Mechatronic Systems at Halmstad University there is a problem that may occur during the construction of their wheeled mobile robots. Students have a tendency to build the robot so that it runs with maximum efficiency from start to braking. This means that when testing their robots, the motors wear out faster, which is providing an unnecessary cost. To reduce the cost, the goal of this project is to build and regulate such a robot using a positionplanner. The positionplanner creates smooth transitions at start and braking of the robot so that the motors does not wear out as fast. In this project, we will develop a robot that can be used as an educational teaching materials. The robot will be a template in the course for the students so they can see that it is possible to build a robot that can run with smooth transitions. The robot should both be able to follow a moving object with a fixed distance and be able to rotate. In this project, an investigation of a modeled and actual motor has been made through a systemidentification. The result was a robot that can follow a moving object with a fixed distance where starting and braking is done smoothly. With this robot, students can see that it is possible to build a robot running with smooth transitions, which leads to less wear on the motors. Stepresponses and bodeplots have been plotted through the systemidentification where differences and similarities between real and modeled motor can be seen.
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Papadimitriou, Andreas. "Modeling and Control of Air-based Actuated Robots." Licentiate thesis, Luleå tekniska universitet, Signaler och system, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-83387.
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The aim of this thesis is to advance and increase the quality of the field of maintenance and exploration with the use of air-based robotic platforms. The fields that will be addressed are focusing on: a) Identification of adhesion system of climbing robots, b) the control of adhesion level and motion of climbing robots, c) the path planning based on constraints posed from platforms’ mobility characteristics and sensor requirements and d) The attitude control of a morphing Micro Aerial Vehicle (MAV) during in-flight structural re-configurations.Towards this envisioned aim, this thesis will present the following main theoretical contri-butions: a) The development and control of a Thrust Vectoring Vortex Climbing Robot (TVV-CR) which utilizes an Electric Ducted Fan (EDF) for achieving simultaneous locomotion and adhesion without the need of active motorized wheels for traversing surfaces of different ori-entations, b) the design, development, and control of a revised Vortex Robot (VR) based on differential steering platform and the ability to dynamically control the force needed for a con-tinuous adhesion, c) a general modeling methodology, extendable to different adhesion control technologies, of the minimum exerted force of a Climbing Robot (CR) required to achieve ad-hesion regardless of surface orientation d) a set-membership identification and Explicit Model Predictive Control (EMPC) for a Vortex Actuation System (VAS) e) the experimental evalua-tion of the VR under the control framework of an EMPC for the estimated via Autoregressive-Moving-Average with eXternal input (ARMAX) identification VAS f) the formulation of a path planning algorithm for the VR operation under an area coverage scenario while considering the surface characteristics and set inspection specifications. g) the design of a switching Model Predictive Control (MPC) to support the online structural reformation of a foldable quadrotor.In the first part of this thesis, the vision, motivation, open challenges, contributions, and future works are discussed, while in the second part the full articles connected to the presented contributions are presented in the annex.
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Junger, Oscar. "Datastödd målföljare med två integrerade mikroprocessorer." Thesis, Högskolan i Gävle, Elektronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-35825.
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Winberg, Jessica, and Svensson Hanna. "En hissautomations begränsningar och tillgångar : En fallstudie som undersöker hur en hissautomation bör användas i en plockmiljö." Thesis, Jönköping University, JTH, Logistik och verksamhetsledning, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-53872.
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Selle, Teodor. "Att Välja Rätt Digitala Tvilling." Thesis, Karlstads universitet, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-85454.
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Today’s automation systems are becoming way more complex in their design and system complexity is increasing. To design, develop and make sure automation system can reach the market as rapidly as possible, requires a new work method to match these new demands and requirements. By working with simulation and modeling of industrial automation systems, is it possible to streamline the development process and maintain a high level of quality.
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August, Tynong. "Automated test process." Thesis, Uppsala universitet, Signaler och System, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-396275.
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This thesis investigates solutions to automate a lab process and give the customer basis for investment. An analysis of the current lab process and interviews with the staff were performed to set requirements for an automated solution. The customer wants to perform an analysis on a large number of combinations between antibiotics and bacteria. The issues that an automated solution is not able to handle were identified for the customer. A market analysis of existing solutions was preformed and contact was established with different suppliers. The suggested products were evaluated by performance and if they would be able to adapt to the process. The evaluation shows that with the same number of working hours the customer can increase the productivity with 6.7 times using a semi-automated system and a fully-automated system will result in an increase of 18.3 times. A guidance of how the customer will implement the system is described in the report. The report shows that an automated solution will make their process more efficient.
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Tao, Jiangpeng. "3D LiDAR based Drivable Road Region Detection for Autonomous Vehicles." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-272131.
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Accurate and robust perception of surrounding objects of interest, such as onroad obstacles, ground surface, curb and ditch, is an essential capability for path planning and localization in autonomous driving. Stereo cameras are often used for this purpose. Comparably, 3D LiDARs directly provide accurate depth measurements of the environment without the need for association of pixels in image pairs. In this project, disparity is used to bridge the gap between LiDAR and stereo cameras, therefore efficiently extracting the ground surface and obstacles from 3D point cloud in the way of 2D image processing. Given the extracted ground points, three kinds of features are designed to detect road structures with large geometrical variation, such as curbs, ditches and grasses. Based on the feature result, a robust regression method named least trimmed squares is used to fit the final road boundary. The proposed approach is verified with the real dataset from a 64-channel LiDAR mounted on Scania bus Klara, as well as the KITTI road benchmark, both achieving satisfying performances in some particular situations.Exakt och robust perception av omgivande föremål av intresse, såsom hinder på vägar, markytor, trottoarkanter och diken, är en väsentlig förmåga för vägplanering och lokalisering vid autonom körning. Stereokameror används ofta för detta ändamål. I jämförelse, 3D LiDAR ger exakta djupmätningar direkt av miljön utan att behöva matcha pixlar i bildpar. I detta projekt används skillnaden för att överbrygga klyftan mellan LiDAR och stereokameror, och därmed effektivt hitta markytan och hinder från ett 3D-punktmoln genom 2Dbildbehandling. Givet att markytan har hittats, tre typer av funktioner undersöks för att upptäcka vägkonstruktioner med stor geometrisk variation, som trottoarkanter, dike och gräs. Baserat på funktionsresultatet används en robust regressionsmetod, least trimmed squares, för att passa den slutliga väggränsen. Det föreslagna tillvägagångssättet verifieras med två dataset med data från 64-kanalig LiDAR, en från Scania-bussen Klara och KITTI, och uppnår tillfredsställande prestanda i vissa givna situationer.
