uu.seUppsala University Publications
Change search
Refine search result
12 1 - 50 of 55
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Rows per page
  • 5
  • 10
  • 20
  • 50
  • 100
  • 250
Sort
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
  • Standard (Relevance)
  • Author A-Ö
  • Author Ö-A
  • Title A-Ö
  • Title Ö-A
  • Publication type A-Ö
  • Publication type Ö-A
  • Issued (Oldest first)
  • Issued (Newest first)
  • Created (Oldest first)
  • Created (Newest first)
  • Last updated (Oldest first)
  • Last updated (Newest first)
  • Disputation date (earliest first)
  • Disputation date (latest first)
Select
The maximal number of hits you can export is 250. When you want to export more records please use the Create feeds function.
  • 1.
    Ahlén, Anders
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group. Univ Newcastle, Dept Elect & Comp Engn, Callaghan, NSW, Australia.
    Åkerberg, Johan
    ABB Corp, Vasteras, Sweden.
    Eriksson, Markus
    Scania CV, Sodertalje, Sweden.
    Isaksson, Alf J.
    Linkoping Univ, Linkoping, Sweden;Univ Newcastle, Callaghan, NSW, Australia;Royal Inst Technol, Stockholm, Sweden;ABB Corp Res, Vasteras, Sweden.
    Iwaki, Takuya
    JGC Corp, Yokohama, Kanagawa, Japan;KTH Royal Inst Technol, Sch Elect Engn & Comp Sci, Stockholm, Sweden.
    Johansson, Karl Henrik
    KTH Royal Inst Technol, Sch Elect Engn & Comp Sci, Stockholm, Sweden.
    Knorn, Steffi
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group. Univ Newcastle, Ctr Complex Dynam Syst & Control, Callaghan, NSW, Australia.
    Lindh, Thomas
    Iggesund Mill, Maintenance Technol Dev, Iggesund Paperboard, Sweden.
    Sandberg, Henrik
    KTH Royal Inst Technol, Div Decis & Control Syst, Stockholm, Sweden;CALTECH, Pasadena, CA 91125 USA;MIT, Lab Informat & Decis Syst, 77 Massachusetts Ave, Cambridge, MA 02139 USA.
    Towards Wireless Control in Industrial Process Automation: A Case Study at a Paper Mill2019In: IEEE CONTROL SYSTEMS MAGAZINE, ISSN 1066-033X, Vol. 39, no 5, p. 36-57Article in journal (Refereed)
    Abstract [en]

    Wireless sensors and networks are used only occasionally in current control loops in the process industry. With rapid developments in embedded and highperformance computing, wireless communication, and cloud technology, drastic changes in the architecture and operation of industrial automation systems seem more likely than ever. These changes are driven by ever-growing demands on production quality and flexibility. However, as discussed in "Summary," there are several research obstacles to overcome. The radio communication environment in the process industry is often troublesome, as the environment is frequently cluttered with large metal objects, moving machines and vehicles, and processes emitting radio disturbances [1], [2]. The successful deployment of a wireless control system in such an environment requires careful design of communication links and network protocols as well as robust and reconfigurable control algorithms.

  • 2.
    Alenljung, Beatrice
    et al.
    Högskolan i Skövde, Institutionen för informationsteknologi.
    Andreasson, Rebecca
    Högskolan i Skövde, Institutionen för informationsteknologi.
    Billing, Erik A.
    Högskolan i Skövde, Institutionen för informationsteknologi.
    Lindblom, Jessica
    Högskolan i Skövde, Institutionen för informationsteknologi.
    Lowe, Robert
    Högskolan i Skövde, Institutionen för informationsteknologi.
    User Experience of Conveying Emotions by Touch2017In: Proceedings of the 26th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), IEEE , 2017, p. 1240-1247Conference paper (Refereed)
    Abstract [en]

    In the present study, 64 users were asked to convey eight distinct emotion to a humanoid Nao robot via touch, and were then asked to evaluate their experiences of performing that task. Large differences between emotions were revealed. Users perceived conveying of positive/pro-social emotions as significantly easier than negative emotions, with love and disgust as the two extremes. When asked whether they would act differently towards a human, compared to the robot, the users’ replies varied. A content analysis of interviews revealed a generally positive user experience (UX) while interacting with the robot, but users also found the task challenging in several ways. Three major themes with impact on the UX emerged; responsiveness, robustness, and trickiness. The results are discussed in relation to a study of human-human affective tactile interaction, with implications for human-robot interaction (HRI) and design of social and affective robotics in particular. 

  • 3.
    Al-Saour, Rafal
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Automatisering av stackning2018Independent thesis Basic level (university diploma), 5 credits / 7,5 HE creditsStudent thesis
    Abstract [en]

    This project describes the process and the result of automating a moment in the production of a wave power generator. The project goal is to improve a stacking tool, as well as simulating this process to be able to use it in the production of stator valleys.

     

    The project started with an investigation and a study of the tool, which has been used in laboratory work at Angstrom Laboratory at Uppsala University. It was necessary to study even the robot, which was used in the automating.

     

    The project started by constructing a prototype based on the design of the old tool. The tool became updated with suction cups and electromagnets. The first task which resulted an advantage of the new prototype was to make the sheets movement more reliable. The disadvantage is that it can only take one sheet at a time which prolongs the stacking time. The second task was to simulate the stackning momentum.

     

    To simulate the entire process of the project, a robot cell model was created in the "ABB-Robotstudio" program. The aim was to develop a specific simulation moment based on a previous research project (Robotized Stacking of the Uppsala University Wave Energy Converter Generator Stator) by Erik Hultman and Marcus Linder at Uppsala University.

