Объект исследования – процесс изучения автоматизации производственных предприятий. Предмет исследования – дробеметная установка модели 24634Т. Цель работы – разработать проект на модернизацию дробеметной установки 24634Т. В ходе выполнения работы определены основные требования к объекту, требования проанализированы, и на их основе разработан проект на модернизацию. / The object of research is the process of studying the automation of manufacturing enterprises. The subject of the study is the shot blasting unit model 24634T. The aim of the dissertation is to develop a project for the modernization of the shot blasting unit 24634T. In the course of the work, the main requirements were determined, the requirements were analyzed, and on their basis a project for modernization was developed.

<p dir="ltr">This paper aims to gain a deep understanding of up-to-date research and development on modular self-reconfigurable robots (MSRs) through a thorough survey of market demands and published works on <i>design methodologies</i>, <i>system integration</i>, <i>advanced controls</i>, and <i>new applications</i>. Some limitations of existing mobile MSR are discussed from the reconfigurability perspective of mechanical structures, and a novel MSR system is proposed to address the identified limitations of existing MSRs. The comprehensive set of <i>Functional Requirements</i> (FRs) of MSRs is discussed, from which the mechanical designs of MSR were created, and the system was prototyped and built for testing. Three main innovations of the designed modules for MSR are to (1) share torque power, (2) customize the size for a given task, and (3) have a low number of actuated motors while still maintain a motion with high <i>Degrees of Freedom</i> (DoF) to overcome the constraints by the power capacities of individual motors; this helps to increase reconfigurability, reduce cost, and reduce the size of conventional MSRs.</p>

<p>  </p> <p>Architectured materials offer engineers more options for choosing materials with their desired properties. Segmenting materials to create topological interlocking materials (TIMs) creates materials, which can deform in greater amounts without failure and absorb more strain energy. Previous research on TIMs has shown that the stiffness and reaction force of these materials can be directly controlled by controlling the boundary forces offered by the frame which constrains these materials.</p> <p>The research presented in this paper investigated a TIM made into a 1-Dimension beam like structure called a lintel. This research investigated not only the mechanics of this structure, but also developed a method of directly controlling the reaction force at a given displacement using shape memory alloy (SMA) wires. These wires would actuate the boundary pieces used to constrain the system. These actuation wires coupled with force sensors imbedded into the lintel allowed a feedback control loop to be established, which would control the reaction force. The reaction force was then controlled to create a smart structure which could optimize the strain energy absorption under the constraint of a maximum allowable load, similar to cellular solids used in packaging and padding materials.</p> <p>To develop this smart structure, four separate investigations occurred. The first was finite element analysis (FEA) performed to model the loading response of the lintel. This experiment demonstrated that the Mises Truss Model was effective at modelling the lintel. The second was an experimental validation of the FEA model performed in the first investigation. This experiment validated the Mises Truss Model for the lintel. The third investigation simulated the active lintel using computational software and the model of the lintel established in the first two investigations. This experiment demonstrated computationally the ability of SMA wires to control the reaction force as desired in an idealized case. The fourth and final investigation experimentally validated the ability to create and active lintel and created a functioning prototype. This demonstrated experimentally the ability of the active lintel to control reaction force as desired.</p> <p>This project has demonstrated the viability to create smart structures using segmented materials, which in the future may be used in a variety of applications including robotics and adaptive structures in harsh environments. </p>

