Automated solutions such as robotic vacuum cleaners and smart lighting are gaining popularity, both in the home as well as in public environments. The purpose of this project is to investigate the possibility of using a microcontroller to, in a user-friendly way, control a blind and to implement a sound sensor to activate the mechanism. A stepper motor was used to drive the blind and control its position. The prototype was programmed to recognize a sequence of two claps within a specific time interval. To make the prototype more user-friendly a UI was implemented with an LCD-display and mechanical buttons. A menu was designed where the user would be able to change settings such as the sound level threshold and motor speed as well as calibrate the position of the blind. The performance of the prototype was evaluated by testing the audio recognition by attempted activation in a quiet environment and by recording accidental activations in a loud environment. The conclusions drawn from these test were that the sound recognition was implemented and operated with a success rate of up to 73 %, but that it also triggered relatively easily by extraneous sound sources. Future improvements to this problem could include implementation of a band pass filter to further optimize the sound recognition to the desired audio cue. / Automatiserade lösningar som robotdammsugare och smart belysning blir allt mer populärt, både i hemmet och i offentliga miljöer. Syftet med detta projekt är att undersöka möjligheten att använda en mikrokontroller för att på ett användarvänligt sätt styra en rullgardin och implementera en ljudsensor för att aktivera mekanismen. En stegmotor användes för att driva rullgardinen och styra dess position. Mjukvaran formades för att känna igen en sekvens av två klappar inom ett visst tidsintervall. För att göra prototypen mer användarvänlig implementerades ett användargränssnitt med en LCD-skärm och mekaniska knappar. En meny utformades där inställningar som ljudnivåns tröskelvärde och motorvarvtal kunde ändras. Gardinens position kunde även kalibreras. Ljudigenkänningen utvärderades genom att testa aktivering i en tyst miljö och genom att registrera oavsiktliga aktiveringar i en högljudd miljö. Slutsatserna från dessa test var att ljudigenkänningen implementerades och fungerade konsistent vid upp till 73 % av aktiveringsförsöken, men att den också utlöstes relativt enkelt av yttre ljudkällor. Eventuella förbättringar av detta problem kan innefatta implementation av ett bandpassfilter för att ytterligare optimera ljudigenkänningen.

Gripdon är vanliga i många branscher. De kan exempelvis lyfta och transportera föremål såsom lådor och bilar. Gripdon kan hittas i olika storlekar, tillräckligt stora för att transportera en bil eller tillräckligt små för att sortera även piller. Normalt är gripdon anpassade till en specifik uppgift. Gripdonets form är beroende av föremålet som det ska hantera. Normalt är föremålet enhetligt i form och vikt. Utmaningen här är att projekts gripdon ska kunna hantera föremål av olika storlekar och vikter. Gripdonet som utvecklades för detta projekt kommer att transportera föremål som väger någonstans från 3 kg till 28 kg. Det erforderliga omfånget av dimensioner är som följer: höjd 200–600 mm, djup 300–1 000 mm och längd 300–1 000 mm. Förutom de olika storlekarna krävdes även att gripdonet ska förflytta föremål med tillfredställande hastighet. Initialt skulle griparen vara fäst vid manipulatorn ABB IRB 4600. Denna modell kan transportera upp till 40 kg, därför borde det utvecklade gripdonet ha en viktgräns på 12 kg. Många olika lösningar studerades för att hantera utmaningen. Den valda lösningen baserades på att ha två linjära enheter drivna av servomotorer. De linjära enheterna är synkroniserade och rör sig i motsatta riktningar. Det finns linjära enheter som möjliggör synkroniserad motsatt rörelse men de tillgängliga modellerna skulle avsevärt sakta ned och skulle inte vara väsentligt olika i vikt eller pris jämfört med den konstruerade enheten. Griparens konstruktion är baserad på det maximala kontaktområdet med lådan för att öka friktionen mellan gripdon och kartongen. Griparens form är utformad för att undvika att deformera metallen och att gripdonet inte behövs repareras under lång tid. Konstruktionens kanter är konstruerade med plåtfästen för att försäkra att gripdonet inte böjer sig. Griparens uppskattade vikt är betydligt högre än de ursprungliga förväntningarna. Därför skulle IRB 4600, 40 kg manipulatorn behöva ersättas av en modell som kan bära den uppskattade vikten (cirka 250 kg=). / Gripers are common in many industries; they can lift and transport a variety of objects such as boxes and cars, for example. Gripers can be found in a full spectrum of sizes; large enough to transport a car or small enough to sort the smallest of pills. Grippers are typically customized for a specific task; the shape of the griper is dependent on the object it will carry. Normally, the object is uniform in its shape and weight. This project required the griper to handle multiple objects of various sizes and weights, presenting a particular challenge. The griper that was developed for this project will transport objects weighing anywhere from 3 to 28 kg. The required range of dimensions are as follows; height from 200 to 600 mm, depth of 300 to 1000 mm, and length from 300 to 1000 mm. In addition to the variety of sizes, the griper was also required to move objects with speed. Initially, the griper would be attached to the manipulator ABB IRB 4600. This model can transport up to 40 kg, therefore the developed griper should have a weight limit of 12 kg. Many different solutions were studied in order to solve the challenge of multiple size and weight variations. The chosen solution was based on having two linear units driven by servo motors. The linear units are synchronized and move in opposite directions. There are linear units that allow for synchronized, opposed movement but the models available would significantly slow the movement and would not be materially different in weight or price compared to the designed unit. The design of the griper is based on allowing the maximum contact area with the box to increase friction between the gripper and cardboard. The shape of the griper is designed to avoid deforming the metal and ensuring the griper will not need to have it's parts repaired for a long time. The edges of the structure are constructed with bent sheet metal brackets, to assure the griper will not bend. The estimated weight of the griper is significantly heavier than the original expectations. Consequently, the IRB 4600,40 kg manipulator would need to be replaced with a model that can carry the estimated weight of approximately 250 kg.