     

    The results of the tests showed that the instrument worked as it supposed to do and steering of the stator’s sheets movement was secure.

  • 4. Ask, Simon
    et al.
    Lindh, Rickard
    Design och konstruktion av roterande LiDAR-system för 360 graders objektdetektering2017Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Although laser rangefinder technologies have been around for decades in military, cartography, building, industrial and research applications it is only in recent years that more generally applicable and cheaper consumer grade laser range finder sensors have become available. This project investigates the possibilities and limitations of creating a mobile 360 degree, two-dimensional obstacle detection system using off-the-shelf available electronic components.

    Using a Lidar Lite 3 from Garmin Ltd., an Arduino compatible microcontroller based on Atmel 328P, a Raspberry Pi 3 from The Raspberry Pi Foundation and an electronic speed controlled brushless DC motor driving the rotation, it is shown how range data measurements can be collected, communicated, processed and displayed at measurement rates between 500 and 1000 Hz. At 5 Hz update rate of a complete 360-degree data set, this translates to a worst case angular resolution of 2.5 degrees at ranges reaching 10 meters depending on target reflectivity. Configured for these faster measurement rates, at static measurements of a white painted wall, the measurements show a standard deviation of 0.06 m at a five-meter range, going up to 0.19 m at a range of 10 meters.

    A modular and mobile prototype was designed and built. The modularity allowed testing and verification of two configurations. Configuration A uses a slip ring for power and data transfer to the rotating sensor. Configuration B allows the laser range finder to be stationary and instead rotates a first surface aluminum mirror positioned at 45 degrees above the sensor.

    The measurement results show that increasing range has a notable adversely effect on the number of successful readings in a setting demanding faster measurement rates of above 500 Hz. The number of successful readings decreases at ranges above 5 meters, and this decrease of successful readings is more pronounced in the configuration using a mirror to reflect the measurement. The mirror reflected version does on the other hand allow an electromechanically simpler, more silent and durable system.

    Using a density based clustering algorithm it is shown how person sized objects in the point cloud data can be robustly detected at ranges up to 5 meters. 

  • 5.
    August, Tynong
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
    Automated test process2019Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    This thesis investigates solutions to automate a lab process and give the customer

    basis for investment. An analysis of the current lab process and interviews with the

    staff were performed to set requirements for an automated solution. The customer

    wants to perform an analysis on a large number of combinations between

    antibiotics and bacteria. The issues that an automated solution is not able to

    handle were identified for the customer.

    A market analysis of existing solutions was preformed and contact was established

    with different suppliers. The suggested products were evaluated by performance

    and if they would be able to adapt to the process. The evaluation shows that with

    the same number of working hours the customer can increase the productivity with

    6.7 times using a semi-automated system and a fully-automated system will result

    in an increase of 18.3 times.

    A guidance of how the customer will implement the system is described in the

    report. The report shows that an automated solution will make their process more

    efficient.

  • 6.
    Bondesson, Carl
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Industrial Engineering & Management.
    Stigenius, Erik
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Industrial Engineering & Management.
    Autonom bil med enkapseldator och ultraljudssensorer: tillämpning av en Arduino mikrokontrollerplattform och HC-SR04 sensorer2015Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Autonomous cars or robot cars have been on the agenda ever since Hollywood started with their Sci-Fi genre, maybe even before that. A lo tof things have happened since then and now the self-driving vehicle is not far away. In this project, the Autonomous car with microcontroller and ultrasonic sensors, we are looking at a way of making a small, regular RC car autonomous with relatively simple means and investigate how the big companies does it to learn more aboutt he development of the autonomous cars and their technology.

    We used an Arduino Uno R3 supplemented with an Arduino Motor Shield R3 as our microcontroller board and three HCSR04 ultrasonic sensors. By removing almost all of the old parts of the RC car, except the two DC motors, and replacing them with these new parts we managed to make a vehicle that drove around in a room without crashing into anything. We could have used entirely different sensors, or supplemented the existing setup with other sensors to make it even more accurate and obstacle avoiding. But for our purpose the three ultrasonic sensors did the job. There is always place for optimizing in projects like this one, in our case we could have been optimizing our code more, to make thec ar perform even better.

  • 7.
    Brusén, Niklas
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Industrial Engineering & Management.
    Kristoffersson, Jon
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Industrial Engineering & Management.
    Automated Production of Air to Air Heat Exchangers: Robot Cell Design and Simulation2017Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The aim of this thesis was to describe how a manual assembly process of polycarbonate sheets for heat exchangers can be automated with an industrial robot. The objectives were to design suitable robot cell concepts and simulate them to describe how the automated process could be done and to present which machines and equipment that could be used. Additionally, productivity rates and investment costs was to be calculated.The project started with a situation assessment and a literature review. Experts and suppliers of robotic equipment were consulted, and the results served as a basis for the concept generation process. Several concept ideas were evaluated, and three ideas using adhesive for the assembly were chosen for further studies and simulation. Existing products and machines were used in the designs when possible. By modeling and simulating the cells in simulation software, feasible cell designs was created, and cycle times were measured.The three proposed solutions all utilize an industrial robot, a vacuum gripper and adhesive as the assembly method. Two of the concepts has the robot attending different adhesive dispensing machines; one gantry and one conveyor. In the third concept, the robot applies the adhesive. The cell design that achieved the lowest cycle time in the simulations was the conveyor concept, with a cycle time of 21 seconds per sheet. The conclusion of the study is that investing in a robot cell would increase productivity.