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Ejdeholm, Dawid, and Jacob Harsten. "Manipulation Action Recognition and Reconstruction using a Deep Scene Graph Network." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-42405.
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Convolutional neural networks have been successfully used in action recognition but are usually restricted to operate on Euclidean data, such as images. In recent years there has been an increase in research devoted towards finding a generalized model operating on non-Euclidean data (e.g graphs) and manipulation action recognition on graphs is still a very novel subject. In this thesis a novel graph based deep neural network is developed for predicting manipulation actions and reconstructing graphs from a lower space representation. The network is trained on two manipulation action datasets and uses their, respective, previous works on action prediction as a baseline. In addition, a modular perception pipeline is developed that takes RGBD images as input and outputs a scene graph, consisting of objects and their spatial relations, which can then be fed to the network to lead to online action prediction. The network manages to outperform both baselines when training for action prediction and achieves comparable results when trained in an end-to-end manner performing both action prediction and graph reconstruction, simultaneously. Furthermore, to test the scalability of our model, the network is tested with input graphs deriving from our scene graph generator where the subject is performing 7 different demonstrations of the learned action types in a new scene context with novel objects.
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Ginsberg, Fredrik. "Optimizing multi-robot localization with Extended Kalman Filter feedback and collaborative laser scan matching." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-48748.
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Localization is a critical aspect of robots and their industrial applications, with its major impact on navigation and planning. The goal of this thesis is to improve multi-robot localization by utilizing scan matching algorithms to calculate a corrected pose estimate using the robots' shared laser scan data. The current pose estimate relative to the map is used as the initial guess for the scan matching. This corrected pose is fused using several different localization configurations, such as an Extended Kalman Filter in combination with the Adaptive Monte Carlo Localization algorithm. Simulations showed that localization improved by resetting the Monte Carlo particle filter with the pose estimate generated by the collaborative scan matching. Further, in simulated scenarios, the collaborative scan matching implementation improved the accuracy of typical Monte Carlo Localization configurations. Furthermore, when filtering based on the number of reciprocal correspondences between the scan match output and the target scan, one could extract highly accurate pose estimates. When resetting the Monte Carlo Localization algorithm with the pose estimates, the localization algorithm could successfully recover from severe errors in the global positioning. In future work, additional testing needs to be done using these extracted pose estimates in a dedicated map-based multi-robot localization algorithm.
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Soman, Sopal. "An Automated Methodology for Identification and Analysis of Erroneous Production Stop Data." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-19126.
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The primary aim of the project is to automate the process of identifying erroneous entries in stop data originating from a given production line. Machines or work stations in a production line may be stopped due to various planned (scheduled maintenance, tool change, etc.) or unplanned (break downs, bottlenecks, etc.) reasons. It is essential to keep track of such stops for diagnosing inefficiencies such as reduced throughput and high cycle time variance. With the increased focus on Industry 4.0, many manufacturing companies have started to digitalize their production processes. Among other benefits, this has enabled production data to be captured in real-time and recorded for further analysis. However, such automation comes with its problems. In the case of production stop data, it has been observed that in addition to planned and unplanned stops, the data collection system may sometimes record erroneous or false stops. There are various known reasons for such erroneous stop data. These include not accounting for the lunch break, national holidays, weekends, communication loss with data collection system, etc. Erroneous stops can also occur due to unknown reasons, in which case they can only be identified through a statistical analysis of stop data distributions across various machines and workstations. This project presents an automated methodology that uses a combination of data filtering, aggregation, and clustering for identifying erroneous stop data with known reasons referred to as known faults. Once the clusters of known faults are identified, they are analyzed using association rule mining to reveal machines or workstations that are simultaneously affected. The ultimate goal of automatically identifying erroneous stop data entries is to obtain better empirical distribution for stop data to be used with simulation models. This aspect, along with the identification of unknown faults is open for future work.
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Khan, Yousuf, and Edier Otalvaro. "Human-Robot Interaction Using Reinforcement Learning and Convolutional Neural Network." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-50918.
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Proper interaction is a crucial aspect of team collaborations for successfully achieving a common goal. In recent times, more technically advanced robots have been introduced into the industrial environments sharing the same workspace as other robots and humans which causes the need for human-robot interaction (HRI) to be greater than ever before. The purpose of this study is to enable a HRI by teaching a robot to classify different human facial expressions as either positive or negative using a convolutional neural network and respond to each of them with the help of the reinforcement learning algorithm Q-learning.The simulation showed that the robot could accurately classify and react to the facial expressions under the instructions given by the Q-learning algorithm. The simulated results proved to be consistent in every conducted experiment having low variances. These results are promising for future research to allow for the study to be conducted in real-life environments.
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Moberg, Viktor Erik Olof. "Den obemannade tröskeln." Thesis, Försvarshögskolan, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:fhs:diva-9529.
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Den obemannade tröskeln är en uppsats på magisternivå efter avslutade studier på HOP1 vid Försvarshögskolan. Syftet med att skriva den var att försöka ge ett bidrag till anskaffningsprocessen av nya autonoma system till den svenska marinen. Detta gjordes genom att använda de tydligast framträdande dimensionerande teorierna ur svensk militärstrategisk doktrin och skapa ett analysverktyg utifrån detta, tillsammans med andra enligt författaren viktiga svenska kulturella principer, nämligen efterlevnaden av krigets lagar och hänsyn till kostnad. Studien är konstruerad som en kvalitativ, utforskande fallstudie med den svenska marinens undervattensförmåga som studerat fall. Resultaten visar på att marinen kan ha mycket stor nytta av dessa system, men att det initialt är viktigt att få ut system tidigt som direkt stödjer befintliga plattformar i deras verksamhet.
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Olsson, Anders. "Extended target tracking using Gaussian processes on stick-pixel defined objects." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35782.
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In this work, I present the performance of a extended target tracking algorithm that utilizes Gaussianprocesses. The extended target tracking algorithm is evaluated on objects corresponding to roadusers, with automotive use in mind. The measurements that denes the object to be tracked arederived from stereo image sensor disparity and is called Stick-pixels or Stixels. The process ofgenerating these measurements are also presented in this work.It consists of two separate methods,one relying on stereo image frames and one purely dened by object characteristics and pose. Theextended target tracking algorithm has been tested on three types of simulated road users, car, cyclistand pedestrian. To evaluate the performance of the target tracking algorithm three measures areused, error in position, orientation discrepancy over time and intersection over union.
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Palm, William, and Fredrik Fischer. "PATH CONTROL OF AN AUTOMATED HAULER." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35913.