Hail storms, with hail commonly near 50 mm in diameter that travel with storm wind sabove 25 m/s, cause damages of a large magnitude throughout the globe, with places like USA, Australia and India suffering the greatest. These damages have serious consequences, not least telecommunication products mounted in exposed places. Hail robustness is therefore important to test throughout a product development process, to reduce faulty products and maintenance costs. This thesis includes test rig concepts for hail impact testing and focuses on one final concept. The thesis includes a simulation model of the hail impact test rig, together with a physical implementation of the rig for comparison and validation. Additional experiments and statistical analysis is included to conclude on the accuracy and consistency with respect to realistic hail cases. The result shows that the simulation corresponds to the test rig. This physical implementation of the test rig is consistent and accurate for average sized hail projectiles, however varies more for hail projectiles corresponding to more severe storms. / Hagelstormar, med hagel omkring 50 mm i diameter och en vindhastighet på over 25 m/s, orsakar stora skador över hela världen, där USA, Australien och Indien är några av de mest utsatta platserna. Skadorna har stor påverkan, inte minst telecomprodukterna som är monterade på utsatta platser. Därav är det viktigt att testa produkter mot hagelkollisioner under produktutvecklingsprocessen, för att reducera antalet skadade produkter och kostnader. Detta examensarbete innehåller olika koncept på testriggar som simulerar hagel, med fokus på ett slutgiltigt koncept. Rapporten innehåller en simuleringsmodell av testriggen, samt en fysisk implementering av den för jämförelse och validering. Ytterliggare experiment och statistisk analys innefattas för att kunna dra slutsatser om riggens nogrannhetoch konsekventhet i föhållande till realistiska hagelstormar. Resultatet visar att simuleringen motsvarar testriggens beteende, vilket är önskvärt. Den fysiska implementationen av riggen ger ett noggrant och konsekvent resultat för medelstora hagelprojektiler, däremot fås större variationer för hagelprojektiler som förekommer i  starkare stormar.

This Master’s thesis work is about the conditions that can affect the identification of defects in lithium-ion batteries. In lithium batteries, there are cathode and anode, which are separated with electrically insulative but ionically conductive electrolytes and separators. The cathode consists of aluminum foil, and the anode consists of copper foil. During the production of the batteries, these foils are being coated with active materials. Unfortunately, some defects such as scratches, misshape, marks, or spots can occur during the coating, and these defects harm the batteries’ performance. To ensure a good performance of the batteries, these defects have to be detected and identified. Today, these defects can be detected with a camera that scans the foils. To detect all the defects, even smaller marks, and dots, a new high-resolution sensor was investigated. The new sensor called Contact Image Sensor that acquires the raw information of the light and converts it into electrical signals was used. In other words, all the objects reflect the light, and the Contact Image Sensor captures the reflected light from the objects. By investigating the light, illumination time, and the contrast of the objects, it is possible to make the defects more visible. Furthermore, this thesis covers the speed of the coated foils passing the sensor. Since the production of the batteries should be time and cost-efficient, the speed can be high, but the sensor should have enough time to scan clear images. In this Master’s thesis work the implications of different sensor resolutions and contrast settings in a roll-to-roll process were studied, considering the speed of the process vs identifying defects (such as scratches and misshapes). It has also been studied if the light conditions, under normal circumstances, have a substantial impact on this trade-off. The result has been promising. Since the sensor has an internal resolution, a limited scanning area, and a scanning frequency, the speed will be limited by a maximum illumination time. But as long as the illumination time is under the maximum, the speed, in this case, does not matter. The maximum illumination time is different for different speeds. Furthermore, the results clearly show that high resolution, maximum allowed illumination time for each speed, and lower speeds, provide the best conditions for finding and identifying defects. However, there comes a price for the illuminated foil. The price is that the bright light can lead to overexposed foil, i.e., the part of the foil without coating will be exposed to too much light. This can create problems if damage to the foil is to be identified. Therefore, a more nuanced light that balances the contrast of the coating part and the foil is recommended. / Det här masterexamensarbetet handlar om förhållanden som påverkar identifieringen av defekter i litiumjonbatterier. Litiumbatterier består av katod och anod som separeras av elektriskt isolerande men joniskt ledande elektrolyt och separatorer. Katoden består av aluminiumfolie och anoden består av kopparfolie. Under tillverkningen av batterierna beläggs dessa folier med aktiva material. Tyvärr uppstår det ibland skador i beläggningen så som repor, missbildning, märke eller fläckar. Dessa defekter försämrar batteriets prestanda. För att säkerställa att batterierna fungerar felfritt måste dessa defekter upptäckas och elimineras. Idag används kamera som skannar folierna för att hitta defekter. För att upptäcka samtliga skador, bland annat mindre märken och fläckar, övervägs en ny högupplöst sensor. En ny sensor, så kallad Contact Image Sensor, som tar in ljuset och omvandlar det till elektriska signaler undersöks. Med andra ord fångar Contact Image Sensor det reflekterade ljuset från objekten. Genom att undersöka ljusets styrka, belysningstiden och kontrast är det möjligt att göra defekterna mer synliga. Vidare omfattar detta examensarbete hastigheten hos de folierna som passerar sensorn. Under en tids- och kostnadseffektiv produktion av batterier kan hastigheter av foljer vara höga, men sensorn måste ha tillräcklig tid och utrymme att skanna tydliga bilder. Påföljden av olika sensorupplösningar och kontrastinställningar i en roll-to-roll-process har därför studerats i detta examensarbete med hänsyn taget till processens hastighet kontra identifieringen av defekter (såsom repor och missbildningar). Det har också studerats om ljusförhållandena har, under normala omständigheter, en väsentlig inverkan på denna avvägning. Resultatet har varit lovande. Med anledning av sensorns interna upplösning, dess begränsade skanningsområdet, samt skanningsfrekvensen, kommer hastigheten att begränsas av en maximal belysningstid. Men så länge belysningstiden är under maximalt kommer hastigheten inte ha någon betydelse. Denna maximala belysningstid är olika för olika hastigheter. Vidare framgår det tydligt i resultatet att hög upplösning, maximal tillåtna belysningstiden för respektive hastighet, och lägre hastigheter, ger bästa förutsättningar för att hitta och identifiera defekter. Dock kommer ett pris för det upplysta beläggningen av foljen. Priset är att det ljusa ljuset kan leda till överexponerade folje, dvs där den delen av foljen som saknar beläggning utsätts för mycket ljus och kan bländas. Detta kan skapa problem om skador på foljen ska identifieras. En mer nyanserad ljus som balanserar kontrasten av beläggningen och foljen kan därför rekommenderas.