  • 8.
    Chang, Bo
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Microsystems Technology.
    Hjort, Klas
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Microsystems Technology.
    Shah, Ali
    Aalto University, Finland.
    Zhou, Quan
    Aalto University, Finland.
    HYDROPHILIC-SUPERHYDROPHOBIC PATTERNED SURFACE FOR PARALLEL MICROASSEMBLY2014In: Technical Digest of the 25th Micromechanics and Microsystems Europe Conference (MME 2014), Istanbul, Turkey, 2014, 2014Conference paper (Refereed)
    Abstract [en]

    In  this  paper,  a  hydrophilic-superhydrophobic  patterned  surface  is  investigated for parallel microassembly of 200 µm × 200 µm chips with receptor sites of the same dimensions, allowing for correction of significant error as compared to the state-of-the-art.  The  hydrophilic-superhydrophobic pattered surface consists of 200 µm × 200 µm silicondioxide  receptor  sites  with  black  silicon  substrate coated  with  fluorocarbon  polymer.  The  measured contact  angle  of  water  on  the  silicon  dioxide  padsand the background are 50° and 170°, respectively.The  water  mist-induced  hybrid  microassembly technique  is  used  to  carry  out  the  experimental studies  on  hydrophilic-superhydrophobic  pattered surface  for  parallel  microassembly.  The  experimental results show that the parallel microassembly of  chips  can  not  only  be  achieved  on  hydrophilic-superhydrophobic  patterned  surface,  but  also demonstrate  significant  error  correction  capability. With extreme large initial placement error,  where achip  is  placed  next  to  a receptor  site  and  has  zero overlapping  with  the  receptor  site,  the  chip  is  still able to align with the receptor site. The results also indicate  that  the  reliability  of  the  microassembly process  can  be  greatly  enhanced  using  hydrophilic patterns with super-hydrophobic background.

  • 9.
    Ekstedt, Erik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction.
    A Deep Reinforcement Learning Framework where Agents Learn a Basic form of Social Movement2018Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    For social robots to move and behave appropriately in dynamic and complex social contexts they need to be flexible in their movement behaviors. The natural complexity of social interaction makes this a difficult property to encode programmatically. Instead of programming these algorithms by hand it could be preferable to have the system learn these behaviors. In this project a framework is created in which an agent, through deep reinforcement learning, can learn how to mimic poses, here defined as the most basic case of social movements. The framework aimed to be as agent agnostic as possible and suitable for both real life robots and virtual agents through an approach called "dancer in the mirror". The framework utilized a learning algorithm called PPO and trained agents, as a proof of concept, on both a virtual environment for the humanoid robot Pepper and for virtual agents in a physics simulation environment. The framework was meant to be a simple starting point that could be extended to incorporate more and more complex tasks. This project shows that this framework was functional for agents to learn to mimic poses on a simplified environment.

  • 10.
    Foborg, Felix
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences.
    Road Shape Estimation based on On-board Sensors and Map Data2014Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    The ability to acquire accurate information of the surrounding road environment is crucial for autonomous driving and advanced driver assistance systems. A method to estimate the shape of the road has been developed and evaluated. The estimate is based on fusion of data from a road marking detector, a radar tracker, map data, GPS, and inertial sensors. The method is intended for highway use and focus has been on increasing the availability of a sufficiently accurate road shape estimate in the event of sensor failures. To make use of past sensor measurements, an extended Kalman filter has been used together with dynamical models for the road and the ego vehicle. Results from a performance evaluation show that the road shape estimate clearly benefits from being based on a fusion of sensor data. The different sensors have also proven to be of various importance to the different parameters that describe the road shape.

  • 11.
    Fredlund, Andreas
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Persson, Tobias
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Rask, Elliot
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    SearchBot: Konstruktion och programmering av appstyrd Arduinorobot med värme- och ultraljudssensor2016Independent thesis Basic level (degree of Bachelor), 30 credits / 45 HE creditsStudent thesis
    Abstract [en]

    An Arduino based car resembling robot equipped with heat- and ultrasonic sensors has been developed as a prototype for a rescue robot. The robot is controlled using an Android app developed in MIT App Inventor 2. In the app the sensors' information is divided in two modes; driving mode and not driving mode. The ultrasonic sensor's information is available when in driving mode, displaying the distance in centimeters straight ahead. The heat sensor's information is displayed in not driving mode, disabling motor skills, with a 8x8 pixel, blue and red color scaled picture fully updated within 2.38 seconds. An important part of the development is the Auto mode where the robot goes off on its own and signals the app user when a heat signature matching a human is detected within

    35 centimeter. If the object close by is not within this temperature range, the robot turns away in another direction. Despite it's rough appearance and slow update speed, the robot fulfills the purpose of the project being able to locate a human heat signature by itself or a app user. 

  • 12. Gomes, Paulo F.
    et al.
    Sardinha, Alberto
    Márquez, Elena Segura
    Uppsala University, Disciplinary Domain of Humanities and Social Sciences, Faculty of Social Sciences, Department of Informatics and Media.
    Cramer, Henriette
    Paiva, Ana
    Migration Between Two Embodiments of an Artificial Pet2014In: International Journal of Humanoid Robotics, ISSN 0219-8436, Vol. 11, no 1, p. 1450001-Article in journal (Refereed)
    Abstract [en]

    Characters that cross dimensions have elicited an avid interest in literature and cinema. In analogy to these characters, we explore the concept of migration: Process by which an agent moves between embodiments, being active in only one at a time. We developed an autonomous artificial pet with two embodiments: A virtual within a smartphone and a physical robotic embodiment. Considering that owners' interactions with real pets lead to emotional attachment and potentially related health benefits, we conducted a user study with elementary school students to assess their attachment to the prototype and how natural they felt the interaction was. By the end of the experiment children felt closer to the artificial pet and 43.3% considered the two embodiments to correspond to the same entity, although migration was never explained to them. As a result, this paper presents a novel generic methodology that allows the evaluation of other implemented prototypes that support migration. Furthermore, we created a set of design guidelines for migrating agents.