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The vision of self driving cars has existed for a long time and the field of autonomous vehicles has been of great interest to researchers and companies. Volvo construction equipment presented their Electrical Site project in September 2016, with predictions of reducing carbon emission up to 95% and total cost of ownership by 25%. In the project, multiple autonomous haulers are intended to work in a fleet, loading, unloading and charging in a cyclic behavior. This masterthesis focus on the lateral control system of the automated hauler platform HX. The platform is modeled in an comprehensive simulation environment and three different control algorithms have been implemented and tested; An adaptive Proportional, Integral and Derivative (PID) controller, Stanley and the Proportional Integral + Proportional controller. The PID controller is tuned using the Nyquist stability criterion and the other two algorithms are tuned using a Genetic Algorithm. Results indicate that, to reach the optimal performance of the tested algorithms, manual tuning from experimental testing is required.
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Pettersson, Rasmus. "Continuous localization in indoor shifting environment." Thesis, Uppsala universitet, Fasta tillståndets elektronik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-326270.
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In this Master Thesis different approaches to mobile localization within construction environments are investigated. At first an overview of different sensors commonly used within localization is presented together with different map representations and a system consisting of a laser scanner and wheel encoders is chosen. The hardware is prepared for the open source ROS environment and three different algorithms for localization are tested. Two algorithms, Gmapping and HectorSLAM, used for Simultaneous Localization and Mapping, are compared. The best map is then used by a Monte Carlo localization algorithm, AMCL, for autonomous navigation. It is found that HectorSLAM produces the most accurate map, given that the grid refinement level is fine enough for the environment. It is also found that the maximum Kullback Leiber distance, used in AMCL, needs to be calibrated in order to perform a sufficient navigation.
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Karlsson, Ahlexander, and Robert Skoglund. "Video-rate environment recognition through depth image plane segmentation for indoor service robot applications on an embedded system." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-35595.
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As personal service robots are expected to gain widespread use in the near future there is a need for these robots to function properly in a large number of different environments. In order to acquire such an understanding this thesis focuses on implementing a depth image based planar segmentation method based on the detection of 3-D edges in video-rate speed on an embedded system. The use of plane segmentation as a mean of understanding an unknown environment was chosen after a thorough literature review that indicated that this was the most promising approach capable of reaching video-rate speeds. The camera used to capture depth images is a Kinect for Xbox One, which makes video-rate speed 30 fps, as it is suitable for use in indoor environments and the embedded system is a Jetson TX1 which is capable of running GPU-accelerated algorithms. The results show that the implemented method is capable of segmenting depth images at video-rate speed at half the original resolution. However, full-scale depth images are only segmented at 10-12 fps depending on the environment which is not a satisfactory result.
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Ericson, Stefan. "Vision-Based Perception for Localization of Autonomous Agricultural Robots." Doctoral thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-13408.
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In this thesis Stefan investigates how cameras can be used for localization of an agricultural mobile robot. He focuses on relative measurement that can be used to determine where a weeding tool is operating relative a weed detection sensor. It incorporates downward-facing perspective cameras, forward-facing perspective cameras and omnidirectional cameras. Stefan shows how the camera’s ego-motion can be estimated to obtain not only the position in 3D but also the orientation. He also shows how line structures in the field can be used to navigate a robot along the rows.
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Al-Saour, Rafal. "Automatisering av stackning." Thesis, Uppsala universitet, Elektricitetslära, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-348148.
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This project describes the process and the result of automating a moment in the production of a wave power generator. The project goal is to improve a stacking tool, as well as simulating this process to be able to use it in the production of stator valleys. The project started with an investigation and a study of the tool, which has been used in laboratory work at Angstrom Laboratory at Uppsala University. It was necessary to study even the robot, which was used in the automating. The project started by constructing a prototype based on the design of the old tool. The tool became updated with suction cups and electromagnets. The first task which resulted an advantage of the new prototype was to make the sheets movement more reliable. The disadvantage is that it can only take one sheet at a time which prolongs the stacking time. The second task was to simulate the stackning momentum. To simulate the entire process of the project, a robot cell model was created in the "ABB-Robotstudio" program. The aim was to develop a specific simulation moment based on a previous research project (Robotized Stacking of the Uppsala University Wave Energy Converter Generator Stator) by Erik Hultman and Marcus Linder at Uppsala University. The results of the tests showed that the instrument worked as it supposed to do and steering of the stator’s sheets movement was secure.
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Lundahl, Oskar. "Utmaningar och möjligheter vid införande av Robotic Process Automation för verksamheter." Thesis, Högskolan i Skövde, Institutionen för informationsteknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-15812.
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Automatisering av arbetsprocesser har varit ett aktuellt tema för många verksamheter i många år. Ofta är dessa automatiseringar relaterade till fysisk automation som exempelvis robotar vid produktionslinjer. Men med dagens teknik finns det potential för att automatisera arbetsprocesser i verksamheters back-office processer. Robotic process automation, eller förkortat som RPA, är en teknik som har förmågan att imitera användarens steg i en arbetsprocess och återskapa arbetsprocessen utan den mänskliga resursen. Denna studie har som syfte att fastställa utmaningar och möjligheter som är relaterade vid införande av RPA i verksamheter. Genom intervjuer och tidigare publicerat material om RPA, skall denna studie erbjuda en djupare förståelse kring utmaningar och möjligheter för den stigande trenden robotic process automation.Automation has been a hot topic for many businesses for a number of years now. The term is usually related to automation of physical machinery like robots to speed up production and assembling of cars. But with currently technology, the automation has taken a step further. Automation is now capable of automating back-office processes. Robotic Process Automation, also known as RPA, is a technology that is capable of imitating the users step in a business process and replicate it automatically, without human intervention. The purpose of this study is to determine the challenges and opportunities related to the implementation of RPA in businesses. By performing interviews and examining existing material about RPA, this study aims to deliver a deeper and wider understanding of the rising technology that is Robotic Process Automation.
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Fredmer, Andreas. "Application and Control of Robotic Manipulator through PLC." Thesis, Luleå tekniska universitet, Institutionen för teknikvetenskap och matematik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-62324.
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This thesis analyses the background of the kinematics and control of an articulated robotic arm in order to control it’s motor controllers with a custom controller using PLC programming. The goal was to create a MATLAB simulation of a manipulator and then establish a working configuration. This would then later be used by the division of Signals and Systems at LTU to educate students in PLC programming for autonomous setups with the robotic manipulator. The thesis was successful following the schedule established at the beginning and most of the objectives were accomplished. The results were a functioning control framework of Siemens PLC that could control the manipulators motor controllers to preform pickand place tasks in conjunction with a conveyor belt.