The standard technology used in a pick and place machine for lifting and transportingsurface mount electronic components is a vacuum based solution.  This thesis investigates a new acoustic based technology for manipulating surface mountelectronic components.  Using a microelectromechanical systems-based transducers array to create a standing wave, small objects and components were levitated and studied.  It was examined how the distance would affect the levitation ability of different objects with varying density as well as how the stability was affected. It was concluded that the distance variation of approximately 10 mm had no significant affecton the levitation ability. The longer distance did result in a less stable behavior of the levitated object. / Standardtekniken som används i en pick-and-placemaskin för att lyfta och förflytta ytmonterade elektroniska komponenter är baserad på en vakuumbaserad lösning. Detta examensarbete undersöker en ny akustisk baserad teknik för att manipulera ytmonterade elektroniska komponenter.  Med hjälp av en mikroelektromekaniskt system-baserad piezoelektrisk givare skapades en stående våg, för att levitera och studera små föremål och komponenter. Det undersöktes hur avståndet skulle påverka levitationsförmågan hos olika föremål med varierande densitet samt hur stabiliteten påverkades.  Slutsatsen som drogs var att avståndsvariationen på cirka 10 mm inte hade någon signifikant påverkan på levitationsförmågan. Det längre avståndet resulterade dock i ett mindre stabilt beteende hos det svävande föremålet.

This bachelor’s thesis aims to show an extensive overview of all the parts that build up an electric load driven longboard and see if a load controlled longboard can be seen as a safe, comfortable and convenient alternative to the more common remote controlled longboard. The thesis will also answer how weight can be measured on a longboard in the most effective way, what the most comfortable riding technique is and what a good motor-battery configuration to be able to travel at 30 km/h and 10 km would be. The longboard measures the weight distribution with load cells located between the deck and the trucks. An Arduino translates the input from the load cells to a certain speed and then sends it to an ODrive which controls a BLDC motor that is powered by two LiPo batteries. The results show that a load controlled longboard can very well be seen as a good alternative if right riding technique is used. The best technique is when the longboard accelerates when the rider tilts and keeps a constant speed when the rider stands straight. The best way to measure the weight is to fasten the trucks with hinges which lets the load cells register weight without anything interfering. Not all tests could be done because of Covid-19 but a measured top speed of 15 km/h with a high gear ratio is a promising result for the future when more suitable gear ratios will be tested to try to reach the goal of 30 km/h. / Det här kandidatexamensarbetet strävar efter att visa en omfattande överblick på alla delar som bygger upp en elektrisk lastdriven longboard och se om en laststyrd longboard kan ses som ett säkert, komfortabelt och behändigt alternativ till den vanligare radiostyrda longboarden via handkontroll. Det här arbetet kommer också svara på hur vikt kan mätas på en longboard på ett så effektivt sätt som möjligt, vad som är den mest bekväma åkstilen och vad är en bra motor-batteri konfiguration för att kunna åka i 30 km/h och nå 10 km skulle vara. Longboarden mäter viktfördelningen med lastceller som är placerade mellan brädan och truckarna. En Arduino omvandlar indatan från lastcellerna till en specifik hastighet som den sedan skickar till en ODrive som kontrollerar en borstlös likströmsmotor som i sin tur är driven av två LiPo batterier. Resultaten visar att en laststyrd longboard kan mycket väl ses som ett bra alternativ om rätt åkstil används. Den bästa stilen är att longboarden accelererar när åkaren lutar sig och håller en konstant hastighet när åkaren står rakt. Det bästa sättet att mäta vikt är att montera truckarna på gångjärn som låter lastcellerna mäta vikt utan att något stör. Alla tester kunde inte utföras på grund av Covid-19 men en uppmätt topphastighet på 15 km/h med en hög utväxling är ett lovande resultat för framtiden när lämpligare utväxlingar kommer testas för att försöka nå målet på 30 km/h.