  • 13.
    Graetz, Georg
    et al.
    Uppsala University, Disciplinary Domain of Humanities and Social Sciences, Faculty of Social Sciences, Department of Economics.
    Michaels, Guy
    London Sch Econ, London, England.
    Robots at Work2018In: Review of Economics and Statistics, ISSN 0034-6535, E-ISSN 1530-9142, Vol. 100, no 5, p. 753-768Article, review/survey (Refereed)
    Abstract [en]

    We analyze for the first time the economic contributions of modern industrial robots, which are flexible, versatile, and autonomous machines. We use novel panel data on robot adoption within industries in seventeen countries from 1993 to 2007 and new instrumental variables that rely on robots' comparative advantage in specific tasks. Our findings suggest that increased robot use contributed approximately 0.36 percentage points to annual labor productivity growth, while at the same time raising total factor productivity and lowering output prices. Our estimates also suggest that robots did not significantly reduce total employment, although they did reduce low-skilled workers' employment share.

  • 14.
    Grund, Olof
    Uppsala University, Disciplinary Domain of Science and Technology, Physics, Department of Physics and Astronomy.
    Modification of a transient EPR and photoluminescence detection setup2017Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Climate change has given rise to higher demand of renewable energy. Conventional non-organic solar cells are still seen the most on the market but the last 10-20 years there has been an exponential increase in research about organic solar cells. The research demands measurements done on increasing fast time scales as insights about the topic and technology develops. Here is presented configurations done at the Isaak spectrometer at Freie Universit\"{a}t Berlin. The spectrometer is used for studying charge transport in organic solar cells as well as hybrid solar cells made from organic and inorganic semiconductors. One important feature for the time response is the Q factor property of the resonator in which the sample is placed. The Q factor describes the rate of energy loss relative to the stored energy of the resonator. The Q factor dependency over different temperature was studied in order to gain vital knowledge about the time response of the setup. Further new equipment was been installed at the setup and programmed in FSC2. This in order to increase the sensitivity of the optical setup, secure the personnel from possible dangerous excitation laser and in order to do more automated measurements. As the optical path was modified by installing a new optical fiber a new calibration had to be done. Finally, in order to try the functionality of the new equipment an automated energy dependency measurement was done on the polymer MEH-PPV and the polymer:fullerene blend MEH-PPV:PCBM. The automatic process of measuring was successful. 

  • 15.
    Holm, Martin
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Industrial Engineering & Management.
    Lager, Robert
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Industrial Engineering & Management.
    Automation av materialhantering vid en kallsåg2017Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The purpose of this bachelor thesis was to evaluate and propose a solution for how the material handling of steel rods produced by a metal cutting machine could be automated. The intention of the automation was to meet an increasing demand and to ensure that the quality requirements set are met. These quality requirements are defined by a removal of the small steel edge which occurs on the rod after the cutting process, as well as making sure that the rods meet the specified length tolerances.

    Initially, a data collection and status analysis of the process was carried out, where problem areas were identified and a requirements specification was formulated. Based on these findings, several solution proposals were generated. The proposed solutions were evaluated and used as a basis on which further development of automation solutions were conducted. During this development, a software simulation environment was used to simulate and evaluate the resulting concepts. Included with these concepts were drawings of necessary constructed equipment, simulation models and cost estimates.

    The work resulted in two concepts based on the use of industrial robotics. The concept that was considered most suitable for the task is based on an implementation of an ABB IRB 1600 industrial robot with a magnetic gripping tool, a stand-alone station for removing remaining steel edges from the rod, and a measuring arrangement to make sure that the tolerance requirements are met.

  • 16.
    Hultman, Erik
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Leijon, Mats
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    A cable feeder tool for robotized cable winding2014In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 30, no 6, p. 577-588Article in journal (Refereed)
    Abstract [en]

    Cable winding is an alternative technology to create stator windings in large electrical machines. Today such cable winding is performed manually, which is very repetitive, time-consuming and therefore also expensive. This paper presents the design, function and control system of a developed cable feeder tool for robotized stator cable winding. The presented tool was able to catch a cable inside a cable guiding system and to grab the cable between two wheels. One of these wheels was used to feed cable through the feeder. A control system was integrated in the tool to detect feeding slippage and to supervise the feeding force on the cable. Functions to calculate the cable feed length, to release the cable from the tool and for positional calibration of the stator to be wound were also integrated in the tool. In validating the function of the cable feeder tool, the stator of the linear generator used in the Wave Energy Converter generator developed at Uppsala University was used as an example. Through these experiments, it was shown that the developed robot tool design could be used to achieve automated robotized cable winding. These results also complied with the cycle time assumptions for automated cable winding from earlier research. Hence, it was theoretically indicated that the total winding cycle time for one Uppsala University Wave Energy Converter stator could be reduced from about 80 h for manual winding with four personnel to less than 20 h in a fully developed cable winding robot cell. The same robot tool and winding automation could also be used, with minor adjustments, for other stator designs.