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Modin, Ivan. "Development of an Automatic Control Platform for Food Waste Management." Thesis, Uppsala universitet, Institutionen för elektroteknik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-451933.
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According to the facts presented by The United Nations in their 12th goal - ensure sustainable consumption and production patterns - of the 17 sustainability goals, an estimated third of all food produced each year ends up wasted, in the bins of consumers and retailers or spoiling, due to poor transportation and harvesting practices. Reducing food waste is therefore one of the indispensable tasks to accomplish this goal. This degree project aims to develop, as proof of concept, an automatic control platform for food waste management and implement it in a form of a prototype. The platform is intended to handle the workflow automatically, taking in food waste, weighing it, getting it photographed for image recognition and transporting it to a specified bin according to the classification of food waste using image recognition. The classification part is, however, not included in this project. The prototype of the control platform consists of a mechanical construction, a weighing scale, a stepper motor, a servomotor and a Raspberry Pi single-board computer. The mechanical construction was designed using CAD (computer aided design) and made with a 3D printer. On the top of the construction is an open flat platform, for placing food waste, which has two walls on the sides, one opening in the front and a robot arm in the back. The robot arm is moved forward, to offload food waste, and backward by a servomotor. The platform is mounted a base with a stand which supports the mechanical construction. It is rotated using a stepper motor installed in the base and stops at three different postions at 90, 180 and 270 degrees, respectively, which are to represent the three different categories of food waste that is to be classified using image recognition. The Raspberry Pi is the controller that is programmed to coordinate the whole workflow. The prototype is finished and tested. The test results have shown that it works well as a control platform that can handle the workflow, starting at the position to take in food waste, then weighing it and transporting it to three different specified positions, respectively.
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Morimoto, Yuka, and Marja Malvila. "Automatiserad testning av digitala lås." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-37775.
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Testsystem är en stor del i dagen samhälle. Att testa en produkt är viktigt för att se hur länge den håller, extra viktigt att testa produkter är det när produkterna ska användas till välfärdsteknologi oche-hälsa då tekniken ska användas i människors vardag. Phoniro utvecklar produkter och tjänster inom välfärdsteknologi och e-hälsa. Exempel på produkt som tillverkas på Phoniro är digitala lås där testningen främst består av mjukvarutester under förhållanden där en verklig aspekt på användning av produkten är önskad men inte är medräknad. Därför vill Phoniro ha en automatiserad testmaskin som på ett mer korrekt sätt återspeglar verkligheten. Målet med projektet var att testa digitala lås där verklig aspekt på användning av produkten ärmedräknad. Det beslutades att göra en testmaskin som skulle innehålla en räknare för att se hur länge testet har körts och sensorer som ska känna av om något havererar. En testmaskin har tillverkats som kan testa det digitala låset. En räknare visar hur många gånger den har öppnat låset. Testmaskinen stannar om något havererat. Målen men projektet har uppnåtts, erfarenheter projektet har gett är praktiska och teoretiska kunskaper om processen att bygga upp ett testsystem.
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Berntsson, Mathias, Krook Gustaf Vernersson, and Karl-Johan Thunberg. "Automationsunderlag för stackningsmoment av kärnläggning." Thesis, Uppsala universitet, Elektricitetslära, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-414143.
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Efterfrågan av energi ökar på grund av den ökande globaliseringen i världen. För att transmittera och distribuera elektrisk effekt används transformatorer. ABB Power Grids AB är världsledande inom produktion av transmissionskomponenter däribland högspänningstransformatorer. Transformatorer är tidskrävande och komplext att tillverka vilket har lett till att all produktion hos ABB Power Grids idag sker manuellt. En av transformatorns mer framstående komponenter är kärnan som bidrar med en effektivare reglering till mindre förluster. Kärnan konstrueras av tusentals tunna elektroplåtar som staplas omlott på varandra och vävs ihop till en sammanhängande struktur, detta enligt ett kärnläggningsmönster. Plåtarna i sig är otympliga att hantera då de är långa, tunna och vassa. Manuell stackning av elektroplåtar har visat sig ge upphov till en del skador då lyften är många och slitsamma, därtill har plåtarna legat till grund för otäcka skärskador. I och med detta har ett intresse för automation väckts i hopp om att reducera arbetsskador. Vid första anblick kan kärnläggningen anses vara perfekt för automation då arbetsmomentet är enkelt och repetitiva. Incitamentet för automation ökar ytterligare i hänseende till arbetsmiljön. Komplikationerna uppstår när arbetet bryts ner. Under ytan är det en utstuderad process där krav på produkt är höga med strikta toleranser. Därtill har arbetet beskrivits som något man behöver en viss känsla för då arbetet anpassas genom hela processen. Detta försvårar automation betydligt då dagens tillverkningsprocess är svår att fullt ut härma med robotar eller portaler. Därför behövs avgränsningar behöver göras för att hitta avvägning mellan slitsamt arbete och finess. Området för automation begränsas därför till stackningsprocessen. Genom att fokusera på stackningen flyttas de slitsamma och farliga lyften från manuell arbetskraft till automation samtidigt som kontroll, justering och slutmontage behålls manuellt. På så sätt kan produktionen av transformatorkärnor göras lämpad för automation då det allra mest tidskrävande momenten inte behöver utföras av människan. Detta är innebär emellertid inte att automation görs utan svårigheter. Kärnornas storlekar samt den precision som krävs vid läggning sätter höga krav på den automationslösning som ska implementeras. För att en automationslösning ska klara av att stacka alla de typer av kärnor som idag tillverkas på ABB Power Grids kommer stora strukturer behöva upprättas för att utföra arbeten med extrem precision. Detta sätter höga noggrannhetskrav på de automationsmodeller som upprättas. Vidare, produktionsområdet där automation idag avses är väl utstakat och anpassat efter manuellt arbete. Detta innebär att automationsmodeller som idag finns på marknaden behöver omarbetas för att passa in i dagens produktion hos ABB Power Grids. Slutligen måste frågan ställas om modifierade lösningar kan göras noggranna nog eller om större ingrepp på produktionsområden behövs göras. I förstudien presenteras olika automationsmodeller som har utvecklats för att integreras hos ABB Power Grids, dessa är Portalmodeller, Länkarmsmodeller och Inmatningsmodeller. Utformningsförslagen har sedan analyserats och jämförts för att ge ABB PG ett utgångsläge för vidareutveckling av automatisering av stackningsmomentet. Resultatet blev fem automationsmodeller, två använder sig av länkarmsrobotar och tre är portaler. Vidare så har två automatiserade inmatningsmodeller upprättats för att ytterligare reducera den manuella hanteringen av elektroplåtar. ABB Power Grids rekommenderas att inledningsvis gå vidare med Robotmodell 1.
