The master thesis describes the design and digital commissioning of a robotic production system for 3D concrete printing. The theoretical part of the thesis includes an analysis of the current state of knowledge in the field of 3D printing in industrial automation. It also includes a detailed system analysis of the problem, in which the requirements and elements of the production system are specified. In the applied part of the thesis, a 3D model of the workplace was created and a simulation of the entire production process and digital commissioning of the system were performed using the ABB RobotStudio software. The output of the of the application part of the thesis is the design is the design of the workplace with a debugged control program ready for use in real operation.

The methods used today for the commissioning and validation of industrial machines requires theconstruction of physical prototypes. Those prototypes help the engineers to e.g. validate if theprogram code meant to control a machine works as intended. In recent years the development ofnew techniques for the commissioning and validation of industrial machines has changed rapidlythanks to the development of new software. The method used in this thesis is called simulationin the loop. Another method that can be benecial to use is hardware in the loop. Using thosemethods for the commissioning of a machine is called virtual commissioning. The simulation inthe loop method is used to simulate both the machine and the control system that operate thatmachine. This is called a digital twin, a virtual copy of the physical hardware and its control systemthat can be used without the need for a real prototype to be available.The software used in this thesis comes all from the company Siemens and those are TIA Portal,Mechatronics Concept Designer, SIMIT and PLCSim Advanced. By using those programs it waspossible to build a digital twin with rigid body dynamics and its control system of the industrialmodel that was given by the company Renholmen AB. This model contained all the necessarycomponents needed for a virtual commissioning project to be done without the need to be at thefactory oor.The results showed that it was possible to achieve a real time simulation, allowing the possibilityto trim the controller parameters without the need of a physical prototype. Design errors were alsofound thanks to the results of the simulation.This new technique has shown to be a useful tool due to most of the work could be done on a digitalmodel of the machine. Simulations can reduce the time to market for industrial machines and alsohelp engineers to validate and optimize the product at an early stage. This tool that can be usedto validate industrial machines before they are created.

Buildings consume a significant portion of the world's overall electricity consumptionand it is critical for people's well-being and performance to have a good indoor climate. This is projected to rise as living conditions improve and climate change occurs. This means that energy-efficient interior climate systems are critical, and it is a worthwhile topic to research. This Master Thesis is focused on the topic of indoor climate and how user experience design can improve efficiency and sustainability in the commissioning process. In addition to being a topic that is not much explored, the longer it takes to install wireless systems, the more expensive and more harmful it is to construction sites. The aim of this study was to identify challenges that users face during the commissioning process. Another aim of this research was to investigate what are the improvement opportunities in the indoor climate commissioning process. The final aim of this study is an artifact that has been created with suggested actions that address the identified challenges that users encounter during the commissioning process. The methods chosen for this research will be a combination of qualitative and quantitative research, known as a mixed-method approach. This approach will be used to obtain answers to the study's research questions. The outcome of the survey and interviews with employees who have participated in the commissioning processsomehow will enable us to answer the research questions. The project includes, for example, user studies, technical studies, and the development of new concepts.