  • 17.
    Hultman, Erik
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity. Seabased Industry AB, Verkstadsgatan 4, 453 30 Lysekil, Sweden.
    Leijon, Mats
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity. Department of Electrical Engineering, Chalmers University of Technology, 412 96 Gothenburg, Sweden.
    An updated cable feeder tool design for robotized stator cable winding2018In: Mechatronics (Oxford), ISSN 0957-4158, E-ISSN 1873-4006, Vol. 49, p. 197-210Article in journal (Refereed)
    Abstract [en]

    We have previously suggested a method for robotized stator winding of cable wound electric machines and demonstrated the method successfully in full-scale experiments. The cable feeder tool used to handle the cable during the complete winding process is an essential component of this robot cell. To take the robot winding method to the next level, into an industrial product, require further developments regarding durability, independency, flexibility and implementability. In this paper, we present an updated cable feeder tool design. This tool is designed to be used in a robot cell for cable winding of the third-generation design of the Uppsala University Wave Energy Converter generator stator. In this work, three cable feeder tool prototypes have been constructed, experimentally evaluated and validated for the intended application. Key performance parameters are presented and discussed, including suggestions for further developments. We completed a durable, compact, high performance tool design, with fully integrated control into industrial robot controllers. The experimental results presented in this article are very promising and hence, the updated cable feeder tool design represents another important step towards an industrial solution for robotized stator cable winding.

  • 18.
    Hultman, Erik
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity. Seabased Ind AB, Verktstadsgatan 4, S-45330 Lysekil, Sweden..
    Leijon, Mats
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Automated Cable Preparation for Robotized Stator Cable Winding2017In: MACHINES, ISSN 2075-1702, Vol. 5, no 2, article id 14Article in journal (Refereed)
    Abstract [en]

    A method for robotized cable winding of the Uppsala UniversityWave Energy Converter generator stator has previously been presented and validated. The purpose of this study is to present and validate further developments to the method: automated stand-alone equipment for the preparation of the winding cables. The cable preparation consists of three parts: feeding the cable from a drum, forming the cable end and cutting the cable. Forming and cutting the cable was previously done manually and only small cable drums could be handled. Therefore the robot cell needed to be stopped frequently. The new equipment was tested in an experimental robot stator cable winding setup. Through the experiments, the equipment was validated to be able to perform fully automated and robust cable preparation. Suggestions are also given on how to further develop the equipment with regards to performance, robustness and quality. Hence, this work represents another important step towards demonstrating completely automated robotized stator cable winding.

  • 19.
    Hultman, Erik
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Leijon, Mats
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Robotized stator cable winding2018In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 53, p. 197-214Article in journal (Refereed)
    Abstract [en]

    Automated stator winding assembly has been available for small and medium sized conventional electric machines for a long time. Cable winding is an alternative technology developed for medium and large sized machines in particular. In this paper we present, evaluate and validate the first fully automated stator cable winding assembly equipment in detail. A full-scale prototype stator cable winding robot cell has been constructed, based on extensive previous work and experience, and used in the experiments. While the prototype robot cell is adapted for the third design generation of the Uppsala University Wave Energy Converter generator stator, the winding method can be adapted for other stator designs. The presented robot cell is highly flexible and well prepared for future integration in a smart production line. Potential cost savings are indicated compared to manual winding, which is a backbreaking task. However, further work is needed to improve the reliability of the robot cell, especially when it comes to preventing the kinking of the winding cable during the assembly.

  • 20.
    Jeong, Seung Hee
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Microsystems Technology. Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Soft Intelligence: Liquids Matter in Compliant Microsystems2016Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    Soft matter, here, liquids and polymers, have adaptability to a surrounding geometry. They intrinsically have advantageous characteristics from a mechanical perspective, such as flowing and wetting on surrounding surfaces, giving compliant, conformal and deformable behavior. From the behavior of soft matter for heterogeneous surfaces, compliant structures can be engineered as embedded liquid microstructures or patterned liquid microsystems for emerging compliant microsystems.

    Recently, skin electronics and soft robotics have been initiated as potential applications that can provide soft interfaces and interactions for a human-machine interface. To meet the design parameters, developing soft material engineering aimed at tuning material properties and smart processing techniques proper to them are to be highly encouraged. As promising candidates, Ga-based liquid alloys and silicone-based elastomers have been widely applied to proof-of-concept compliant structures.

    In this thesis, the liquid alloy was employed as a soft and stretchable electrical and thermal conductor (resistor), interconnect and filler in an elastomer structure. Printing-based liquid alloy patterning techniques have been developed with a batch-type, parallel processing scheme. As a simple solution, tape transfer masking was combined with a liquid alloy spraying technique, which provides robust processability. Silicone elastomers could be tunable for multi-functional building blocks by liquid or liquid-like soft solid inclusions. The liquid alloy and a polymer additive were introduced to the silicone elastomer by a simple mixing process. Heterogeneous material microstructures in elastomer networks successfully changed mechanical, thermal and surface properties.

    To realize a compliant microsystem, these ideas have in practice been useful in designing and fabricating soft and stretchable systems. Many different designs of the microsystems have been fabricated with the developed techniques and materials, and successfully evaluated under dynamic conditions. The compliant microsystems work as basic components to build up a whole system with soft materials and a processing technology for our emerging society.

