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This Master Thesis presents the necessary steps to manufacture a piece, starting from the draw in the software Pro/ENGINEER and then processing the generated G-code to create a RAPID program understandable for the robot. Some additions required to make the code work on the Teach Pendant of the IRB 2400-16 are explained in detail. Apart from the RAPID program, the robot is also controlled with the
The purpose of this Diploma thesis is to develop and implement an interactive simulator for a surgical robot in a Telepresence application. The focus is on an incision procedure of a scalpel during an operation. The geometric deformation of the simulation is based on a Finite Element Method (FEM) model which has to cope with discontinuity due to the incision through the body. The FEM modelling can
Wind power is subject to intensive research in the development of using more renewable energy. With a growing number of countries aiming at reducing carbon dioxide emissions, increasing investments are being made in wind turbines and wind farms. An intriguing option is to build large wind farms at sea. There are many challenges with building large offshore wind farms. This Master's thesis addr
A monochromator is a part of a spectrometer in which the grating scans the different wavelengths over the exit slit. A full spectrum is generated as the grating scans over a predefined interval. The grating must accelerate to a set speed very fast, then keep the speed constant over a predefined interval, and break to reverse the scan. On top of this come disturbances from an optical filter, causin
New products on the market are likely to be simulated in a computer sometime during the development process. The environment for which the physical model of the product is developed may not always be the optimal for control simulations of the model. To be able to export models from one environment to another a common model definition must be defined. The Functional Mock-up Interface, FMI, provides
Gas leaks are an important safety issue in oil and gas production. For example, natural gas often contains large portions of hydrogen sulfide, a gas that is lethal to humans in concentrations as low as 0.1%. In addition natural gas itself is explosive. During the past fifteen years, a considerable number of studies have been made into how to detect and localize gas leaks. Equipped with sensors mea
The efficiency in an internal combustion engine ranges from 25% to 45%. About 50% - 85% of the overall energy losses in a combustion engine is heat which is either cooled away by the vehicle's radiator or blown out with the exhaust gases. The heat has to be cooled off by the vehicle's cooler and this energy is never put into use again and is therefore called 'waste heat'. Even if a
As more functionality and complex systems are combined in limited settings the need for resource management is becoming increasingly important. Resources such as computing capacity, battery power and communication channels need to be divided between different applications and hardware to achieve the highest global performance. Traditionally the computing capacity has been handled by the system sch
In an industrial plant availability is an important factor since increased availability often gives an increase of final production which in many cases means an increased profit for the company. It has been shown that good strategies for buffer management could increase the availability of an entire plant which motivates further research in this area. To be able to compute the optimal solution to
This Master Thesis describes the mathematical modeling of a Delta-3 robot actuated by motors and drive units developed by ELAU GmbH. A given model of the ELAU GmbH drive unit and motor is used when building the Delta-3 robot model including three drive units, one for each motor to be able to actuate the three upper arms. The Delta-3 robot model is divided into kinematics and dynamics parts. The ki
A project at ABB CRC in Västerås aims at investigating the use of an MPC algorithm as a control module in 800xA. For users to interact with such a controller, faceplates need to be designed. This report describes the process, and results of designing such faceplates using among other the ABB Graphics Builder application. The challenge with the design work was mainly to create new and unique compon
Linear models were identified from glucose-insulin data of a type 1 diabetic patient. The models were used for simulation and prediction with 10, 30, 60, 90 and 120 min prediction horizon. The predictions were able to track the measured blood glucose, at least for the lower prediction horizons, so that hypo-and hyperglycemic events can be prognosed. The best predictions were achieved with ARX and
Core Issue: Developing and maintaining industrial automation systems requires a lot of coordination of programming code. To support this task a configuration management system can be used but many companies of today find it hard to select a system that suites them best. Purpose: The purpose of this thesis is to examine various configuration management systems and evaluate them according to the nee
Within many scientific areas there is interest in finding out the amount of energy turning to heat within different processes. One of the most common examples are cement hydration, where the heat emission leads to information about cement qualities like reaction speed and strength increase. Other areas where there is need for information about heat emission is in biology, medicine and chemistry. T
The use of haptics in teleoperation and robotics can help the human operator to greatly improve the performance. This master thesis presents a haptic interface between a haptic device, a Phantom Premium A, and an industrial robot, an IRB140B, on which a force sensor was mounted. This will enable a human operator controlling the Phantom to get information about the environment surrounding the IRB14
Friction is present in all mechanical systems and causes a wide range of problems for control. The development of model-based strategies accounting for Friction in the designed control has been a vast area of Research since these last decades. A promising Friction model which received a lot of attention these last years is the so-called LuGre model, which originates in the collaboration between th
The purpose of this Master's Thesis is to investigate how various control methods and failure situations affect the performance of a hydro plant. To make the investigations possible, dynamic models of the main components of a hydro plant are created, including a turbine model, two regulator models, two penstock models, a guidance system that incorporates backlash and friction, and a load model
When using industrial robots in production lines both speed and accuracy is of great importance. This thesis investigates how off-line optimization can be used to create references to a control structure with the aim of traversing a given path in as little time as possible, under given input constraints, without deviating from the path. In this thesis Modelica and Optimica is used to formulate and
Within the EU FP-6 project SMErobotTM a new type of high-performance robots has been developed by ABB Robotics, the Robotics Lab at Lund University and Güdel AG, Switzerland. The new design is based on a parallel configuration of the robot's joints (parallel robots). The main novelty of that concept is its completely new parallel kinematic structure, which allows to exploit all the advantages
In many applications involving mobile devices it is essential to track their position. Moreover, it is usually desired, to perform this localization in a distributed fashion without using a central processing unit. In this case, only distance measurements to reference nodes which are in range can be utilized. It is proposed in this thesis to also use distance measurements to other moving objects,