Rechargeable lithium-ion batteries (LIBs) have generated a shift in the automotive industry towards electric vehicles (EVs) instead of vehicles powered by fossil fuels. As a result, the demand for LIBs is only expected to grow in the future due to an increased demand for passenger EVs. Consequently, LIB manufacturers have to increase their production to meet the increasing demand. Northvolt is a Swedish LIB manufacturer founded in 2016, aiming to start the production of LIBs at the Northvolt Ett factory in Skellefteå during 2021. The Northvolt Ett factory will be one of the largest battery plants in Europe, supplying battery cells for both commercial and domestic use. Poorly manufactured battery cells can potentially cause hazardous events, such as fires or explosions, further supporting the need for high quality batteries. Consequently, requirements from customers and industry standards are high in terms of product quality control through e.g. measurement system analysis (MSA), statistical process control (SPC), and capability analysis. Furthermore, previous research has highlighted issues during commissioning and ramp-up of production, potentially occurring at Northvolt Ett.  The purpose of this study has been to describe how high-quality production can be ensured and maintained during and after commissioning. The study has been conducted as a qualitative case study at Northvolt Ett, focusing on qualification of the coating process. The basis for the study was to examine previous research on quality assurance from other industries, analyze automotive standards, and gather learnings from the pilot production at Northvolt Labs in Västerås. Unstructured interviews were conducted with Northvolt staff to understand what had previously been done related to quality assurance for Coating.  The learnings from Northvolt Labs highlighted a clear focus on preventive actions, such as establishing a Design-FMEA, Process-FMEA, and a Control Plan for the coating process. However, room for improvement was identified in terms of process improvement and control, since the lack of SPC has yielded unreliable results from the performed capability analysis. In addition, previous research has shown that preventive actions should be combined with actions for process improvement to reach full-scale production quickly. Thus, recommendations have been made for Northvolt to implement a clear strategy for product qualification through SPC and capability analysis, as a complement to the preventive actions. The recommendations include specific propositions for validation of the coating process and a general framework for process validation through MSA, SPC, and capability analysis. The presented recommendations can help Northvolt perform successful commissioning of the processes at Northvolt Ett and can also be useful for process validation in other manufacturing industries. / Laddningsbara litium-jon-batterier (LIB:s) har skapat en omställning i bilindustrin mot eldrivna fordon istället för fordon som drivs av fossila bränslen. Som en konsekvens väntas efterfrågan av LIB:s bara att öka i framtiden på grund av en ökad efterfrågan på eldrivna passagerarfordon. LIB-tillverkare måste därför öka sin produktion för att möta den växande efterfrågan. Northvolt är en svensk LIB-tillverkare som grundades 2016, med sikte på att starta produktionen av LIB:s vid fabriken Northvolt Ett i Skellefteå under 2021. Fabriken Northvolt Ett kommer att vara en av de största batterifabrikerna i Europa och leverera battericeller för både kommersiell och privat användning. Dåligt tillverkade battericeller kan potentiellt orsaka allvarliga händelser som bränder eller explosioner, vilket vidare stödjer behovet av batterier med hög kvalitet. Till följd av detta är kraven från standarder och tillverkare inom bilindustrin höga i termer av kvalitetskontroll av produkter genom t.ex. mätsystemanalys (MSA), statistisk processtyrning (SPS), och duglighetsanalys. Vidare visar tidigare forskning på problem som kan uppstå under driftsättning och upprampning av produktion, vilka potentiellt kan uppstå för Northvolt Ett.  Syftet med denna studie har varit att beskriva hur högkvalitativ produktion kan säkerställas och upprätthållas under och efter driftsättning. Studien har genomförts som en kvalitativ fallstudie vid Northvolt Ett med fokus på kvalifikation av coating-processen. Utgångspunkten för studien har varit att undersöka tidigare forskning inom kvalitetssäkring från andra industrier, analysera standarder från bilindustrin, och hämta in lärdomar från pilotproduktionen vid Northvolt Labs i Västerås. Ostrukturerade intervjuer genomfördes med anställda på Northvolt för att öka förståelsen för vad som tidigare gjorts relaterat till kvalitetssäkring för Coating.  Lärdomarna från Northvolt Labs visade ett tydligt fokus på förebyggande åtgärder, som upprättande av en Design-FMEA, Process-FMEA, och en kontrollplan för coating-processen. Dock identifierades ett förbättringsområde inom åtgärder för processförbättring och kontroll, då avsaknaden av SPS har genererat opålitliga resultat från den genomförda duglighetsanalysen. Vidare har tidigare forskning visat att förebyggande åtgärder borde kombineras med åtgärder för processförbättring för att snabbt uppnå fullskalig produktion. Rekommendationer har därför tagits fram till Northvolt för att implementera en tydlig strategi för produktkvalifikation genom SPS och duglighetsanalys, som ett komplement till de förebyggande åtgärderna. Dessa rekommendationer inkluderar specifika förslag för validering av coating-processen samt ett generellt ramverk för processvalidering genom MSA, SPS, och duglighetsanalys. De presenterade rekommendationerna kan hjälpa Northvolt att genomföra en framgångsrik driftsättning av processerna på Northvolt Ett och kan även vara användbara för processvalidering i andra tillverkningsindustrier.