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Pihl, Jacob, and Edin Tataragic. "Automatisk kollisionsundvikande bärhjälp för livsmedel : med fokus på analys av metoder för objektspårning i bild." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-34464.
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Steen, Patrik. "PLC&Virtual Commissioning : En studie i verifiering av PLC-logik genom Virtual Commissioning." Thesis, Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-69379.
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PLC kan idag vara det mest använda styrsystemet till industriella applikationer. Verifikation av programmerad PLC-logik är av stort värde och kan göras på olika sätt. ÅF Karlstad vill idag börja se över möjligheter till implementering av Virtual Commissioning som ett alternativ till minskning av ledtider. I det stora hela blev målet för detta projektarbete att i Xcelgo Experior bygga upp en 3D-miljö som liknar en saltvatten-process på Barilla i Filipstad, skriva PLC-logiken i Siemens TIA-portalen och testköra logiken i 3D-miljön. Och av detta kunna ge underlag till eventuella investeringar i denna teknik för ÅF Karlstad. Gränssnittet Xcelgo Experior visade sig var funktionellt och lättarbetat. Dock hann inte programutvecklarna få i stånd den uppdatering av modulkatologen som krävts för att tillräckligt kunna efterlikna Barillas process att det försvarbart skulle kunna verifiera PLC-logiken. Efter överläggande med min handledare på ÅF, Anders Emanuelsson, bestämdes att i stället verifiera logiken visuellt i Siemens HMI. Då detta projektarbete endast delvis kommer uppfylla de syften och mål som satts kommer istället en verifiering av PLC-logiken för processen att utgöras av Siemens HMI. Dock har användandet och testkörning av mindre skriven kod, anpassat för nuvarande version av Xcelgo, givit en bild av möjligheterna att effektivt validera PLC-logik då en version lämpad mer för den Värmländska industrin kommit.
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Svensson, Simon, and Adam Wadsten. "Kriterier för automation vid inlagring : Ett beslutsunderlag i valet av artikelplacering." Thesis, Tekniska Högskolan, Högskolan i Jönköping, JTH, Logistik och verksamhetsledning, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-45525.
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The role of warehouse in the value stream, plays a significant part in how well a company can satisfy the requirements of a customer. To be able to support the demand of the customers, production companies are forced to produce a bigger variety of models in the product range, which results in an increasing assortment. With an effective stock keeping, there is a potential to reduce waste and increase profitability. In the choice of warehouse-design, warehouse-operations have the opportunity of choosing between a number of different designs containing manual and automated put away.It has become common that companies are choosing a combination of automated and manual processes. With this combination of processes, the companies are faced with choices about stock locations. With the help of well developed criterias about stock locations, there is a potential to achieve a more effective put away. The purpose of the study has been formulated as ”Investigate when automation in warehouse management makes the put away process in a central warehouse more efficient”. Through a case study on a warehouse, located in Nässjö, this report will answer the research questions regarding which of the manual and automated put away processes to use. The research questions are: Which criteria affect the decision of automated or manual put away? Based on the criteria that are raised in research question 1, when is it more efficient to store carton in AS/RS in comparison with manual picking with truck in pallet racking? The research questions wish to lift criteria as a basis for decision making and when it is more effective to use automated put away. The warehouse that this study is based on is using both automated and manual materials handling. The specific automation system that has been the basis for this study’s result is AutoStore. This report has a qualitative approach, the methods that has been used for collecting data are interviews, observations and document studies. Dimension, process time and utilization were the three criteria that are presented in the result. Based on the pallets limit of space in the automated system, the dimension of the article is the first criteria. In addition to the article’s measurements, the articles shape and material of the package had an impact if the article would fit in the load carrier. The two put away processes include different operations that differ in how long they take to execute, which has an impact on the company's efficiency. One reason for the time consuming difference, turned out to be how the quantity affects the time for put away in AutoStore comparing with the constant time for manual put away. A time consuming operation in the process with AutoStore was the one with repacking for the systems pallet. The operation also turned out to affect the utilization rate, due to its measurement of a pallets fill rate. The quantity of put away in combination with the dimensions of the article, affects the total utilization rate. With the result, the aim of the study is to contribute to companies that contains a combination of warehouse-design with a basis for the decision making about stock locations.
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Forsberg, Axel. "A Wavelet-Based Surface Electromyogram Feature Extraction for Hand Gesture Recognition." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-39766.
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The research field of robotic prosthetic hands have expanded immensely in the last couple of decades and prostheses are in more commercial use than ever. Classification of hand gestures using sensory data from electromyographic signals in the forearm are primary for any advanced prosthetic hand. Improving classification accuracy could lead to more user friendly and more naturally controlled prostheses. In this thesis, features were extracted from wavelet transform coefficients of four channel electromyographic data and used for classifying ten different hand gestures. Extensive search for suitable combinations of wavelet transform, feature extraction, feature reduction, and classifier was performed and an in-depth comparison between classification results of selected groups of combinations was conducted. Classification results of combinations were carefully evaluated with extensive statistical analysis. It was shown in this study that logarithmic features outperforms non-logarithmic features in terms of classification accuracy. Then a subset of all combinations containing only suitable combinations based on the statistical analysis is presented and the novelty of these results can direct future work for hand gesture recognition in a promising direction.
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Bentabol, Muñoz Emilio, Ibáñez Carlos Bosque, Ruiz Pedro González, de Mendoza Jose Manuel Hurtado, and Zúñiga Enrique Ruiz. "Linking Wise-ShopFloor to an ABB IRB-140 Robot : Remote control, monitoring, and programming of an ABB robot IRC 5 through the internet." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-13933.
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The aim of this project is integrate the new robot IRB140 from ABB inside the application Wise ShopFloor (Web-based integrated sensor-driven e-ShopFloor) and the integration of a web camera inside the application as well. In order to integrate the ABB IRB140 inside the application, a Java 3D model has to be created, the kinematics and collision constrains have to be defined also and the GUI application modified to fit the virtual model and the camera inside the application. The user has to be able to jog the web camera and zoom it. Changes in the server side have been done in order to introduce new functionalities such as the sessions management, the communication mechanism now is more general using Java inheritance.Wise-ShopFloor
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Holm, Martin, and Robert Lager. "Automation av materialhantering vid en kallsåg." Thesis, Uppsala universitet, Industriell teknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-326143.
