The subject of this thesis is to complete the project vacuum end effectors for handling objects plate type. The work includes the completion of a 3D model, drawing, computer simulation uchopovacího positioning system, the draft control system for stepping motors and verification functions of effectors with the industrial robot ABB IRB 4400/60

he aim of this thesis is possibilities analyse of automatization of finishing operations by producing bodies of plumbing fittings and selection it’s optimal version. The objective is project of workplace for conditions of concrete production plant and verification of return of it’s operating. A part of thesis is design of workplace and design of production machines and komplete technology of prodicing of parts in setting of production plant. Than there is partial verification of profected technology by real testing.

This thesis deals with robot path planning by means of selected methods. Specifically by the methods RRT, IGPPR and ISSD. The theoretical part contains the overview of existing methods for path planning and description of previously mentioned methods. The practical part describes implementation of each methods which are applied to nonholonomic mobile robot working in 2D workspace with static obstacles.

The thesis acquaints the reader with issues of manipulators based on parallel kinematic structures. It includes also the description of the construction procedure of chosen mechanism. Introductory search part specifies selected terms relating to building elements and describes their requirements. Alternatives of construction and used types of manipulators are shown in the illustrative images with labels. Next chapters deal with projects of selected parallel mechanism and methodologies of constructions. These chapters describe the design of all devised construction nodes. The construction and testing of the produced prototype is properly documented, indicating the resulting knowledge.

The topic of this diploma thesis was chosen by Valeo Compressor Europe Company. The aim is to propose an automation of the production line for grinding of a compressor part. The part is internally termed “Cylinder,” and it is an integral part of a new type of a rotational compressor for air-conditioning units of automobiles. The diploma thesis includes a complete proposal for the automation of workplace. The current state, the proposal of the concept, technical specification of the project, and the choice of a suitable supplier and economical assessment are included. The data were provided by Valeo Compressor Europe Company.

During cooperation with the Bender Robotics company a need for operational safety assessment of an autonomous mobile robot (AMR) emerged. Operational safety evaluation is a step towards mass production of the studied robot. Market entry of a product requires a string of various actions and safety assessment is one of them. For risk identification and severity rating were used legal requirements, best practice given by standards, FMEA method, experiment and RIPRAN method. Threats, possible scenarios and risks analysis is systematically discussed through all areas of operation of the robot, from design and construction to control software. All the steps are described in logical order. Starting with information research, going on with series of analysis and ending with suggestions for increased operational safety of autonomous mobile robots.

Industrial robots are increasingly used within the manufacturing industry, especially in collaborative applications, where robots and operators are intended to work together in certain tasks. This collaboration needs to be safe, to ensure that an operator does not get injured in any way. One of several solutions to this is to use virtual safety zones, which limits the robots working range and area to operate within, and may be more flexible than physical fences. When the robot exceeds the allowed limit of the virtual safety zone, a control system that monitors the robot position, forces to robot to stop. Depending on the current speed and payload of the robot, the initialized stop has a braking distance until the robot has completely stopped. How far the separation distance between human and robot must be, is calculated using ISO-standard guidelines when doing risk assessments. To support affected personnel in their work, an investigation and experimentation of braking distances among several robots has been conducted. These testing experiments have been designed to simulate a collaborative operation which is an excessive risk in a robot cell. The tests have been performed with various speeds and payloads, for comparison between the robot models and for validation against already existing data. The difference with this study compared to existing ones is that several robot axis’ are used simultaneously in the testing movements, which is a benefit since a robot rarely operates with only one axis at a time.  Main results of the performed tests are that the robot doesn’t obtain speeds over 2000 mm/s when axis 1 is not involved, before the virtual safety zone is reached. Axis 1 can generate the highest speeds overall, and is therefore a significant factor of the braking distance. The results and conclusions from this thesis states that these kinds of tests give useful information to the industry when it comes to safety separation distance and risk assessments. When applying the information in a correct way, the benefits are that a shorter safety separation distance can be used without compromising on safety. This leads to great advantages in robot cell design, because space is limited on the factory floor.

