Today, there is an increasing demand for smart robots that can make decisions on their own and cooperate with humans in changing environments. The application areas for robotic arms with camera vision are likely to increase in the future of artificial intelligence as algorithms become more adaptable and intelligent than ever. The purpose of this bachelor’s thesis is to develop a robotic arm that recognises arbitrarily placed objects with camera vision and has the ability to pick and place the objects when they appear in unpredictable positions. The robotic arm has three degrees of freedom and the construction is modularised and 3D-printed with respect to maintenance, but also in order to be adaptive to new applications. The camera vision sensor is integrated in an external camera tripod with its field of view over the workspace. The camera vision sensor recognises objects through colour filtering and it uses an edge detection algorithm to return measurements of detected objects. The measurements are then used as input for the inverse kinematics, that calculates the rotation of each stepper motor. Moreover, there are three different angular potentiometers integrated in each axis to regulate the rotation by each stepper motor. The results in this thesis show that the robotic arm is able to pick up to 90% of the detected objects when using barrel distortion correction in the algorithm. The findings in this thesis is that barrel distortion, that comes with the camera lens, significantly impacts the precision of the robotic arm and thus the results. It can also be stated that the method for barrel distortion correction is affected by the geometry of detected objects and differences in illumination over the workspace. Another conclusion is that correct illumination is needed in order for the vision sensor to differentiate objects with different hue and saturation. / Idag ökar efterfrågan på smarta robotar som kan ta egna beslut och samarbeta med människor i föränderliga miljöer. Tillämpningsområdena för robotar med kamerasensorer kommer sannolikt att öka i en framtid av artificiell intelligens med algoritmer som blir mer intelligenta och anpassningsbara än tidigare. Syftet med detta kandidatexamensarbete är att utveckla en robotarm som, med hjälp av en kamerasensor, kan ta upp och sortera godtyckliga objekt när de uppträder på oförutsägbara positioner. Robotarmen har tre frihetsgrader och hela konstruktionen är 3D-printad och modulariserad för att vara underhållsvänlig, men också anpassningsbar för nya tillämpningsområden. Kamerasensorn ¨ar integrerad i ett externt kamerastativ med sitt synfält över robotarmens arbetsyta. Kamerasensorn detekterar objekt med hjälp av en färgfiltreringsalgoritm och returnerar sedan storlek, position och signatur för objekten med hjälp av en kantdetekteringsalgoritm. Objektens storlek används för att kalibrera kameran och kompensera för den radiella förvrängningen hos linsen. Objektens relativa position används sedan till invers kinematik för att räkna ut hur mycket varje stegmotor ska rotera för att erhålla den önskade vinkeln på varje axel som gör att gripdonet kan nå det detekterade objektet. Robotarmen har även tre olika potentiometrar integrerade i varje axel för att reglera rotationen av varje stegmotor. Resultaten i denna rapport visar att robotarmen kan detektera och plocka upp till 90% av objekten när kamerakalibrering används i algoritmen. Slutsatsen från rapporten är att förvrängningen från kameralinsen har störst påverkan på robotarmens precision och därmed resultatet. Det går även att konstatera att metoden som används för att korrigera kameraförvrängningen påverkas av geometrin samt orienteringen av objekten som ska detekteras, men framför allt variationer i belysning och skuggor över arbetsytan. En annan slutsats är att belysningen över arbetsytan är helt avgörande för om kamerasensorn ska kunna särskilja objekt med olika färgmättad och nyans.

With the rise of high frequency communication systems such as 5G, new types of antennas has to be developed in order to meet the new requirements. In recent years, lens antennas made of periodic structures has been shown to have desirable performance when increasing operational frequency without increasing the size of the antennas. One way of manufacturing the lenses for the antennas are with 3D printers loaded with dielectrics with specified permittivity. This project group studied the process of designing and manufacturing a flat Maxwell fish eye lens at 5 GHz with a bandwidth of 3.5 GHz to 6 GHz. The resulting design is a lens based on a periodic configuration of cuboid unit cells made from dielectrics which consisted of a hole. By choosing the ratio of dielectric and holes in the unit cells, each part of the lens could be tuned to achieve a specific effective refractive index required for realising the Maxwell fish eye lens.

[pt] Estudos recentes têm mostrado que para muitos materiais de Engenharia não existe um limite de fadiga. Numa análise convencional, se admite uma vida infinita em fadiga de alto ciclo quando o material atinge 10(6) - 10(7) ciclos sem a incidência de falhas. Entretanto, em função do desenvolvimento tecnológico atual, a vida-fadiga de inúmeros componentes mecânicos e estruturais pode ultrapassar a fronteira da fadiga de alto ciclo, fazendo com que a avaliação do comportamento em fadiga de altíssimo ciclo (10(7) – 10(12)), tenha se tornado extremamente importante para projetos, por ter estabelecido que uma tensão limite de fadiga não existe em muitos casos. Pesquisas recentes demonstram que a maioria dos materiais, incluindo ligas ferrosas, apresentam falhas em até 10(10) ciclos, com um decréscimo contínuo do limite de fadiga após 10(6) ciclos, o que torna a resistência à fadiga associada com um número de ciclos mais importante do que o próprio limite de fadiga. No regime de altíssimo ciclo de fadiga as trincas se iniciam a partir de defeitos internos do material, como inclusões, gerando mecanismos de iniciação de trincas caraterísticos das superfícies de fratura, tais como olho de peixe (fish-eye), ODA (Optically Dark Area) e FGA (Fine Granular Area). Neste estudo foram usinados corpos de prova do aço DIN 34CrNiMo6, que foram ensaiados entre 10(6) e 10(9) ciclos, sob fadiga ultrassônica do tipo tração-compressão, com frequência de 20 kHz e razão de carregamento -1. Os resultados mostraram que o material tem uma tendência maior a vida-fadiga sob valores baixos de tensão e na superfície de fratura de alguns corpos de prova formação de fish-eye. / [en] Recent studies have shown that for many engineering materials there is no fatigue limit. In a conventional analysis, infinite life in high cycle fatigue is allowed when the material reaches 10(6) - 10(7) cycles without the occurrence of failures. However, due to the current technological development, the fatigue life of several mechanical and structural components can exceed the boundary of high cycle fatigue, making the evaluation of ultra high cyle fatigue behavior (10(7)-10(12)), or fatigue of very high cycle, has become extremely important for projects, because it has established that a stress of fatigue limit does not exist in many cases. Current research has shown that most materials, including ferrous alloys, exhibit failures in up to 10(9) cycles, with a continuous decrease in the fatigue limit after 10(6) cycles, which makes strength fatigue associated with a number of cycles most important than own fatigue limit. In the very high fatigue cycles regime, cracks start from internal defects of the material, such as inclusions, generating a feature mechanisms of crack initiation on the fracture surfaces, such as fish-eye, ODA (Optically Dark Area) and Fine Granular Area (FGA). This study, specimens of DIN 34CrNiMo6 steel were machined and were tested between 10(6) and 10(9) cycles, under ultrasonic fatigue, with a frequency of 20 kHz and a loading ratio of -1. The results showed that the material has a tendency to fatigue life under low stress values and in some fracture sufaces of the specimens the fish-eye formation.

The thesis describes theoretical fundamentals of optics and problems of ray-tracing method, ray-triangle intersection computation included. Next section describes concept of three different camera models for ray-tracing method - plain camera, pinehole camea and spherical camera (fish-eye). The thesis comparse properties and capabilities of camera models and their effect to projected image of a scene. The program for raytracing was implemented for purposes of the thesis including implementation of camera models described in the thesis.