The goal of this thesis was to create a sensors glove with force feedback feeling when operating a humanoid robot hand. The development covered multiple areas such as mechanics, electronics and programming. The final product gave the user control over three fingers of a humanoid robotic hand. In the case where the robotic hand comes in contact with an object the user's finger movement is limited according to the pressure the robotic hands fingers exposes the object to. / Rapporten beskriver arbetet för framtagandet och skapandet av en sensorhandske med inbyggd force feedback funktion som därmed ska möjliggöra styrning över en mekanisk gripare med hög finmotorik. Detta för att kunna få en mer realistisk manövrering över griparen. Projektet är uppdelat i två system. Ett system för sensorhand som med en Arduino Uno Rev 3 styr servomotorer som används för att återskapa force feedbacken. Utöver det sker även mätning och analys av användarens fingerposition genom potentiometrar. Det andra systemet är för en humanoid robothand som även den använder sig av en Arduino Uno Rev 3 för att manövrera de servomotorer som handen använder för att flytta fingrarna. Mätning och analys av trycksensorer på robothandens fingertoppar genomförs för att möjliggör återskapandet av force feedback till användaren efter det tryck robothanden utsätter ett objekt för. De två systemen använder sig av ett I2C protokoll i form av multimaster and slave struktur för att kommunicera mellan det två mikrokontrollerna samt deras respektive servomotordrivarkretsar (Adafruit- PCA9685). För att undvika krockar i kommunikationen då mer än en master använder I2C linorna skapades en ovanpåliggande struktur för att upprätta regler för hur kommunikationen ska genomföras. All datahantering och kommunikation programmeras i C++. Programmeringskoden är skapad så att utbytet av robothanden och dess servodrivarkrets är möjligt. Sensorhandsken kan därmed implementeras till vad användaren väljer att använda den till, så länge kommunikationen sker med samma regler och struktur som upprättats. Utöver elektronik och programmering har även mycket mekanik tillämpats då olika delar av elektroniken ska byggas in och kunna fungera korrekt med rörliga mekaniska delar. Detta har bland annat använts i skapandet för fingerpositionsmätningen där trimpotentiometrar har byggts in och rörliga delar kan ändra på det resistiva motståndet i komponenten. Trots projektets begränsning till tre fingrar tyder projektet på att det framtagna konceptet av en sensorhandske med force feedback är fullt möjligt och genomförbart.

Immersion heaters are used by industries to heat fluids. The element of an immersion heater need to be fully immersed into the heated liquid, otherwise it could be subject to overheat. The main purpose of this thesis is to find a temperature sensor, which could signal in case the immersion heater is at risk to suffer from overheat due to low liquid level. A comparison of accuracy, size and cost between an analog and a digital sensor is held, to conclude whether either one is at an advantage for this application.An immersion heater with ceramic element and quartz glass tube and a water tank, both provided by Scandymet, is used during experiments. First, the position for the sensor inside the heater was examined, by placing the sensor at different positions. Next, measurements of the operating temperature of the immersion heater were made at different liquid levels. This resulted in a placement for the sensor near the head of the immersion heater and an approximate temperature range from 41 ℃ to 58 ℃. Both the analog and digital sensors is chosen with measurable ranges to match the result from previous experiments. A thermistor along with a linearizing series resistor make the analog design and a DS18B20+ with a pull-up resistor the digital design. The microcontroller for both designs is Adafruit Feather Adalogger M0, which is programmed in C/C++ using Arduino IDE software. It is concluded that it is possible to signal in case liquid level decrease below minimum level, by inserting a temperature sensing device into the immersion heater. The sensor should be placed above the maximum liquid level mark, close to the head of the heater. The analog design would be recommended as overheat protection, due to its smaller size, less expensive and, with further calibration, accurate response.

This abstract introduces the wearable-based alerting system for emergency situations for both disabled and non-disabled individuals. The system sends advanced technology to detect various emergencies like fire alerts, flood alerts, outside air contamination etc, for the emergency services and it gives a signal in the form of vibration for the user. AdafruitIO is a platform created to show, react to, and interact with the data from the project. The most important problem statement revolves around the need for an inclusive and green emergency alert machine that caters to the various desires of people, which include people with disabilities. The device’s primary objective is to ensure the protection and nicely-being of users in emergency scenarios. To address this problem, a wearable device is utilized as a verbal exchange interface between the user and the emergency services. The device is prepared with signal receiving capable of detecting precise emergency occasions, together with modifications in high-quality air or strange environmental conditions. When an emergency is detected, the device promptly sends a signal to the applicable emergency services, ensuring a quick reaction. The findings of this research focus on the effectiveness and reliability of the wearable-primarily based alerting machine. Through rigorous testing and assessment, it has been validated that the machine can as it should come across a huge variety of emergency situations, making certain well-timed communication with emergency services. In conclusion, this study provides a wearable-based totally alerting device that addresses the desires of both disabled and non-disabled people in emergency conditions. By exploiting advanced technology and the AdafruitIO platform, the device presents actual-time indicators to emergency services even as turning in spontaneous feedback to the user. This modern answer enhances basic safety and inclusivity through important activities, supplying a promising future for emergency response systems.