Industry 4.0 has caused exceptional changes in the industrial world. A relevant breakthrough is the concept of Cyber-Physical Production System (CPPS) which involves a system of interconnected entities with the main objective of achieving flexibility, which is essential for the manufacturing industries to remain competitive due to the actual demand for customization. The project suggests the use of a robot cell distribution called robot island as a solution to address this problem. In the implementation, a virtual model and program will be presented with flexible mobile robots, AGVs and a PLC. All are designed following the three principles of the CPS using RobotStudio and CODESYS to simulate and evaluate the results. The research demonstrates how autonomous, modular, flexible and adaptable to changes in product or production process system is, for example with the integration of the concept of the resource pool and variations in the product characteristics. The resulting executable is made with standardised modules so it can be extrapolated to other manufacturing processes, opening a wide range of possibilities for this island of robots. / <p>Utbytesstudenter</p>

Virtual Commissioning (VC) enables simulation of the combined work of mechanical, electrical, robot andautomation engineers prior to commissioning of the real production equipment. Hence, testing of areaslike collisions, PLC and robot code can be performed in risk free virtual environments and thus, errorscan be detected and corrected early in the development phase of the production equipment. Effectively,both the time and the cost of commissioning will decrease significantly. In addition, advantages likeoperator training, increased knowledge about the equipment, a more mature and optimized system priorto installation is enabled. Nowadays, the commissioning phase of a production system accounts for 25%of the total project time and research has shown that VC can decrease the commissioning time with upto 75%.However, despite all advantages and existing solutions that enables VC, it is not a standard amongmanufacturing companies nor production equipment providers to use VC today. Therefore, we wantedto investigate why VC is not a standard today.There are many barriers and challenges that must be solved prior to successful implementation of VC. Aglobal survey concerning simulation concluded that eight fields of action must be addressed in order tofacilitate the use of simulation. These eight fields address barriers and challenges and they are assumedto apply for VC too. The fields are categorized into four technical and four non-technical fields of action.The technical concerns: model re-use, modeling efficiency, integration and usability. The non-technicalconcerns: work-flow, education, acceptance and collaboration.The purpose of this project is to investigate barriers that prevent VC from becoming widely used inthe industry. Thus, each field of action was researched to better understand why VC is not commonlyused. In addition, the objective of the project is to provide an investigation regarding the technical andnon-technical fields of actions and how each of the parties along the value chain relate to each field.Therefore, the following research question was formed. What barriers are preventing VC from gainingmomentum and becoming widely used by the industry?Through our interviews we did not find any company that currently use VC.We conclude that it generallyis the non-technical fields of action that contain barriers that prevent VC from becoming a standard inthe industry. Especially, it is the organizational related barriers that are the most severe. Nowadays,there exist technical solutions that enables VC and the technical fields of action mainly treat modelingefficiency improvements. However, interoperability is considered to be the most severe technical barriertowards VC and is therefore an important area to improve. Nonetheless, we conclude that the technicalbarriers are considered less severe compared to the non-technical in terms of enabling VC to becomingwidely used. / Virtuell Idriftsättning (VC) Virtual Commissioning är ett aktuellt tillvägagångssätt som underlättarinstallationen av nya maskiner för producerande företag och därmed hjälper att möta ett tuffare produktionsklimat.VC minskar risken, tiden och kostnaden för idriftsättningsprojekt, eftersom att manknyter ihop olika ingenjörsdiscipliner till en gemensam simuleringsplattform där deras arbete kan valideras.Dessa discipliner gäller primärt, mekanik, el-installation, automation och robotik. Vidare så kanfördelar som operatörsträning, ökad kunskap om utrustning och högre mognadsgrad av optimerade systemvalideras innan installationen av maskinen påbörjas. I dagsläget tar idriftsättningen 25% av dentotala projekttiden och forskning visar på att VC kan minska detta med upp till 75%.Trots att VC innebär många fördelar och att det finns programvaror som möjliggör VC är det idaginte ett etablerat tillvägagångssätt inom industrin. Därför ville vi i vårt examensarbete undersöka deunderliggande anledningarna till detta.Det finns många trösklar och utmaningar som måste lösas innan en lyckad implementering av VC. Medgrunden från en global enkät som undersökte vilka faktorer hindrar simulering från att bli ett standardverktyginom industrin utkristalliserades åtta olika områden, så kallade fields of action. Dessa antas ävengälla för VC och de åtta områdena kan delas upp i fyra tekniska-och fyra icke-tekniska områden. Detekniska områdena berör modellåteranvändning, modelleringseffektivitet, integration och användbarhet.De icke-tekniska områdena berör arbetsmetod, utbildning, acceptans och samarbete.Syftet med denna rapport är att undersöka trösklar som hindrar VC från att bli en standard inomindustrin. De åtta områdena används alltså för att undersöka varför VC inte används. Vidare vardet viktigt för oss att ta reda på hur de olika aktörerna i värdekedjan såg på varje enskilt område.Därför utformade vi följande forskningsfråga. Vilka trösklar begränsar VC från att bli en standard inomindustrin?Det var inget av våra intervjuade företag som använde sig av VC på en vardaglig basis, det var dock någrasom genomförde pilotprojekt. Generellt sätt finns det trösklar till både de tekniska och icke-tekniskaområdena, men flest trösklar är kopplade till de icke-teknisk områdena. Därför är de icke-tekniskaområdena intressanta att åtgärda primärt. Även om det är tekniskt genomförbart att implementeraVC finns det många tekniska trösklar som kan göra att arbetet med simuleringsmodeller underlättar.Vidare är det största tekniska hindret begränsad interoperabilitet mellan programvaror. Det är dock deicke-tekniska områdena som till störst del begränsar VC från att bli en standard inom industrin.