    List of papers
    1. Liquid alloy printing of microfluidic stretchable electronics
    Open this publication in new window or tab >>Liquid alloy printing of microfluidic stretchable electronics
    Show others...
    2012 (English)In: Lab on a Chip, ISSN 1473-0197, E-ISSN 1473-0189, Vol. 22, no 12, p. 4657-4664Article in journal (Refereed) Published
    Abstract [en]

    Recently, microfluidic stretchable electronics has attracted great interest from academia since conductive liquids allow for larger cross-sections when stretched and hence low resistance at longer lengths. However, as a serial process it has suffered from low throughput, and a parallel processing technology is needed for more complex systems and production at low costs. In this work, we demonstrate such a technology to implement microfluidic electronics by stencil printing of a liquid alloy onto a semi-cured polydimethylsiloxane (PDMS) substrate, assembly of rigid active components, encapsulation by pouring uncured PDMS on-top and subsequent curing. The printing showed resolution of 200 mm and linear resistance increase of the liquid conductors when elongated up to 60%. No significant change of resistance was shown for a circuit with one LED after 1000 times of cycling between a 0% and an elongation of 60% every 2 s. A radio frequency identity (RFID) tag was demonstrated using the developed technology, showing that good performance could be maintained well into the radio frequency (RF) range.

    Place, publisher, year, edition, pages
    Royal society of chemistry, 2012
    Keywords
    liquid alloy, printing, stretchable electronics, wireless communication
    National Category
    Electrical Engineering, Electronic Engineering, Information Engineering Other Materials Engineering
    Research subject
    Engineering Science with specialization in Microsystems Technology; Engineering Science with specialization in Electronics
    Identifiers
    urn:nbn:se:uu:diva-183278 (URN)10.1039/C2LC40628D (DOI)000310865200010 ()
    Available from: 2012-10-23 Created: 2012-10-23 Last updated: 2017-12-07Bibliographically approved
    2. Adhesive transfer soft lithography: low-cost and flexible rapid prototyping of microfluidic devices, Micro and Nanosystems
    Open this publication in new window or tab >>Adhesive transfer soft lithography: low-cost and flexible rapid prototyping of microfluidic devices, Micro and Nanosystems
    2014 (English)In: micro and nanosystems, ISSN 1876-4037, Vol. 6, p. 42-49Article in journal (Refereed) Published
    Abstract [en]

    A simple and low-cost approach was proposed for prototyping PDMS based microfluidic devices by transferringadhesive film microstructures onto a flexible substrate as a mould for PDMS replicas. The microstructures were engravedon an adhesive coated film using a commercial cutting plotter and then transferred (or laminated) onto a flexiblesubstrate, allowing for engraved isolated patterns. The proposed technique was demonstrated by a hydrodynamic focusingmicrofluidic device, having splitting and re-combining sheath channels. The whole processing could be finished within 1h in a normal laboratory environment. This approach offers an easy, flexible and rapid prototyping of microfluidic andlab-on-a-chip devices to users without expertise in microfabrication. In addition, by minimizing the use of chemicals, theprocess becomes more environmentally friendly than conventional photolithography based micro-fabrication techniques.

    Place, publisher, year, edition, pages
    Bentham Science Publishers, 2014
    Keywords
    liquid alloy, printing, soft lithography, rapid prototyping
    National Category
    Other Engineering and Technologies
    Research subject
    Engineering Science with specialization in Microsystems Technology
    Identifiers
    urn:nbn:se:uu:diva-239241 (URN)
    Available from: 2014-12-19 Created: 2014-12-19 Last updated: 2016-04-22
    3. Tape Transfer Printing of a Liquid Metal Alloy for Stretchable RF Electronics
    Open this publication in new window or tab >>Tape Transfer Printing of a Liquid Metal Alloy for Stretchable RF Electronics
    2014 (English)In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 14, no 9, p. 16311-16321Article in journal (Refereed) Published
    Abstract [en]

    In order to make conductors with large cross sections for low impedance radio frequency (RF) electronics, while still retaining high stretchability, liquid-alloy-based microfluidic stretchable electronics offers stretchable electronic systems the unique opportunity to combine various sensors on our bodies or organs with high-quality wireless communication with the external world (devices/systems), without sacrificing enhanced user comfort. This microfluidic approach, based on printed circuit board technology, allows large area processing of large cross section conductors and robust contacts, which can handle a lot of stretching between the embedded rigid active components and the surrounding system. Although it provides such benefits, further development is needed to realize its potential as a high throughput, cost-effective process technology. In this paper, tape transfer printing is proposed to supply a rapid prototyping batch process at low cost, albeit at a low resolution of 150 mu m. In particular, isolated patterns can be obtained in a simple one-step process. Finally, a stretchable radio frequency identification (RFID) tag is demonstrated. The measured results show the robustness of the hybrid integrated system when the tag is stretched at 50% for 3000 cycles.

    Keywords
    tape transfer printing, liquid metal alloy, microfluidic stretchable electronics, stretchable RF electronics, radio frequency identification (RFID) tag
    National Category
    Electrical Engineering, Electronic Engineering, Information Engineering
    Identifiers
    urn:nbn:se:uu:diva-237588 (URN)10.3390/s140916311 (DOI)000343106600041 ()
    Available from: 2014-12-05 Created: 2014-12-03 Last updated: 2017-12-05Bibliographically approved
    4. Tape transfer atomization patterning of liquid alloys for microfluidic stretchable wireless power transfer
    Open this publication in new window or tab >>Tape transfer atomization patterning of liquid alloys for microfluidic stretchable wireless power transfer
    2015 (English)In: Scientific Reports, ISSN 2045-2322, E-ISSN 2045-2322, Vol. 5, p. 8419-Article in journal (Refereed) Published
    Abstract [en]

    Stretchable electronics offers unsurpassed mechanical compliance on complex or soft surfaces like the human skin and organs. To fully exploit this great advantage, an autonomous system with a self-powered energy source has been sought for. Here, we present a new technology to pattern liquid alloys on soft substrates, targeting at fabrication of a hybrid-integrated power source in microfluidic stretchable electronics. By atomized spraying of a liquid alloy onto a soft surface with a tape transferred adhesive mask, a universal fabrication process is provided for high quality patterns of liquid conductors in a meter scale. With the developed multilayer fabrication technique, a microfluidic stretchable wireless power transfer device with an integrated LED was demonstrated, which could survive cycling between 0% and 25% strain over 1,000 times.

