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

With technological breakthrough in information sphere, a new approaches for work efficiency in enterprise areas are discovered today. One of them is process automation. This publication will describe "Robot Process Automation" term, present two possible solutions for implementation of model example and resolve the results in case of economical advances.

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.

Automating the configuration of network devices contributes to faster configuration and helps increase consistency compared with manual configuration. In this thesis, we compare the automation tools Ansible, Puppet, and SaltStack and evaluate their performance when configuring network devices. To evaluate the automation tools this thesis consists of a comprehensive overview and a set of performance experiments. The comprehensive overview focuses on comparing the automation tools and their capabilities whilst the set of performance experiments focuses on comparing the performance of the automation tools. The comprehensive overview reveals that all automation tools we investigate can achieve automated network configuration. However, the approach to configure network devices varies between the automation tools. For the configuration of network devices Ansible is more capable than Puppet and SaltStack. The lack of documentation and support for Puppet and SaltStack leads to an increase in usage complexity. The performance experiments reveal that Ansible and SaltStack have a better performance than Puppet for a lower number of configuration changes. However, with an increasing number of configuration changes, Ansible shows a noticeable difference whilst Puppet and SaltStack do not.

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.

Syntronic Research & Development AB both designs and performs tests of PCBs of differentkinds. At lower volumes, big parts of the test process are manual. This thesis examines oneway to automate the loading and unloading process with a cheap and simple solution so that itcan be profitable even at low volumes. If all parts of the process are automated manpower canbe freed, hence the cost of testing can be lowered, and tedious monotonous work can beavoided. Human error can also be removed from the equation, which could result in lessstochastic errors. The approach to automate the loading and unloading of test objects in this thesis is to design atwo-axis linear robot. This way the PCBs can be picked from incoming plates, placed in thetestbench, and then be placed in outgoing plates, as long as they are all in a straight line. To find weakness in the design a prototype was constructed on which tests were performed.These tests showed some areas on which improvements are needed before it can beconsidered a finished product. These improvements are discussed. The tests also showed that this approach can be made profitable, with some limitations. The cost savings are greatly dependable on how the other process are automated. There are both limitations on the setup of the test fixture used and, perhaps mainly, on how theother process are automated. This is also discussed. One challenge yet to overcome is how to make it easy to adapt and implement for a specifictest. When and if a robot based on this concept is implemented the setup time will by far be thelargest contributor to the cost.

Throughout the many years of research examining the various effects of automation on operator performance, stress, workload, etc., the focus has traditionally been on the level of automation, and the invocation methods used to alter it. The goal of the current study is to instead examine the utilization of various types of automation with the goal of better meeting the operator’s cognitive needs, thus improving their performance, workload, and stress. The task, control of a simulated unmanned robotic system, is designed to specifically stress the operator’s visual perception capabilities to a greater degree. Two types of automation are implemented to support the operator’s performance of the task: an auditory beep aid intended to support visual perception resources, and a driving aid automating control of the vehicle’s navigation, offloading physical action execution resources. Therefore, a comparison can be made between types of automation intended to specifically support the mental dimension that is under the greatest demand (the auditory beep) against those that do not (the driving automation). An additional evaluation is made to determine the benefit of adaptively adjusting the level of each type of automation based on the current level of task demand, as well as the influence of individual differences in personality. Results indicate that the use of the auditory beep aid does improve performance, but also increases Temporal Demand and Effort. Use of driving automation appears to disengage the operator from the task, eliciting a vigilance response. Adaptively altering the level of automation to meet task demands has a mixed effect on performance and workload (reducing both) when the auditory beep automation is used. However, adaptive driving automation is clearly detrimental, iv causing an increase in workload while decreasing performance. Higher levels of Neuroticism are related to poorer threat detection performance, but personality differences show no indication of moderating the effects of either of the experimental manipulations. The results of this study show that the type of automation implemented within an environment has a considerable impact on the operator, in terms of performance as well as cognitive/emotional state

