Flow chemistry and continuous processing techniques are now frequently used in synthetic laboratories, taking advantage of the ability to contain reactive or hazardous intermediates and to perform moderate scale-up processes for important compounds. However, only a limited number of methods and tools for connecting flow synthesis steps into a single protocol have been described, and as a result manual interventions are frequently required between consecutive stages. There are two main challenges to overcome. Work-up operations such as solvent extractions and filtrations are invariably needed to ensure high purity of the intermediates. Solutions for achieving this are well established within industrial facilities for continuous production, but adapting such machinery for laboratory use is rarely straightforward. Secondly, the combination of multiple steps tends to result in a more elaborate reactor configuration. The control procedures required to achieve optimum performance may then be beyond the capabilities of a single researcher. Computer control and remote monitoring can help to make such experiments more practical; but commercially-available systems are often highly specialised, and purpose-built at high cost for a particular system, and so are not suitable for laboratory scientists to use routinely. This work describes the development of software tools to enable rapid prototyping of control systems that can integrate multiple instruments and devices (in Chapter 2). These are applied to three multi-step synthesis projects, which also make use of enabling technologies such as heterogeneous reagents and in-line work-up techniques so that material can be passed directly from one stage to the next: In Chapter 1, a series of analogues of a precursor to imatinib, a tyrosine kinase inhibitor used for the treatment of chronic myeloid leukaemia, are prepared. A “catch-react-release” technique for solid-phase synthesis is used, with computer-controlled operation of the reactors. In Chapter 3, a two-step procedure for the synthesis of piperazine-2-carboxamide, a valuable 3D building block, is developed. A computer control system enabled extended running and the integration of several machines to perform optimisation experiments. In Chapter 4, improvements to the continuous synthesis of 2-aminoadamantane-2-carboxylic acid are discussed. This includes an integrated sequence of three reactions and three workup operations. The final chapter describes a project to evaluate the application of control techniques to a medicinal chemistry project. New ligands for BRD9 and CECR2, proteins involved in the recognition of acetylated histone proteins, are produced. A number of triazolopyridazine compounds were synthesised and tested using a number of assay techniques, including a frontal-affinity chromatography system under development within our group. Pleasingly, the qualitative FAC data showed a good correlation with biological assessments made using established assay techniques. Further work using the FAC method is ongoing.

The introduction of large-scale computing technology into British high street banking in the 1960s was a solution to shortages of space and staff. Computers required a first-time dislocation of customer accounting from its confines in the branch, where it had been dealt with by paper-based and mechanised systems, to a new space: the bank computer centre. The implications of this shift have, up until now, not been explored. While historians of business and technology have stressed the continuities between computerisation, punched-card machines, and centralised work, the demands of the computer on decentralised business activities have received little attention. This thesis addresses that shortcoming.The main vehicle for my analysis is a case study of Barclays Bank. I begin in 1954, when the bank took its initial steps towards branch computerisation, and end twenty years later, when the last of its branches was connected to the system. Blending oral testimonies with visual and written sources, I follow activities inside and outside the computer centre to consider the relationship between computers, business, space and work as the material and discursive aspects of computing technology are connected to existing banking practice.I contend that while computers did not appear to achieve the quantitative changes in staffing and space that the banks initially desired, there were qualitative effects that reveal different dimensions to technological change. I demonstrate how the computer centre was constructed as an iconic symbol of modernity to project a new organisational identity for the banks; how technology’s materiality changed the look of banking and signalled the approach of “Americanisation”; how the computer could provide opportunities both for learning and for expensive failure; and how the computer centre was a place that reconfigured temporal, occupational and organisational structures to become a nexus of new careers for bank workers turned computer specialists. The result is an analysis of computing use that moves beyond simple causal connections between computers, space and work to highlight the reciprocal and changing nature of their relationships.

M.Ing. / As the manufacturing environment evolved over the past century, the nature of investments in manufacturing capabilities changed dramatically. Automation can be seen as the single biggest driver of this evolution; enabling the manufacturing fraternity to develop smarter technology in order to exploit the opportunities that were created by the volatility that exist in most markets. This lead to the development of flexible manufacturing technology. Constructing a definition of manufacturing flexibility is difficult mainly due to the various views and perspectives that exist of flexibility. In short, flexibility can be defined as the ability to react ( to any change ) with little penalty in time, effort, cost or performance. These technologies that enable a manufacturing system to be flexible in a certain manner are generally difficult to justify in terms of traditional financial yardsticks. This can be contributed to the diverse benefits to be gained from these investments; and often these benefits are of a nonfinancial nature. Furthermore, when reviewing investments in flexible manufacturing technology within a process environment there appears to be an even bigger problem. The relatively fixed nature of the design output of process equipment, and the enormous quantities of capital outlay initially required to erect and commission process plants, often makes it near impossible to justify any investment that does not deliver good financial returns within the short term. Thus it becomes clear that the traditional methods of investment appraisal within the process environment have become generally unsuitable; and this call for a re-evaluation of the processes applied to guide value adding investments. This study set out to deliver a logical approach to appraising investments in manufacturing flexibility by defining a framework to be applied. The proposed framework consists of the following 4 primary steps. Firstly the strategic direction followed by the business is defined; then an analysing of the manufacturing flexibility required is performed. The third step is to evaluate the manufacturing technology available and furthermore a suitable performance measured criteria is defined to evaluate the proposed investment. This model is set within the strategic context of the manufacturing strategy of a business and thus should ensure the development of manufacturing capabilities that will ensure business growth over the medium to long term.