abstract: Riding a bicycle requires accurately performing several tasks, such as balancing and navigation, which may be difficult or even impossible for persons with disabilities. These difficulties may be partly alleviated by providing active balance and steering assistance to the rider. In order to provide this assistance while maintaining free maneuverability, it is necessary to measure the position of the rider on the bicycle and to understand the rider's intent. Applying autonomy to bicycles also has the potential to address some of the challenges posed by traditional automobiles, including CO2 emissions, land use for roads and parking, pedestrian safety, high ownership cost, and difficulty traversing narrow or partially obstructed paths. The Smart Bike research platform provides a set of sensors and actuators designed to aid in understanding human-bicycle interaction and to provide active balance control to the bicycle. The platform consists of two specially outfitted bicycles, one with force and inertial measurement sensors and the other with robotic steering and a control moment gyroscope, along with the associated software for collecting useful data and running controlled experiments. Each bicycle operates as a self-contained embedded system, which can be used for untethered field testing or can be linked to a remote user interface for real-time monitoring and configuration. Testing with both systems reveals promising capability for applications in human-bicycle interaction and robotics research. / Dissertation/Thesis / Masters Thesis Software Engineering 2020

Eelume AS is a norwegian company that develops autonomous underwater vehicles. Their flagship model is an underwater snake robot that performs inspection, maintenance and repair operations. For the time being, Eelume has been using acoustic communications between their AUV's and the docking station, but it has a big drawback: bandwidth. Eelume is interested in streaming live high-quality video from their AUV's to the docking station, which requires several megabits per second. As underwater radio frequency communications are not possible, wireless optical communications seem to be the best available alternative.   The focus of this Thesis is to design an underwater wireless optical communications system that could be implemented on the Eelume AUV, although it is designed as a standalone embedded system that could be integrated into any other platform. Two prototypes were designed and tested through-air: a low-cost system featuring a PIN photodiode that can stream a 1.5 Mbps video signal over 0.5 meters and a high-sensitivity system featuring an avalanche photodiode that can stream a 2.5 Mbps video signal over 10.5 meters.   Even if further underwater testing is needed and some inherent limitations in the design like the precise calibration or the ambient light noise effects could be mitigated. The results achieved by this high-sensitivity system demonstrates that a high-bandwidth mid-range underwater wireless optical communication system featuring a blue/green LED array as the light source and an avalanche photodiode as the photodetector is a viable solution for streaming live high-quality video over several meters even in very turbid seawaters.

Bakgrund: Hög biologisk ålder medför nya utmaningar på individ och samhällsnivå. Brist på personal i hälso- och sjukvården ökar behovet av nya digitala lösningar. I Sverige finns hälsorobotar som fungerar på olika sätt och de blir allt fler. Syfte: Syftet var att belysa äldre personers erfarenhet av hälsorobotar. Metod: En litteraturstudie med systematiskt tillvägagångssätt, baserad på 11 kvalitativa empiriska studier, publicerade tidigast januari 2019. Litteratursökning gjordes i databaserna CINAHL, PubMed, PsycINFO och Google Scholar. Kvalitetsgranskning genomfördes enligt Hkr:s mall för kvalitativa studier. Analysen genomfördes stegvis enligt Fribergs modell. Resultat: Erfarenheten av hälsorobotar varierade men mönster kunde urskiljas. Hälsorobotar kunde hjälpa äldre personer att klara sig självständigt. Estetiskt önskade äldre personer främst en hälsorobot vars form upplevdes igenkännande. Funktionellt föredrogs att hälsoroboten kunde hjälpa till fysiskt. De äldre personerna önskade en hälsorobot vars funktioner var lätta att förstå. En del äldre personer ville inte interagera med hälsorobotar, andra upplevde att en hälsorobot kunde skänka trygghet, lindrade smärta och minskade känslan av ensamhet. Diskussion: Tidigare studier bekräftar att hälsorobotar kan ha ett socialt värde för äldre personer och bidra till olika positiva känslor och minska ensamhetskänslor. De kan bidra till att motivera äldre personer på olika sätt och stärka relationer samt sociala kompetenser. Att introducera hälsorobotar för äldre personer kräver lyhördhet och öppenhet för vem den äldre personen är och vad denne finner stödjande eller belastande. Sjuksköterskan bör ha relevant kompetens och fungera som en guidande mellanhand och stötta samt förklara då en hälsorobot skall introduceras för en äldre person.