The industrial world is in constant demand for faster, cheaper and higher quality manufacturing. Robot utilisation and automation has evolved to become a necessary asset to master in order to stay competitive in the global market. With the growing dependency on robots, unexpected downtime and brakedowns can cause devastating loss of revenue. Consequently, this has lead to an increased importance for an accurate condition based way of performing robotic maintenance. As of writing, robots are predominantly maintained through time dependent maintenance. Part replacement is based on statistical models where maintenance is performed without taking the actual robot condition into consideration. As a result an overall level of uncertainty is ensued, where lacking the ability to properly diagnose the robot, also leads to superfluous repairs. Because of the costly impact this has on production, a condition based maintenance approach to robots would yield increased reliability at a lower cost of maintenance. This research focuses on trying to monitor vibrations in a robot, so as to infer about wear and to provide a first step in vibration based Robot Condition Monitoring. This research has been of multidisciplinary nature where robotics, tribology, mechanical component, signal analysis and diagnosis theory have overlapped in several areas throughout the project. The research has provided a vibration baseline and trends of the theoretical bearing defect frequencies for a hypocycloid gearbox installed on an ABB IRB6600 robot. The gearbox was not worn to a level that a severe gearbox degradation was irrefutably detectable and analysable. Accelerometers normally used on wind turbines were used for the project, and are believed to be sufficiently successful in capturing bearing related signals to accredit it for continued use at the preliminary stages of Robot Condition Monitoring development. A worn RV410F hypocycloid gearbox, was dismantled and analysed. Bearings found inside indicate high degrees of moisture corrosion and extensive surface wear. These findings had decisive roles in what future work recommendations where presented. Areas with great potential are condition monitoring through the use of Acoustic Emission and lubrication analysis. Further recommendations include investigating signal analysis techniques such as cepstrum pre-whitening and discrete wavelet transforms.

Thesis (Ph. D.)--Stockholm School of Economics. 1996. / Errata slip (1 leaf) inserted. Includes bibliographical references (p. 373-390).

Diss. Wirtschaftswiss. Zürich, 2004 (kein Austausch). / Im Buchh.: Bern etc. : Haupt. Literaturverz.

This thesis is focused on testing of communication protocols IEC 60870-5-103 and IEC 60870-5-104. Theoretical part of the thesis describes basic principles, services and possibilities of both communication protocols. Practical part of the thesis deals with configuration of the IEC 60870-5-103 communication standard of protective terminal REF630. PCVDEW6 tool was used to test this communication protocol. Next part of the thesis is focused on convertion of the communication standard IEC 61850 to IEC 61870-5-104 using control system COM600. The testing of both communication protocols was carried out in the laboratory of the protection relays on the testing panels at ABB Brno.

Master’s thesis deals with the process of an insertion and movement of different workpieces and profiles. In the first, theoretical, part, the definition of types of robots and description of their kinematics are presented. The second part deals with the analysis and research of the possibilities of communication between the B&R control unit and the ABB robot, including a description of the equipment in the workplace. In addition, the concept of the robot control program and mainly the management of communication between units are presented. At the end of the work is the description of testing and verification of the concept.

The thesis deals with design and implementation of proportional hydraulic valve, which will be integrated to hydraulic system of small hydro in Rájec - Jestřebí. This valve will be used to control one of the wicket gates of double Francis turbine. The thesis is processed for the company Mavel a.s., which is the owner of SH. The goal of this thesis is to create control of the valve according to the client's requirements, its implementation to the control system and commissioning.

This report describes a study aimed at verifying a cyber security modeling language named the Predictive, Probabilistic Cyber Security Modelling Language. This modeling language together with the Enterprise Architecture Analysis Tool acts as a tool for cyber security evaluations of system architectures. To verify the accuracy and readiness of the tool, a generic model of a real life Supervisory Control And Data Acquisition System’s system architecture was modeled using the tool and later evaluated. The evaluation process consisted of a Turing test, which was the same method used for evaluation of the Predictive, Probabilistic Cyber Security Modelling Language predecessor the Cyber Security Modelling Language. For the Turing test, interviews were held with five domain experts within cyber security. Four of which were tasked with creating attack paths given a scenario in the modeled system architecture. The Predictive, Probabilistic Cyber Security Modelling Language was given the same task as the four experts. The attack paths created were consolidated in a standardized form for the last internal company expert within cyber security to evaluate. An expert evaluator was tasked with grading the attack paths produced by the four experts and the Predictive, Probabilistic Cyber Security Modelling Language. The grading was based on how probable the attack paths were perceived by the internal expert.  The conclusion was made that given the limitations of the study, the Predictive, Probabilistic Cyber Security Modelling Language produced a cyber security evaluation that was as probable as those created by the human cyber security experts. The results produced were also consistent with the results produced by the Predictive, Probabilistic Cyber Security Modelling Language predecessor the Cyber Security Modelling Language in a previous study. Suggestions for further studies were also introduced which could complement this study and further strengthen the results. This thesis was a collaboration between ABB Enterprise Software and the members of the team behind the Predictive, Probabilistic Cyber Security Modelling Language at ICS at KTH. / Denna rapport beskriver en studie vars mål var att verifiera ett modelleringsspråk för datasäkerhet vid namn Predictive, Probabilistic Cyber Security Modelling Language. Detta modelleringsspråk tillsammans med Enterprise Architecture Analysis Tool utgör ett verktyg för datasäkerhetsutvärderingar av systemarkitekturer. För att verifiera exaktheten och mognadsnivån på verktyget så skapades en generisk modell av ett verkligt Supervisory Control And Data Acquisition System-systems arkitektur. Denna modell utvärderades i ett senare skede. Utvärderingsprocessen bestod av ett Turingtest, som är samma metod som användes i en tidigare utvärdering av Predictive, Probabilistic Cyber Security Modelling Languages föregångare Cyber Security Modelling Language. För Turingtestet hölls fem intervjuer med domänexperter inom datasäkerhet. Fyra av dessa fick i uppgift att skapa attackvägar givet ett scenario i den modellerade systemarkitekturen. Attackvägarna som skapades sammanställdes i ett standardiserat formulär för den sista interna företagsexperten inom datasäkerhet att utvärdera. En expertutvärderare fick i uppgift att betygsätta de attackvägar som hade producerats av de fyra experterna och Predictive, Probabilistic Cyber Security Modelling Language. Betygsättningen baserades på hur sannolika de olika attackvägarna uppfattades av den interna experten. Slutsatsen som gjordes var att givet begränsningarna i studien, så producerade Predictive, Probabilistic Cyber Security Modelling Language en datasäkerhetsutvärdering som var likvärdigt sannolik jämfört med de som skapades av mänskliga experter. Resultaten som producerades var också konsistenta med resultaten som producerades av Predictive, Probabilistic Cyber Security Modelling Language föregångare Cyber Security Modelling Language i en tidigare studie. Förslag på kommande studier som skulle komplettera denna studie och stärka resultaten ytterligare introducerades också. Detta examensarbete var ett samarbete mellan ABB Enterprise Software och medlemmarna i teamet bakom Predictive, Probabilistic Cyber Security Modelling Language på ICS på KTH.