The purpose of this thesis is to investigate the possibilities of automating a gluing process in the optical manufacturing industry. Aimpoint, a Swedish company that manufactures red-dot sights was the industrial partner in this thesis. Since the optical quality of their products is of the highest importance and the lenses and protective glass are for the most part glued using traditional, manual methods, the company aims to find improvements and methods to ensure the qualityof their products by automating this process. A number of requests were submitted, including the ability of such an improved process to be able to glue lenses of more complex geometries than the mostly round lenses currently used. To allow precise adhesive dispensing around the lens of a sight with a complex geometry, Aimpoint has two Cartesian tabletop dispensing robots. This kind of robot servesas a baseline for the comparisons in this thesis. A Franka Emika articulating robot arm was used to test the possibilities of au-tomating the process using such a robot system. Firstly, a motion was generatedbased on the CAD model of the product. The motion generation and manipulation was performed in MATLAB where the Peter Corke robotics toolbox was used for initial simulations. Unfortunately, the robot model in the toolbox was not able to take joint limitations into account and a migration to ROS was in order. Since there was no implementation for Cartesian control in the simulation software for Franka Emika, a decision was made to start physical tests using the robot pre-maturely. As for the adhesive dispensing, tests were conducted to investigate the parameters that affect the termination of a glue joint such as the retract setup and timings. A repeatability test was also conducted to test the performance of dis-pensing using a direct pressure fed adhesives syringe versus using a dispensingvalve. With the knowledge and data from these tests, the experimental setup was built at the robot lab in Lund where a computer ran the controller implementation, controlling the robot and an Arduino was utilized to actuate the dispenser. Several details were glued on this setup, both with vertical and angled nozzle. Asa reference for gluing, a detail was glued using the Cartesian dispensing robotat Aimpoint with the same limited path as previously described. To analyse the performance of the glued joint, a push-out test was conducted at Aimpoint usinga tensile strength machine. The results from this test showed that a glue joint glued with an angled nozzle was stronger and a higher force was required to deform the joint compared to one glued with a vertical nozzle. On average, the joint glued with an angled nozzle required 721 N and the vertical required 395 N. It is concluded that keeping the nozzle angled during the dispensing operation yield a stronger glue joint and makes the system less sensitive to positionand orientation errors. As for the impedance controller used in this thesis, it is concluded to not be suitable for the considered application and its requirements. Regarding the robotic solution investigated in this thesis, it was observed to bebeneficial to utilize a high number of axes when generating the motion for the gluing operation. However, case-consistent inverse kinematics is a requirementto further investigate this claim.

This paper describes the development of an automated production system recently completed by the Martin Marietta Aerospace Division, Orlando, Florida, for the assembly, inspection and test of printed circuit boards. The project began in January 1981 with the purpose of increasing the then existing production capability and to create the building block for the total automation of the printed circuit board assembly area of the plant in Ocala, Florida. The system was implemented using a combination of off the shelf equipment modified and integrated to create a single production system. The system employs much of the new production philosophies tailored to meet the particular needs of Martin Marietta and to fulfill present production requirements as well as future production projections. During the development and implementation of this project, flexibility within the team was required to accommodate for the unforeseen problems which surfaced. The actual work required to perform this task far exceeded the expectations of the team and the company. This document covers all facets of this project, from inception to operation, and describes the problems encountered and lessons learned throughout the project.

The increased demands for customization in manufacturing industries require new automation methods. This thesis presents the development of such a method for a cutting procedure of customized mesh trays at WIBE Group. The work aimed to automatically generate robot targets from data extracted from Autodesk AutoCAD and demonstrate the concept in ABB RobotStudio. A literature review was conducted to find an appropriate method for data extraction and conversion into robot targets. This resulted in an approach where data for the cut positions was collected by scripts created with AutoCAD’s inbuilt programming language AutoLISP. The data was then exported to a text file that could be read by the robot in the RobotStudio simulation model. By offsetting a pre-set robot target with the imported data, new robot targets for each cut were created. The developed method was tested for different types of mesh trays and cut positions. The conclusion is that the method is fully working and that the concept is user-friendly, but some improvements are needed before the concept is ready to be put into operation. For example, further measures are needed to ensure that the correct data is collected from AutoCAD and that the concept gets easier to troubleshoot. Furthermore, development work is also needed for aspects outside the purpose of this thesis, such as the robot cell layout and design of the robot tool.