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The purpose of this bachelor thesis was to evaluate and propose a solution for how the material handling of steel rods produced by a metal cutting machine could be automated. The intention of the automation was to meet an increasing demand and to ensure that the quality requirements set are met. These quality requirements are defined by a removal of the small steel edge which occurs on the rod after the cutting process, as well as making sure that the rods meet the specified length tolerances. Initially, a data collection and status analysis of the process was carried out, where problem areas were identified and a requirements specification was formulated. Based on these findings, several solution proposals were generated. The proposed solutions were evaluated and used as a basis on which further development of automation solutions were conducted. During this development, a software simulation environment was used to simulate and evaluate the resulting concepts. Included with these concepts were drawings of necessary constructed equipment, simulation models and cost estimates. The work resulted in two concepts based on the use of industrial robotics. The concept that was considered most suitable for the task is based on an implementation of an ABB IRB 1600 industrial robot with a magnetic gripping tool, a stand-alone station for removing remaining steel edges from the rod, and a measuring arrangement to make sure that the tolerance requirements are met.Detta examensarbete utfördes med syftet att undersöka om och hur materialhanteringen vid en kallsåg för stålstänger kunde automatiseras. Detta för att hantera en ökad efterfråga och säkerställa att de kvalitetskrav som ställs blir uppfyllda. Kvalitetskrav avser här att kvarvarande grader som uppstår på stängerna vid kapning ska vara borttagna och att stängerna ska uppfylla specificerade längdtoleranser. I arbetet genomfördes inledningsvis en datainsamling och nulägesanalys av processen där problemområden identifierades och en kravspecifikation formulerades. Utifrån dessa genererades sedan flera lösningsförslag. De framställda lösningsförslagen utvärderades och utgjorde sedan en grund för vidareutveckling av automationslösningar. Under vidareutvecklingen användes en robot simuleringsmjukvara för att simulera och utvärdera koncept. Till dessa koncept framställdes tillhörande konstruktioner, simuleringsmodeller och kostnadsuppskattningar. Arbetet resulterade i två koncept för automation baserade på ett användande av industrirobotar. Det koncept som bedömdes som mest lämpat för uppgiften bygger på en implementering av en ABB IRB 1600 industrirobot med ett magnetiskt gripverktyg, en fristående station för avgradning av stänger samt en mätanordning för att kontrollera att toleranskrav uppfylls.
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Zhakulin, Andrey, and Nicklas Kriström. "Automatiserad depanelisering av smartphones." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-44969.
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Today's methods for depanelizing phones are inefficient and costly. Through a collaboration withStena Recycling Halmstad, this work has shown how to streamline and automate the recycling of smartphones. The project group developed a prototype that can depanelize smartphones so that batteries in modern smartphones can easily be accessible for removal. The prototype makes recycling of phones easier, faster and safer than manual recycling. As the mobile industry is a growing market, it is important to have a fully functioning life cycle of the products. Today's recycling companies process the phones by a disassembler manually crushing thephones and then removing the battery by hand. It gives rise to both broken glass that can cut theoperator and risk for injury by accidentally striking him/herself. The process can also cause thedisassembler wear damage over time. The disassembling process is also time consuming as it takes up to 1.5 minutes to depanelize a phone by hand. As Stena Recycling receives around 500 000 smartphones annually, the current method quickly becomes unsustainable. To solve those problems, we have developed a prototype, which can handle large amounts of phones.The prototype has a compartment that phones fall into, and which consists of several vacuum cups that enclose the phone on the front and back sites. By mounting vacuum cups to the actuator and frame, the machine can pull the phone apart so that operators can easily reach the battery. By automating this process, the project team has shortened disassembling time from 90 to 5 seconds. The depanelization machine shows great potential for time savings and provides great opportunities to handle smartphone recycling in a more sustainable way.Dagens metoder för att depanelisera telefoner är ineffektiva och kostsamma. Genom ett samarbetemed Stena Recycling Halmstad har arbetet visat hur man kan effektivisera och modernisera återvinningsarbetet utav mobiltelefoner. Genom att ha utvecklat en prototyp som kan depaneliseratelefoner så kan man göra de moderna telefonernas batterier åtkomliga för enkel urtagning, så att desedan blir en säker slutprodukt som kan gå vidare i produktens livscykel. Eftersom mobilindustrin är en växande marknad så är det viktigt med en helt fungerande livscykel hos produkterna. Idag så bearbetar återvinningsföretagen telefonerna genom att en demontör manuellt krossar telefonerna för att sedan ta ur batteriet för hand. Det ger både upphov till glassplitter och förslitningsskador. Det är även tidskrävande då det tar upp mot 1,5 minuter att depanelisera en telefon för hand. Då Stena Recycling får in volymer omkring 38 000 telefoner i månaden blir den nuvarandemetoden snabbt ohållbar. För att kontra de problemen har vi utvecklat en prototyp, som klarar av att hantera de stora mängderna telefoner som kommer in varje månad. Resultatet är en prototyp som fungerar genom att den har en inbyggd fålla som telefonen faller ned i. Fållan består av ett flertal sugkoppar som omsluter telefonen på displaysida och baksida. Genom att montera hälften av sugkopparna till ett ställdon ”även kallad cylinder” och den andra hälften sitter monterade på ramen kan maskinen dra isär telefonen så att montörer enkelt kan nå batteriet. Genom att automatisera den här processen har projektgruppen förkortat tidsåtgången till 5 sekunder per telefon, från de tidigare 90 sekunderna som krävdes. Depaneliseringsmaskinen visar på stor potential för tidsbesparing samt ger stora möjligheter för att hantera återvinningen av telefoner för ett mer hållbart kretslopp.
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Zell, Hampus. "Utveckling av en virtuell robotcell för programmering och optimering." Thesis, Högskolan i Gävle, Elektronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:hig:diva-33212.