    National Category
    Mechanical Engineering
    Research subject
    Engineering Science with specialization in Microsystems Technology
    Identifiers
    urn:nbn:se:uu:diva-247504 (URN)10.1038/srep08419 (DOI)000349245600018 ()25673261 (PubMedID)
    Available from: 2015-03-19 Created: 2015-03-19 Last updated: 2017-12-04Bibliographically approved
    5. Stretchable wireless power transfer with a liquid alloy coil
    Open this publication in new window or tab >>Stretchable wireless power transfer with a liquid alloy coil
    2015 (English)In: Micro Electro Mechanical Systems (MEMS), 2015 28th IEEE International Conference on, 2015, p. 1137-1140Conference paper, Published paper (Refereed)
    Abstract [en]

    An integrated stretchable wireless power transfer device was demonstrated by packaging rigid electronic chips onto a liquid alloy coil patterned on a half-cured polydimethylsiloxane (PDMS) surface. To obtain low enough resistance, the long liquid alloy coil with a large cross section was made with a tape transfer masking followed by spray deposition of the liquid alloy. The measured results indicated the wireless power transfer efficiency reached 10% at 140 kHz and good performance under 25% overall strain. Different sizes of liquid alloy coils and a soft magnetic composite core were tested to improve the efficiency of the system.

    Series
    Proceedings IEEE Micro Electro Mechanical Systems, ISSN 1084-6999
    Keywords
    Liquid alloy, Stretchable electronics, Wireless power transfer, Smart system integration
    National Category
    Engineering and Technology
    Research subject
    Materials Science
    Identifiers
    urn:nbn:se:uu:diva-265529 (URN)10.1109/MEMSYS.2015.7051165 (DOI)000370382900296 ()978-1-4799-7955-4 (ISBN)
    Conference
    Micro Electro Mechanical Systems (MEMS), 2015 28th IEEE International Conference on, Estoril, January 18-22, 2015
    Available from: 2015-10-31 Created: 2015-10-31 Last updated: 2016-04-21Bibliographically approved
    6. Mechanically Stretchable and Electrically Insulating Thermal Elastomer Composite by Liquid Alloy Droplet Embedment
    Open this publication in new window or tab >>Mechanically Stretchable and Electrically Insulating Thermal Elastomer Composite by Liquid Alloy Droplet Embedment
    Show others...
    2015 (English)In: Scientific Reports, ISSN 2045-2322, E-ISSN 2045-2322, Vol. 5, article id 18257Article in journal (Refereed) Published
    Abstract [en]

    Stretchable electronics and soft robotics have shown unsurpassed features, inheriting remarkable functions from stretchable and soft materials. Electrically conductive and mechanically stretchable materials based on composites have been widely studied for stretchable electronics as electrical conductors using various combinations of materials. However, thermally tunable and stretchable materials, which have high potential in soft and stretchable thermal devices as interface or packaging materials, have not been sufficiently studied. Here, a mechanically stretchable and electrically insulating thermal elastomer composite is demonstrated, which can be easily processed for device fabrication. A liquid alloy is embedded as liquid droplet fillers in an elastomer matrix to achieve softness and stretchability. This new elastomer composite is expected useful to enhance thermal response or efficiency of soft and stretchable thermal devices or systems. The thermal elastomer composites demonstrate advantages such as thermal interface and packaging layers with thermal shrink films in transient and steady-state cases and a stretchable temperature sensor.

    National Category
    Textile, Rubber and Polymeric Materials Mechanical Engineering
    Identifiers
    urn:nbn:se:uu:diva-272055 (URN)10.1038/srep18257 (DOI)000366451800001 ()26671673 (PubMedID)
    Funder
    Swedish Research Council, 621-2010-5443 621-2014-5596Swedish Foundation for Strategic Research , EM11-0002 SE13-0061
    Available from: 2016-01-12 Created: 2016-01-11 Last updated: 2017-11-30Bibliographically approved
    7. PDMS-Based Elastomer Tuned Soft, Stretchable, and Sticky for epidermal electronics
    Open this publication in new window or tab >>PDMS-Based Elastomer Tuned Soft, Stretchable, and Sticky for epidermal electronics
    Show others...
    2016 (English)In: Advanced Materials, ISSN 0935-9648, E-ISSN 1521-4095, Vol. 28, no 28, p. 5830-5836Article in journal (Refereed) Published
    Abstract [en]

    Targeting good user experiences, softness and stretchability are essential features for epidermal devices in body signal monitoring and body area stimulation. A highly soft, stretchable and sticky polydimethylsiloxane based elastomer (S3-PDMS) is achieved by a simple process with a widely used siloxane precursors, the properties of which are tuned by adding small fractions of an amine-based polymer, ethoxylated polyethylenimine (EPEI). This allows formation of a thick unobstrusive patch and may ease implementation of epidermal electronics in wearable healthcare applications. 