This master's thesis is divided into two parts. The first part concerns the development of a simulation model of a current controller and a physical drive unit, both implemented in Simulink with the use of legacy code and regulated with field oriented control. The second part concerns the development of a dead-time compensation algorithm. The dead-time is a small delay added to the pulse width modulation signal to diminish the risk of a short circuit in the power electronics. The dead-time causes a voltage distortion, resulting in distorted phase currents, a lower bandwidth and ultimately a decreased machine accuracy. The new simulation environment was able to simulate a real life scenario with promising results. Hence, it could be used to evaluate the dead-time compensation algorithms. Three different dead-time compensation algorithms were implemented and they all showed an increased smoothness of the phase currents as well as an increased controller bandwidth. Both these features are desirable outcomes and all three algorithms show potential to improve accuracy when implemented in a real system.

Flexible AC Transmission Systems (FACTS) have the ability of voltage supportand increase transmission capacity. In order to specify a FACTS devicethat is performing according to expectations in a network, a set of studiesand network analyses must be performed. Part of these studies are done usingpower system analysis programs such as PSS®E, which is a planning toolsimulating large power systems in phasor domain using RMS values. Theseplanning tools are used for evaluating stability and reinforcement needs ina power system. The results play a vital role in investment decisions inthe power system. FACTS devices are modeled in PSS®E using a programminglanguage called FORTRAN. It is important to model FACTS devicesaccurately to avoid misleading results. In this Master thesis, STATCOMand Hybrid-STATCOM models are proposed and programmed accordingto ABB’s control strategy. The models are tested in PSS®E and verifiedagainst detailed models in PSCAD. Also, the models are compared againstother industry wide spread generic models. / System inom produktgruppen FACTS (Flexible AC Transmission Systems)har m¨ojligheten att st¨odja sp¨anning och h¨oja ¨overf¨oringskapacitet p°a existerandeledningar. F¨or att kunna specificera en FACTS-anl¨aggning sombeter sig som f¨orv¨antat i ett eln¨at beh¨ovs ett antal studier och n¨atanalyserutf¨oras. Delar av dessa studier ¨ar gjorda genom att anv¨anda verktyg f¨orkraftsystemanalys som t.ex. PSS®E, som ¨ar ett verktyg f¨or n¨atplaneringd¨ar fasvektorer och RMS-v¨arden anv¨ands i ber¨akningarna. Dessa verktyganv¨ands f¨or att evaluera stabilitet och utbyggnadsbehov i eln¨atet. Resultatenfr°an verktygen spelar en vital roll i investeringsbeslut i ett eln¨at.FACTS-system modelleras i PSS®E med hj¨alp av programmeringsspr°aketFORTRAN. Det ¨ar viktigt att anv¨anda korrekta modeller f¨or att undvikamissledande resultat. I denna Master-uppsats f¨oresl°as och utvecklasSTATCOM och Hybrid-STATCOM modeller i enlighet med ABBs kontrollstrategi.Modellerna testas i PSS®E och verifieras mot detaljerade modelleri PSCAD. Modellerna j¨amf¨ors ¨aven mot andra generiska modeller som ¨araccepterade och spridda ¨over branschen i stort.

In today´s interconnected world, our lives are inextricably linked with technology, a trend set to continue. Robots, pivotal to global industry and commerce, have made an significant impact since their inception. This report proposes an approach to enhance robotic functionality by integrating a 3D camera into a gripper´s case. This integration improves robotic functions and refines how robots perform tasks, mirroring human-like capabilities. This paper outlines the design and creation process of the prototype, including considerations for its development. Extensive research was conducted on current grippers, 3D vision systems, and available 3D cameras. Moreover, the design process using CAD tools is shown and explained in detail, followed by the creation of a physical prototype through 3D printing. The study underscores the significance of such advancements in shaping the future of robotics. It emphasizes that the innovative design of these products will play a crucial role in advancing automation technology.