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Cyberfysiska system, robotik och simulering är områden i stort fokus eftersom det har en stor del i industri 4.0. Syftet med projektet är att utveckla robotlaboratoriet på Högskolan i Gävle till att vara mer anpassat för införandet av CPS genom att skapa en virtuell robotcell och utveckla griparen hos robotarna. Den virtuella robotcellen kommer att öka säkerheten i laboratoriet och gör så fler personer kan arbeta med robotarna samtidigt. Robotarna och programvarorna som användes i projektet är utvecklade av företaget KUKA. Det användes tre programvaror till den virtuella robotcellen i projektet. De två som användes mest utförde simulering och programmering. Den sista programvaran hade möjligheten att sammankoppla och styra de andra programvarorna. Den virtuella robotcellen utvecklades i simuleringsprogramvaran och där skapades även program som utfördes av de fysiska robotarna i laboratoriet. De fysiska robotarna rörde sig inte på samma sätt som i den virtuella modellen. En felsökning utfördes och problemet fanns hos de fysiska robotarna. KUKA kommer därför utföra ett underhållsarbete på robotarna. Valideringen av den virtuella robotcellen utfördes därför i simuleringsprogrammet. När den fysiska robotcellen fungerar korrekt så kommer den också att kunna användas för att validera den virtuella robotcellen. En programvara som gav griparen fler funktionaliteter installerades på robotarna. Programvaran som användes var utvecklad av KUKA och fanns i laboratoriet. Funktionerna gör griparen lättare att använda vid manuell körning och programmering. Programvaran som utför sammankopplingen av simulering- och programmeringprogramvaran behöver undersökas vidare för att den virtuella robotcellen ska kunna utföra fler funktioner. Den virtuella robotcellen finns tillgänglig för alla på högskolan och kan användas för att få en förståelse för hur robotarna fungerar. Program kan optimeras i den virtuella miljön och utföras av de fysiska robotarna.Cyber physical systems, robotics and simulation are areas of major focus as they play a big part in industry 4.0. The aim of the project is to develop the robotic laboratory at the University of Gävle to be more adapted to the introduction of CPS by creating a virtual robotic cell and developing the gripper of the robots. The virtual robotic cell are going to increase the safety in the laboratory and make it possible for more people to work with the robots at the same time. The robots and software used in the project were developed by the company KUKA. Three different software’s were used for the virtual robotic cell in the project. The two most commonly used were simulation and programming. The third software had the possibility to interconnect and control the other two software’s. The virtual robotic cell was developed in the simulation software and also programs were created that the physical robots in the laboratory performed. The physical robots did not move in the same way as the virtual model. Troubleshooting was performed and it showed that the problem was with the physical robots. Therefore KUKA will accomplish maintenance work on the robots. The validation of the virtual robotic cell were for that reason performed in the simulation program. When the physical robotic cell is operating correctly it will also be able to validate that the virtual robotic cell is working. A software that gave the gripper more functionality was installed on the robots. The software that was used was developed by KUKA and were available in the laboratory. The functions make the gripper easier to manage in manual driving and programming. The software that performs the interconnection of simulation and programming software is in need of further analyzation in order for the virtual robotic cell to be able to execute more functions. The virtual robotic cell is available for everyone at the university and can be used to understand how the robots work. Programs can be optimized in the virtual environment and performed by the physical robots.
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Tullock, Hanna. "Concept and simulation of robotized assembly application." Thesis, Högskolan Väst, Avdelningen för avverkande och additativa tillverkningsprocesser (AAT), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:hv:diva-12757.
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Assa OEM is a manufacturer of locks and fittings for windows, doors and cabinets. To be more competitive, automating the production is an advantage. Assa assembles six different types of left and right reversible hinges. One product stands for 80 % of the assembly time on the line. For this product Assa wants to implement a robotized assembly solution in one of the three assembly stations. The remaining 20% still needs to be assembled manually. The aim of this study is to investigate three assembly stations, select one assembly station to automate, give three concepts at half-time of the project for the selected assembly station and simulate one final automated concept. The assembly line produces approximately 2000 reversible hinges each day. For the stations in the assembly line the cycle time is around 16 seconds. In the three assembly stations the assembly tasks are similar, it is the number of rivets or parts that differ. In assembly station three there is one additional task that is not included in the first two assembly stations. In this task the arm is lifted and turned 180 degrees, and then placed over three rivets. This is more complex for a robot to perform and will require more equipment. There are similarities between assembly station one and two and therefore concepts for both stations will be given. Three layout concepts are presented for the first assembly station and for the second assembly station one concept is presented. Also, two concepts of combining assembly station one and two are presented. On April 17th, 2018, a meeting at Assa was held to discuss the different concepts and layouts. The discussion led to the conclusion that a further investigation on implementing a robot will be carried out for the concept in assembly station two. The main result is that the cycle time of 16 seconds is difficult to accomplish. The path must be well planned to achieve this with a collaborative robot. To attain the cycle time the end-effector must be designed so that no tool change will be necessary. The rivet is small and therefore a gripper would have difficulty gripping the rivets. Therefore, other methods such as ferromagnetic or vacuum are recommended. The feeder system of the rivet is suggested to have a vibrating bowl feeder due to the orientation of the rivets. The frames’ feeder system needs to be designed for the purpose in assembly station two. The frame that is to be assembled on to the fixture exposes a risk for an operator if working beside the robot. To minimize the risk area from the frame, relocation of the frame feeder and planning the path differently is suggested. The layout will require safety equipment and the suitable safety equipment depends on the flexibility Assa requires.
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Johansson, Mattias, and Ander Bengtsson. "Kalibreringsstation : Kalibrering av pallgafflar." Thesis, Högskolan i Halmstad, Akademin för informationsteknologi, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-42342.
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The work is about designing a calibration station as an integral component of a company's existing product. The product is a robotic cell that automates the production of pallets. The purpose of the calibration station is to rectify an angular error that occurs on the pallet forks, which is mounted on the robot's tool, whose task is to lift and stack the pallets the robot cell manufactures. The company has theories as to why the angular error occurs and believes that there are a number of factors that influence. The purpose of the calibration station is to be able to calibrate the pallet forks when an angular error occurs and to correct all rotations and translations within an approved tolerance. Methods used to carry out the work are to study the problem and investigate how others have solved similar problems and to gather knowledge in the area of calibration. The calibration station design and sensors are evaluated and discussed to determine which sensor and design will solve the task. Algorithms are programmed to find, calculate and correct angular errors that have occurred. The result of the calibration station that has been designed shows that it works for angular errors less than ten degrees in rotation and for translation in millimeters. After a calibration has been performed on the pallet forks, the result of the calibration falls within the requirements of the tolerances specified in the work. The work concludes with an evaluation of how the calibration station can be developed to perform better.Arbetet handlar om att konstruera en kalibreringsstation som en ingående komponent i ett företags befintliga produkt. Produkten är en robotcell som automatiserar tillverkningen av pallar. Kalibreringsstationens syfte är att åtgärda ett vinkelfel som uppstår på pallgafflarna, som sitter på robotens verktyg, vars uppgift är att lyfta och stapla de pallar robotcellen tillverkar. Företaget har teorier om varför vinkelfelet uppstår och menar att det är ett flertal faktorer som påverkar. Kalibreringsstationens mål är att kunna kalibrera pallgafflarna när ett vinkelfel uppstår och korrigera alla rotationer och translationer inom en godkänd tolerans. Metoder som används för att genomföra arbetet är att studera problemet och undersöka hur andra har löst liknande problem samt samla kunskap inom området kalibrering. Kalibreringsstationens design samt sensorer utvärderas och diskuteras, för att komma fram till vilken sensor och design som skall lösa uppgiften. Algoritmer programmeras för att hitta, beräkna och korrigera vinkelfel som har uppstått. Resultatet för kalibreringsstationen som har konstruerats visar att den fungerar för vinkelfel mindre än tiotal grader i rotation samt för translation i millimeter. Efter att en kalibrering har utförts på pallgafflarna hamnar resultatet av kalibreringen inom kraven på toleranserna som angivits i arbetet. Arbetet avslutas med en utvärdering hur kalibreringsstationen kan utvecklas för att prestera bättre.