Hybrid stepper motors are small electrical motors with high torque production, compared with other electrical motors of the same size. Hybrid stepper motors are reliable in open-loop systems, in Sinusoidal mode, but with a drawback of high power consumption. The power consumption may be reduced by Field-Oriented Control, but this control mode requires a positioning sensor, adding size and cost to the system. This Master’s Thesis explores the possibilities of observer-based Field-Oriented Control on a two-phase hybrid stepper motor without using a positioning sensor, run on a microprocessor and executed during the interrupt scheduling routine, coded in C/C++.

No description available.

The purpose of this project was to construct a 3D scanner capable of scanning smaller objects and visualize them in a computer with satisfying accuracy. The goal was then to generate an STL file able to be 3D printed in an attempt at reverse engineering. Components, materials and tools were provided by KTH to the best of their ability and abudget of 1000 SEK was given to purchase components not available at KTH. The scanner was designed using Solid Edge and utilizes two stepper motors to scan objects. One motor is used to rotate a platform that the object is placed upon and the second stepper motor is used to move an elevator on which a distance sensor is mounted. By keeping track of the elevator’s height in conjunction with the rotation of the object, the distance measured by the sensor can be converted into a point in a Cartesian coordinate system. Several different methods were tested in order to see how results varied. Firstly, the density of scanned points was increased, meaning that the sensor returned values more often as the stepper motor was rotating. Secondly, multiple measurements were made for a single point to determine an average distance and in that way reduce noise and uncertainty. Placing a single laser sensor perpendicular to the object rotating plate proved to be the optimal arrangement in terms of accuracy with the limited budget provided for this project. The scans are very time consuming which makes it important to decide whether to prioritize speed or accuracy. / Syftet med detta projekt var att konstruera en 3D-scanner kapabel att scanna mindre objekt och visualisera dem i en dator med tillfredsställande resultat. Målet var sedan att generera en STL-fil som går att skriva ut i 3D-skrivare för att försöka använda sig av reverse engineering. Komponenter, material och verktyg försågs av KTH så gott det gick och en budget på 1000 kr var tillgänglig för att inhandla komponenter som inte fanns på KTH. Skannern designades med hjälp av Solid Edge och använder sig av två stegmotorer för att skanna object. En motor användes för att rotera den plattform som objektet placerades på och den andra stegmotorn användes för att flytta en hiss varpå en avståndssensor monterades. Genom att hålla koll på hissens höjd i kombination med rotationen av objektet kan avståndet som sensorn uppmäter konvertera still en punkt i det kartesiska koordinatsystemet. Ett flertal metoder testades för att undersöka hur resultaten varierade. För det första ökades densiteten av skannade punkter, det vill säga sensorn returnerade värden oftare än stegmotorn roterade. För det andra genomfördes ett flertal mätningar för varje enskild punkt för att bestämma ett medelavstånd och på så sätt minimera brus och osäkerhet. Att placera en enstaka lasersensor vinkelrätt mot objektroterande plattan visade sig vara det optimala arrangemanget för noggrannhet med den begränsade budgeten för det här projektet. Inskanningarna är väldigt tidskrävande vilket gör det viktigt att bestämma sig för att prioritera snabbhet eller noggrannhet.