Automation systems are becoming more and more integrated in today’s society. The complexities of these systems are increasing and with this, the demand for high quality during the developmental phases. This poses a challenge for companies developing systems. One solution emerging form this issue is the use of simulations and virtual commissioning.  In the thesis, the process of quality control and the effective use of simulations in automation system development projects are studied. The focus lies on the software part of the systems. The study was conducted as an interview study of personnel at an automation systems development company. After conducting the interviews, the information was analyzed. This was combined with general theory regarding quality control and testing methods in software development. The test methods of the quality control process were then combined with what was required by a simulator in order to preform them.  The results of the thesis is a detailed picture of the quality control process. Systems are tested twice with the same testing hierarchy, first during development and then during commissioning. The difference is that during development, the final physical hardware and process system are not conceded to the software. This impacts the software system functionality and limiting its testability. Using simulations during development can reduce the disparity between the systems before and after deployment, improving quality. Considerations regarding the extent of simulation need to be made in order for the value of the simulators’ error removing potential to be higher than the cost of developing the simulator. / Automationssystem blir mer och mer integrerade i dagens samhälle. Systemens komplexitet ökar och med det karven på hög kvalitet under utvecklingen. Detta blir en utmaning för de företag som utvecklar systemen. En lösning som är på uppgång för detta är användningen av simulering och virtuell driftsättning.  I denna rapport studeras processen för kvalitetskontroll och effektiv användning av simulering i utvecklingsprojekt av automationssystem. Fokus ligger på mjukvarudelen av systemen. Studien är gjord som en intervjustudie av personal från ett automationsutvecklings företag. Efter intervjuerna analyserades materialet och kombinerades med generella teorier om kvalitetskontroll och testning i mjukvaruutveckling. Processens tester kombinerades sedan med vad som krävs av en simulator för att utföra dessa. Resultatet av detta arbete är för det första en detaljerad bild av kvalitetskontrolls processen. Detta visar att systemen tests två gånger med samma testhierarki, först under utvecklingen och sedan under driftsättningen. Skillnaden är att under utvecklingen saknas den riktiga hårdvaran och process systemet vilket påverkar mjukvarans funktionalitet och begränsar testbarheten. Genom att använda simulering under utvecklingen kan skillnaden mellan systemen före och efter distribution vilket ökar kvaliteten. Överväganden gällande vilken nivå av simulering som behövs för att värdet av simulerings potentiella förmåga att ta bort fel skall bli göre en kostande för att utveckla simuleringen.