<p dir="ltr">Inverse kinematics is the fundamental study of robot motion in space. Usually, the control command for a robot is only given by target position and orientation, in which the motions of the joint motors are found from the inverse kinematics. For the specified position or orientation, there are often multiple inverse kinematics solutions. The traditional method obtains all these solutions and then selects one of them according to some rules, such as minimum energy, shortest distance, shortest time, etc. In this thesis research, weighted multi-objective genetic algorithm (WMOGA) and weighted multi-objective particle swarm optimization (WMOPSO) are developed to solve energy-aware inverse kinematics by considering that the energy consumption of the robot is proportional to the total amount of joint rotations to the target pose. Therefore, the objective functions are proposed based on minimizing the target position error, target orientation error, and total amount of joint rotations to obtain the inverse kinematics solution. The algorithms developed in this thesis use a weighted sum of the multiple objective functions to iterate over a certain range of weights to obtain the inverse kinematics solution within the required error range. Furthermore, the proposed algorithm can be applied to the robotic model with any number of degrees of freedom. The trajectories solved by the proposed WMOGA and WMOPSO algorithms are verified by simulations and validated by the physical robotic arm. The achieved inverse kinematic solutions demonstrate a promising performance and have the potential for applications of the inverse kinematics of robotics.</p>

<p dir="ltr">In recent years, advancements in robotics and computing power have enabled robots to master complex tasks. Nevertheless, merely executing tasks isn't sufficient for robots. To achieve higher robot autonomy, learning the objective function is crucial. Autonomous systems can effectively eliminate the need for explicit programming by autonomously learning the control objective and deriving their control policy through the observation of task demonstrations. Hence, there's a need to develop a method for robots to learn the desired objective functions. In this thesis, we address several challenges in objective learning for autonomous systems, enhancing the applicability of our method in real-world scenarios. The ultimate objective of the thesis is to create a universal objective learning approach capable of addressing a range of existing challenges in the field while emphasizing data efficiency and robustness. Hence, building upon the previously mentioned intuition, we present a framework for autonomous systems to address a variety of objective learning tasks in real-time, even in the presence of noisy data. In addition to objective learning, this framework is capable of handling various other learning and control tasks.</p><p dir="ltr">The first part of this thesis concentrates on objective learning methods, specifically inverse optimal control (IOC). Within this domain, we have made three significant contributions aimed at addressing three existing challenges in IOC: 1) learning from minimal data, 2) learning without prior knowledge of system dynamics, and 3) learning with system outputs. </p><p dir="ltr">The second part of this thesis aims to develop a unified IOC framework to address all the challenges previously mentioned. It introduces a new paradigm for autonomous systems, referred to as Online Control-Informed Learning. This paradigm aims to tackle various of learning and control tasks online with data efficiency and robustness to noisy data. Integrating optimal control theory, online state estimation techniques, and machine learning methods, our proposed paradigm offers an online learning framework capable of tackling a diverse array of learning and control tasks. These include online imitation learning, online system identification, and policy tuning on-the-fly, all with efficient use of data and computation resources while ensuring robust performance.</p>

<p dir="ltr">In this thesis, a MATLAB model was used to simulate a 2-vehicle platoon where the lead truck is a conventional class 8 vehicle while the key parameters of the following truck was tested in various road conditions to minimize Inter vehicular Distance (IVD) and maximize fuel savings while ensuring safety</p>