An attempt was made to construct an ABS system that would both lock the wheel and release the brakes. The system would be mounted on a bicycle with v-brakes. It would then be tested if it could decrease the braking distance and if the system would respond fast enough. A literature study was made to learn what was needed for such a project. After many attempts of using re-purposed components an ABS system would eventually be built with a new stepper motor, and it was strong enough to lock the back wheels. Unfortunately the system could not be as thoroughly tested as expected, where only the reaction time of the system could be tested and not the braking distance due to a motor driver failure prior to the tests taking place. Due to shipping times and our budget and time constraints, further testing could not be done. / Ett försök att bygga ett ABS system som både låser hjulet samt släpper på bromsen gjordes. Systemet skulle kunna monteras på en cykel med fälgbromsar. Systemet skulle testas genom att mäta skillnaden i bromssträcka samt om reaktionstiden var snabb nog. En litteraturstudie gjordes för att få tillräcklig kunskap om vad som krävdes för ett sådant projekt. Efter många försök med att använda olika återanvända komponenter kunde ett ABS system till slut konstrueras med hjälp av en ny stegmotor, som var stark nog för att låsa bakhjulet. Tyvärr kunde bara systemets reaktionstid testas och inte bromssträckans förändring. Detta berodde på en motordrivare slutade fungera. På grund av frakttider och en fast budget samt en tidsbegränsning, kunde inte ytterligare tester genomföras.

This thesis is dedicated to the automation of tests of the thermostats developed by the company Honeywell. The first chapter presents a problem of self-testing of thermostats, followed by a discussion of possible approaches to solutions. Attention is paid to testing the functionality of the HMI of thermostats, especially to the part of the system, that deals with activation of touchscteen, but no other part of the problem are omitted in the text. Discussions of the problematic passes into the design and implementation of specific design solutions. The selected design of 3D-router, which moves in three orthogonal coordinates and resembles to a coordinate drill for example. First, it describes the basic concepts of mechanic and electronic part of equipment, and subsequently is designed and implemented control electronics for mechanical activator HMI. Each of the electronics components are described in detail and values of parts are based on the calculation with the exception of finished parts. The proposal of the electronics follows the possibility of maximization of universality module for applications in similar applications. The functionality of the electronics is controlled by a microprocessor with a custom program that is described in the work. Source code of some the programs is not available because it is know-how of the company. Next part of the thesis deals with optimization of the moving of axes, optimization is done empirically by measuring. An important issue is compliance with the accuracy required position, also part of the work is devoted to the issue of calibration position. Finally is solved the continuity on the superior system. It is designed and implemented the upper layer of the communication protocol used in the company. Work is the solution of specific corporate award thesis. Although it is a very specific role of the works are generally applicable for other applications. In particular, the proposed electronic represents relatively universal controller for stepper motor control.

Baigiamajame magistro darbe tiriamos tiesiaeigio žingsninio variklio srovės. Atkreiptas dėmesys į srovės pereinamuosius procesus, nusistovėjusias vertes ir srovės priklausomybę nuo judamo elemento padėties. . Sudarytas variklio matematinis modelis įvertinus induktyvumo pokytį slenkamam elementui judant. Surasta srovės kitimo funkcija ir pagal ją nubraižytos srovės pereinamojo proceso charakteristikos. Išnagrinėjus srovės teorinius ir praktinius aspektus, pateikiamos baigiamojo darbo išvados ir siūlymai. / The practical part includes the current experiment and mathematical model of linear stepper motor. In this part was explored the inductance. The mathematical model was made for the linear stepper motor where includes the variable inductance. This model was resolved with MathCad 2001 software. In the research of current theoretical and practical aspects was made the conclusions and suggestions.