This conflict study in Theology investigates reconciliation possibilities in indigenous lands in northern Sweden to be discussed through the Sámi Trail of Tears Walking Trail – a real-life innovation project. The historical material is based on the depiction of forcefully dislocated Sámis and the now polarized situation where local indigenous groups risk new conflicts partly with each other, partly with extractive industries, motorized tourism, and the majority’s society. Six public media sources were used for a brief thematization to detect discourse ethics used in communicative action. Further, two conferences were visited through participatory observation, revealing the importance of inclusion and visualized sovereignty. Five relevant sites were observed by asking how a walking trail could add value to reconciliation processes, and twenty interviews, or reasonings, were done mainly in Sápmi and Torne River valley, with one additional in Northern Finland to compare the situation of Forest Sámis in both countries. While site observations revealed ongoing slow violence in environments, they also showed how individuals become activated by their existing or absent relationships to a place. The interviews depicted cultural and existential views on place-bodies, reindeer keeping, natural elements, and material and immaterial values connected to them. The research also focused on the indigenous value-based Verdi system, recognized, and remembered by interviewees belonging indigenous communities. Further, the investigation asked about the role of leadership in truth- and reconciliation processes. The material was collected through qualitative indigenous research methods, and completed with perspectives of inclusion, wilderness spirituality, slow violence, and slow tourism. The material was analytically discussed through Jürgen Habermas’s Theory of Communicative Action. The findings points toward importance of continuing truth commissioning, a potential role of the Church in future negotiations, and also criticism against the failings of national leadership participation in truth-telling and reconciliation processes. Lastly, a briefly discussed model of Habitus-Based Reconciliation suggests focusing on long-term existential aspects of shared places and negating natural resources needed for communities and local cultures.

The subject of this diploma thesis is the simulation and digital commissioning of a robotic production system for welding elements such as studs on sheet metal parts. The basis of the work is search of information related to industrial robots, PLC control, tools used for welding, fixtures, manipulators, sensors, safety and protection elements commonly used in such production systems. The second part of the work deals with the given problem and it is a virtual commissioning of the given concept of a robotic production system. This means creating its simulation model in the Process Simulate environment, selecting robots, creating robotic trajectories, collision analysis, creating sensors, signals and optimization. Last part includes the connection of the simulation model with the software S-7PLCSIM Advanced and TIA Portal, the creation of control PLC logic in the form of a program, visualization and verification of their functionality using the above-mentioned connection with the simulation model.

Approved for public release, distribution is unlimited / The purpose of this thesis is to firstly analyze the determinants on the survival of United States Marine Corps Officers, and secondly, to develop the methodology to optimize the accessions of prior and non-prior enlisted officers. Using data from the Marine Corps Officer Accession Career file (MCCOAC), the Cox Proportional Hazards Model is used to estimate the effects of officer characteristics on their survival as a commissioned officer in the USMC. A Markov model for career transition is combined with fiscal data to determine the optimum number of prior and non-prior enlisted officers under the constraints of force structure and budget. The findings indicate that prior enlisted officers have a better survival rate than their non-prior enlisted counterparts. Additionally, officers who are married, commissioned through MECEP, graduate in the top third of their TBS class, and are assigned to a combat support MOS have a better survival rate than officers who are unmarried, commissioned through USNA, graduate in the middle third of their TBS class, and are assigned to either combat or combat service support MOS. The findings also indicate that the optimum number of prior enlisted officer accessions may be considerably lower than recent trends and may differ across MOS. Based on the findings; it is recommended that prior enlisted officer accession figures be reviewed. / Major, Australian Army