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.

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.

The manifold boundary approximation method, MBAM is a new technique used in approximating systems of equations using parameter reduction. This method and other approximation methods are introduced and described. Several current issues in performing MBAM are discussed in further detail. These issues significantly slow down the process of MBAM and create a barrier of entry for those wishing to use the method without a strong background in mathematics. A solution is proposed to automatically reparameterize models and evaluate specific types of variables approaching limits -- significantly speeding up the process of MBAM. An implementation of the solution is discussed.

This paper discuss the design and realisation of intelligent lighting system for home automation. Identifying the most adequate solution of system implementation is followed by choosing suitable components, design of electrical circuits and printed circuit boards. The project then deals with development of software for each particular device in the system and development of computer application for managing the system. The paper also treats with mechanical design and construction of devices in the system.

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.

This thesis is about the collaboration and interaction between a robot and a human agent. The goal is to use the robot as a coworker, by implementing the premises of an interaction system that would make the interaction as natural as possible. This involves that the robot has a vision system that allows understanding of the intentions of the human. This thesis work is intended to be part of a larger project aimed at extending the competences of the programmable industrial robot, Baxter, made by Rethink Robotics. Due to the limited vision abilities of this robot, a Kinect camera is added on the top of its head. This thesis covers human gestures recognition through the Kinect data and robot reactions to these gestures through visual feedback and actions.

Varför behöver tillverkningsprocesser automatiseras? Anledningarna är flera, delvis så är det ettsätt för högavlönade länder att konkurera med lågavlönade då det kostar lika mycket att investerai tekniken i båda länderna. Det kan också underlätta tillverkning av komplexare produkter medmindre felmarginal.Safetrack som är ett företag som specialiserar sig inom kabelanslutningsmetoder och järnvägsmaterial. En av deras tillverkningsprocesser är i behov av automatisering. Processen sombehöver automatiseras är tillverkningen av lodpinnar med tråd. Lodpinnar med tråd befinner sigpå en nedåtgående marknad, detta betyder att Safetrack inte vill göra någon större investeringför dessa produkter. Idag så görs allt mer eller mindre manuellt med hjälp av semiautomatiskamaskiner som pelarborr och pneumatiskt styrda skruvstäd.Syftet är att undersöka hur denna tillverkningsprocess kan underlättas genom automatiseringav vissa moment i denna process. Målet är att ta fram ett koncept till Safetrack på en automatiserad tillverkningsprocess som är effektivare och tidbesparande jämfört med den nuvarandeprocesssen. Metoder inom teknisk problemlösning enligt Ulrich och Eppingers bok “Produktutveckling: Konstruktion och Design” används för att välja vilket koncept som ska utvecklas. För att ett koncept ska kunna utvecklas behöver först och främst automationsnivån bestämmas. Detta görs genom att identifiera vilka av de nuvarande stationerna som är i störst behov av automatisering. Automatiseringgraden som beskrivs av enligt metoderna i “Smart Automation” och kallas LoA(Level of Automation).Koncept för två maskiner tas fram. LoA höjs till en lämplig nivå på alla stationer som utvecklas.Den första är en helautomatisk maskin som klipper och knorrar koppartråden. Den andra är entrådfästningsmaskin som med input från operatören fäster tråden i lodpinnen.För att konceptet ska kunna förverkligas så måste CAD-modellerna till båda maskinerna till-verkningsanpassas till lämpliga tillverkningsmetoder. Innan produktionen påbörjas måste det säkerställas att CE-märkning uppnås för båda maskinerna. / Why are manufacturing processes in need of automation? One reason is that it lets countries where employees have higher salaries compete with countries where employees have lower salariessince the cost for investing in technology is the same in both countries. Another reason is thatautomation allows for manufacturing of more complex parts with a smaller margin of error.Safetrack is a company that specializes in modern cable application methods and equipmentfor the railway industry. The manufaturing process for one of their products is in need of automation. The product is called brazing pins with fuse wire. The product is part of a declining market,because of this Safetrack doesn’t want to make too large of an investment. The manufacturingprocess is more or less done manually with the occasional help of semiautomatic machines suchas a pillar drilling machine and pneumatically driven vises.The purpose of this study is to examine how certain steps in the manufacturing process can bemade easier through automation. The goal is to develop a concept for an automated manufacturing process that is more time-efficient than the current process. Methods on technincal problemsolving will be used according to Ulrich and Eppingers book “Product design and development” to choose which concept to develop further. For a concept to be developed the level of automation needs to be determined. This is done by identifying which parts of the current method are in the most need of automation. The level of automation is described in“Smart Automation” and is abbreviated to LoA.The concepts for two machines are developed. The LoA has increased for both of the machinesthat are developed. The first machine cuts and shapes the wire entirely automatically. The secondmachine joins the wire and the brazing pin with the input from a worker.For the concept to be made a reality all components must be adapted to fit a chosen manufacturing process. For the machines to enter production they must also fulfill the requirements forCE marking.