O objetivo deste trabalho é desenvolver um sistema de automação para a produção das sementes de iodo-125 por soldagem a laser (Nd:YAG). As sementes de iodo- 125 são utilizadas com sucesso no tratamento de câncer por braquiterapia, via baixa taxa de dose. Esta pequena semente é constituída por uma cápsula de titânio soldada, com 0,8mm de diâmetro e 4,5mm de comprimento, contendo iodo-125 adsorvido em fio de prata, no interior da mesma. As sementes de iodo-125 são implantadas na próstata humana para irradiar o tumor e tratar o câncer. Hoje, o Centro de Tecnologia das Radiações - CTR, do IPEN-CNEN/SP importa e distribui 36.000 sementes de iodo-125 por ano, para as clínicas e hospitais no País. No entanto, o potencial do mercado brasileiro é de 8.000 sementes de iodo-125 por mês. Assim, a produção local destas fontes radioativas de iodo- 125 tornou-se uma prioridade para o Instituto, visando reduzir o preço e aumentar o fornecimento à população. Por outro lado, a automação industrial desempenha papel importante na fabricação das sementes de iodo-125, com aumento da produtividade e padrão elevado de qualidade, além de facilitar a implementação e o funcionamento de processos com Boas Práticas de Fabricação (BPF). A tecnologia consiste em associar peças mecânicas e componentes eletro-eletrônicos, para controle de máquinas e processos. A tecnologia de automação para produção das sementes de iodo-125 desenvolvida neste trabalho emprega Controlador Lógico Programável (CLP), motores de passos, drivers, máquina de soldagem a laser (Nd:YAG), sensores fotoelétricos e interfaces de comunicação. / The aim of this work is to develop an automation system for iodine-125 radioactive seed production by (Nd:YAG) laser welding, which has been used successfully in Low Dose Rate (LDR) brachytherapy treatment. This small seed consists of a welded titanium capsule, with 0.8mm in diameter and 4.5mm in length, containing iodine-125 adsorbed onto a silver rod. The iodine-125 seeds are implanted into the human prostate to irradiate the tumor for cancer treatment. Nowadays, the Radiation Technology Center, at IPEN-CNEN/SP imports and distributes 36,000 iodine-125 seeds per year, for the clinics and hospitals in the country. However, the Brazilian market potential is now over 8,000 iodine-125 seeds per month. The local production of these iodine-125 radioactive sources becomes a priority for the Institute, in order to reduce the price and the problems of prostate cancer management. It will permit to spread their use to a largest number of patients in Brazil. On the other hand, the industrial automation plays an important role for iodine-125 seeds in order to increase the productivity, with high quality and assurance, avoiding human factors, implementing and operating with Good Manufacturing Practices (GMP). The technology consists of appliance electronic and electro-mechanical parts and components to control machines and processes. The automation system technology for iodine-125 seed production developed in this work was mainly assembled employing Programmable Logic Controller (PLC), stepper motors, drivers, (Nd:YAG) laser welding machine, photoelectric sensors and supervisory.

Este trabalho contempla o projeto de um manipulador robótico cilindro atuado por motores de passo com cinco juntas de atuação. As etapas do projeto do robô, que tratam este estudo, foram divididas em: projeto mecânico; modelagem matemática; projeto do controlador; e simulações. O projeto mecânico apresenta uma proposta de configuração e dimensionamento mecânicos que supre a demanda exigida para a operação analisada. O modelo matemático apresenta as características elétricas e mecânicas do atuador e as características mecânicas do robô. O projeto de um controlador linear é realizado por meio da alocação dos polos do sistema em malha fechada através da realimentação dos estados de posição e de velocidade angulares do rotor unidos a um integrador do erro de posição angular. Para o primeiro grau de liberdade, por conta da variação do momento de inércia de massa associado a essa junta, um controlador com ganhos parametrizados foi projetado, no qual os ganhos são calculados baseado no modelo matemático relativo ao momento de inércia de massa associado a essa junta. Por meio de simulações computacionais, avaliou-se o projeto dos controladores no movimento ponto a ponto dos cinco eixos de atuação e a variação do momento de inércia de massa sobre a primeira junta. Os resultados dessas simulações mostraram que os controladores propostos cumprem com a dinâmica desejada nos cinco graus de liberdade do robô. / This work contemplates the design of a robotic manipulator, which is operated by a stepper motor with five actuation joints. The robot design steps were divided into: mechanical design; mathematical modeling; controller design; and simulations. The mechanical design presents a proposal of mechanical configuration and sizing that supplies the required demand for the analyzed operation. The mathematical model presents the electrical and mechanical characteristics of the actuator and the mechanical characteristics of the robot. The design of a linear controller is accomplished by allocating the poles of the closed loop system by states feedback of the position and angular speed of the rotor attached to an angular position error integrator. For the first degree of freedom, due to the variation of mass moment of inertia associated with this joint, a controller with parameterized gains was projected, in which the gains are calculated based on the mathematical model related to the mass moment of inertia associated to this joint. By means of computational simulations, we evaluated the design of the controllers in the point-to-point movement of the five actuation joints and the variation of the mass moment of inertia on the first joint. The results of these simulations showed that the proposed controllers comply with the desired dynamics in the robot’s five degrees of freedom.