[The Mariner's Chart]I've chosen to use the metaphor of the mariners chart to highlight the characteristics that are the essential elements of this study. This metaphor also sits comfortably with the Torres Strait Islander people, both historically and contemporaneously. The document '(IN) THE BEGINNING: The mariner’s chart to the folio’, represents the chart which enables readers ofthis study to 'navigate' their individual progress through the study in ways that reflect the reader's motivation/s. As with most maritime voyages, destinations can be reached via a number of different routes. These routes will be partially determined by motivations including tides, winds, directness, the skill of the navigator and the whim of the skipper. These motivations also apply to any reading of this study. The essential starting point will bedetermined initially by reference to the chart. Being made aware of the elements of the folio (logs of the various voyages) will influence where the reader goes from there; in other words, what folio elements (logs of the voyages) the reader will go to first and the order they chooseto follow, subsequent to that. There is no necessary order in which the logs of the various voyages should be read, following the initial reference to the 'chart'.The mariner's chart identifies low water marks, channel markers, reefs, sandbanks, and unseen obstacles. These represent only a handful of the dangers the reader (mariner) will face on the voyage. Likewise the study has its share of 'dangers', both seen and unseen. Thewhole nature of the study is in a sense, dangerous. I anticipate that any reading of the study will necessarily reflect the idiosyncrasies of the reader, so that the conclusions that I have reached, represent only one view of the data. The identification of the data itself reflects a level of interpretation that is also very personal, highlighting the reality that others(readers/mariners) may see greater significance in aspects of the recorded data that the author has not. The log of the voyage, My Journey An Autobiographical Narrative, clearly identifies a very personal journey or series of journeys, all of which reflect a range of reefs and sandbars that the author has sometimes been stranded on, between tides, giving time for reflection on actions that have either proven unsuccessful or are cause for quietcontemplation. Each of the folio elements reflects this metaphoric mix of danger and clear passage, in many different ways and at many different levels, inviting the individual and equally legitimate reactions of each reader.Whilst Torres Strait Islanders historically navigated by the stars and the seasons today, electronic navigation charts have tended to replace these important and culturally significant practices. Torres Strait people have metaphorically experienced being stranded on reefs andshoals and being wrecked, especially in terms of the education processes they have been exposed to, by virtue of this cultural shift. The process, educationally, of replacing the reliable historic (navigation) practices of Torres Strait Islanders with contemporary, western(navigation charts) practices has frequently resulted in confusion, frustration and a failure to produce successful educational outcomes for Torres Strait Islanders - clear passage to the future. The reasons for this situation are explored in greater depth in this study.With these explanations in mind then, the reader is invited to engage on their own voyage through this study.

Syftet med examensarbetet var att ta fram en laserskärande hand till ABB:s kollaborativa robot ”YuMi”. Rapporten beskriver tillvägagångssätt, utvecklingsprocess och resultat av arbetet. Målet för projektet var att ta fram en fungerande funktionsprototyp som svarade mot den övergripande problemformuleringen: ”Hur integreras tillräcklig säkerhet i laserhanden så att användaren på ett säkert och riskfritt sett kan använda laserhanden i en kontorsmiljö?”  Detta har uppnåtts genom att med lämpliga test och analyseringsmetoder besvara frågeställningarna: ➢ Hur kan skadliga partiklar avlägsnas från luften vid laserskärning av plast, gummi, skumgummi, kartong och trä? ➢ Hur utformas laserhanden på så sätt att en extern skyddskåpa blir överflödig (för att inte skada ögonen)? ➢ Hur integreras en säkerhetsfunktion som gör att lasern stängs av om laserhanden skulle tilta eller avvika från vertikal distans? Arbetet innefattar konceptgenerering, planering, konstruktion av kåpor och byggande av prototyp. Projektet resulterade i en fungerande funktionsprototyp som uppfyllde största delen av arbetsgivarens krav. Både studenten och företaget är nöjda med resultatet. / The purpose of the thesis was to produce a laser-cutting hand to ABB's collaborative robot "YuMi". The report describes the approaches, development process and results of the work.  The aim of the project was to develop a functional prototype that corresponds to the overall problem formulation: "How to achieve enough security in the laser-hand so it is safe and risk-free for users to use the hand in an office environment?"  This has been achieved by using the appropriate tests and methods of analysis to answer the questions: ➢ How to remove harmful particles from the air during laser cutting of plastic, rubber, foam rubber, cardboard and wood? ➢ How to design an external protective cover encapsulate the tool (laser beam) so it will be redundant to protective glasses (so as not to damage the eyes)? ➢ How to integrate a security feature to force the laser to turn off, if the hand increases the distance or deviate from vertical orientation higher then specified limits? The work includes concept generation, project planning, construction of encapsulation and prototype overall construction. The project resulted in a working prototype that fulfilled most of the requirements. Both the student and the company are satisfied with the result.

The aim of the master thesis is to design a laboratory station and a control program operated by a collaborative robot IRB 14000 YuMi using an integrated effector camera to identify laboratory objects and control the progress of the task. In the introductory part, collaborative robots are briefly introduced, the IRB 14000 on which the task is implemented and the RobotStudio development environment together with the IntegratedVision extension are described in more detail. The following chapters describe the laboratory task itself, its solution and testing of the designed program.