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Larsson, Anders Robin. "A Flexible, Low-cost Approach to Slippage Detection using Pyroelectricity." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-48855.
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Myoelectric prosthesis on the market today are mostly very expensive and rarely allow the amputee any feedback, leaving the users separated from their own robotic arm. Integrating sensory systems into an arm which needs to be replaced several times during a lifetime may also not be cost efficient. With a sensory system tted in a removable and re-sizeable glove, the sensory system will not require a replacement unless broken. Using a exible, durable, low-cost material, sensitive to both change in pressure and temperature, this may be achieved. Using the pyroelectric properties of thin-film Polyvinylidene Fluoride, a sensor able to detect the incipient of slippage and its initial direction is achieved.
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Cederqvist, Fredrik. "Simulation & integration av robot med stiftmaskin : En förstudie om robotisering av stiftmaskin." Thesis, Karlstads universitet, Fakulteten för hälsa, natur- och teknikvetenskap (from 2013), 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-62517.
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Denna förstudie behandlar robotisering av en process som monterar två stiftade tåtar i en plastkontakt, detta bildar ett kablage. Idag monteras tåten till plastkontakten manuellt. Förstudien undersökte om robotisering är tekniskt möjlig och ekonomiskt försvarbar. Robotiseringen sker genom att en robot fattar tag i en stiftad tåt i stiftmaskinen med ett gripdon, sedan förs den stiftade tåten in i en plastkontakt med hjälp av roboten. Stiftmaskinen är en Schleuniger 67 cc. Simuleringar av två koncept genomfördes med en mock-up av maskinen och ligger som underlag för de uppskattade cykeltiderna för den robotiserade processen. Två laborationer genomfördes för att undersöka svårigheterna vid robotiseringen av processen och om det är tekniskt möjligt. Första laborationen bestod av att utforma ett gripdon som kunde hantera produkterna utan att skada dem. Andra laborationen gav underlag för ett uppskattat kvalitetsbyte för processen. Första laborationen bestod av hur det konstruerade gripdonet skulle kunde fatta tag i den stiftade tåten utan att skada tåten eller ändra dess position eller orientering. Genomförandet av laborationen var i enlighet med ``try and fail`` metoden. Laborationen gav riktlinjer avseende på konstruktionen av gripdonet och vilket arbetstryck som är lämpligt för operationen. För högt arbetstryck resulterade i att gripdonet skadade tåten, för lågt arbetstryck resulterade i att friktionskraften mellan tåten och gripdonet blev för låg för att stiftet skulle föras in i kontakten. Andra laborationen bestod av att utröna ett approximativt värde av den robotiserade processens kvalitetsutbyte. I denna laboration utfördes 65 stycken försök till att bilda ett kablage med roboten och antalet godkända noterades. Resultatet från laborationen med de berörda produkterna som används idag vid montering av ett kablage gav kvalitetsutbytet 51%. Företaget som skall eventuellt investera har krav på att kvalitetsutbytet är 95% för att robotisering av processen skall genomföras. En omfattande analys av resultatet från denna laboration ger indikationer på att kravet kan uppnås med vidare produktutveckling av berörda produkter och gripdon. En ekonomisk analys i form av en pay-off kalkyl ligger som underlag för att bedöma om robotiseringen är ekonomiskt försvarbar, och gav ett approximativt värde för hur mycket förädling av produkten som den robotiserade processen skall ta över från den manuella monteringen. Den förädling som görs av den robotiserade processen kallas i denna förstudie för automatiseringsgrad. Analys av pay-off kalkylen, produkterna samt resultat från laborationerna, anser författaren att robotisering av processen är teknisk möjligt och ekonomiskt försvarbart med de approximativa värdena för automatiseringsgrad på 22 % av den manuella monteringen och med 95% kvalitetsutbyte.This pilot study investigated the robotization of a process that connects two pined conductors to a plastic contact and thereby forming a cabling. The pilot study examined if the process is technically possible and economically feasible to robotize. Today the pined conductors are attached to the cabling manually. Introduction of robotization is done so that a robot seizes one pined conductor at a time in the pin machine (Schleuniger 67) with a gripper and inserts same into the plastic contact. To determine if the process is technical possible to robotize two experiments were conducted with a gripper that was designed for this purpose. The purpose of the first was to investigate how the gripper could engage the pined conductor without damaging same or change its position or orientation. The experiment was carried out as a “try and fail” type. The experiment resulted in guidelines regarding the design of the gripper and which working pressure was recommendable for the process. A too high pressure could damage the pined conductor and a too low would cause the friction force between the conductor and the gripper to be too low to insert the pined conductor into the plastic contact. The goal of second experiment was to find an approximate value for the quality yield of the process (that is the number of approved cablings in %). In this experiment 65 attempts to form a cabling was performed and the number of approved cablings was checked and documented. The result from the experiment – using the present conductors and plastic components – was a quality approval rate of 51%. The company requires that the quality yield is higher than 95% in order to robotize the process. A thorough analysis of the result of the experiment and discussion with company representatives indicates that the required quality yield can be reached with some further development of the involved components and the gripper making the designs more “automation friendly”. A financial analysis was made using a pay-back calculation in order to determine when and if robotization is financially justified and resulted in an approximate value regarding how much of the value –added in the operation that is to be automated. This value-added that will be performed by the robot is defined as the degree of automation. The conclusion is that robotization (automation) is technically feasible with a degree of automation of 22% and a quality yield of 95%. This is based upon: the pay-back analysis, the present design of the used components and the result from the experiments.