    Keywords
    Adhesion, Compliance, Elongation at break, Epidermal electronics, PDMS-based elastomer tuning
    National Category
    Textile, Rubber and Polymeric Materials Applied Mechanics Polymer Chemistry
    Research subject
    Engineering Science with specialization in Materials Science
    Identifiers
    urn:nbn:se:uu:diva-281212 (URN)10.1002/adma.201505372 (DOI)000382400900004 ()
    Funder
    Swedish Research Council, 2010-5443
    Available from: 2016-03-21 Created: 2016-03-21 Last updated: 2017-11-30Bibliographically approved
    8. Stretchable thermoelectric generators metallized with liquid alloy
    Open this publication in new window or tab >>Stretchable thermoelectric generators metallized with liquid alloy
    Show others...
    2017 (English)In: ACS Applied Materials and Interfaces, ISSN 1944-8244, E-ISSN 1944-8252, Vol. 9, no 18, p. 15791-15797Article in journal (Refereed) Published
    Abstract [en]

    Conventional thermoelectric generators (TEGs) are normally hard, rigid, and flat. However, most objects have curvy surfaces, which require soft and even stretchable TEGs for maximizing efficiency of thermal energy harvesting. Here, soft and stretchable TEGs using conventional rigid Bi2Te3 pellets metallized with a liquid alloy is reported. The fabrication is implemented by means of a tailored layer-by-layer fabrication process. The STEGs exhibit an output power density of 40.6 mu W/cm(2) at room temperature. The STEGs are operational after being mechanically stretched-and-released more than 1000 times, thanks to the compliant contact between the liquid alloy interconnects and the rigid pellets. The demonstrated interconnect scheme will provide a new route to the development of soft and stretchable energy-harvesting avenues for a variety of emerging electronic applications.

    National Category
    Energy Engineering Textile, Rubber and Polymeric Materials Other Engineering and Technologies not elsewhere specified
    Identifiers
    urn:nbn:se:uu:diva-281213 (URN)10.1021/acsami.7b04752 (DOI)000401307100064 ()28453282 (PubMedID)
    Funder
    Swedish Foundation for Strategic Research , EM11-0002, SE13-0061Swedish Research Council, 621-2014-5596
    Available from: 2016-03-21 Created: 2016-03-21 Last updated: 2017-07-04Bibliographically approved
  • 21.
    Jorsback, Katarina
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Borrning och gängning av laxkilar till vågkraftverk med industrirobot2014Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    To make wave power more competitive on the market Uppsala University leads projects that examine how to accomplish better efficiency in the production. One of these projects is described in this report and examines whether it is possible to make the production of dovetails more efficient by using an industry robot of type ABB IRB6000 S3 M91. This project is using an already presented working method, from a previous project, which involves that the robot picks up the dovetail and moves against fixed cutting machines where the dovetail will be drilled, threaded and milled. Drilling and threading are the sub operations that will be examined in this project where experiments are made with the presented working method and with equipment from Uppsala University.

    Experiments show whether it is possible to drill the holes in the dovetail within specifications by using the specific robot and the presented working method. The threading operation is examined theoretically if it is possible to accomplish by using the same working method. A tool for the robot is constructed so that the robot can pick up the dovetail and hold it though all the cutting operations. The functions of the tool are evaluated. In this project a working station for drilling and threading is also presented with external fixtures that are adjusted to fit the designs of the used dovetails.

    Using the specific robot and the presented working method in the experiment, a result within the specifications could be obtained in the processing rate. In the terms of time the result was not within desired limits, although the time of the process with the experiment setup could be reduced. It is reasonable to use the same working method for the threading operation. The prototype of the tool for the robot was able to pick up the dovetail and take the different working positions; however the tool should be tested in operation with external fixtures for further evaluation. 

  • 22.
    Kamf, Tobias
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    A Method for Calibrating Work-Piece Orientation: Using a Dual-Axis MEMS InclinometerIn: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537Article in journal (Refereed)
    Abstract [en]

    An accelerometer based alignment system designed to align robotic tools and work-pieces in a Cartesian coordinate system is presented, with potential applications within the automated production industry. An overview of the underlying theory, used hardware, micro-controller implementation and performed experiments is presented. The developed theoretical model and prototype hardware is veried against both simulations and experiments, evaluating their performance and practical limitations. For a set of 2000 random initial misalignments with an amplitude in the range of 0° to 10°, the system achieved an alignment accuracy with a 3-sigma bound of 0.023° in the XY plane and 0.14° along the Z-axis. On average the used robot needed 20.86 s to align the used tool to stated accuracy.

  • 23.
    Kamf, Tobias
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Automated Production Technologies and Measurement Systems for Ferrite Magnetized Linear Generators2017Doctoral thesis, comprehensive summary (Other academic)
    Abstract [en]

    The interest in breaking the historical dependence on fossil energy and begin moving towards more renewable energy sources is rising worldwide. This is largely due to uncertainties in the future supply of fossil fuels and the rising concerns about humanity’s role in the currently ongoing climate changes. One renewable energy source is ocean waves and Uppsala University has since the early 2000s been performing active research in this area. The Uppsala wave energy concept is centered on developing linear generators coupled to point absorbing buoys, with the generator situated on the seabed and connected to the buoy on the sea surface via a steel wire. The motion of the buoy then transfers energy to the generator, where it is converted into electricity and sent to shore for delivery into the electrical grid.

    This thesis will mainly focus on the development and evaluation of technologies used to automate the manufacturing of the translator, a central part of the linear generator, using industrial robotics. The translator is a 3 m high and 0.8 m wide three sided structure with an aluminum pipe at its center. The structure consists of alternating layers of steel plates (pole-shoes) and ferrite magnets, with a total of 72 layers per side. To perform experiments on translator assembly and production, a robot cell (centered on an IRB6650S industrial robot) complimented with relevant tools, equipment and security measures, has been designed and constructed. The mounting of the pole-shoes on the central pipe, using the industrial robot, proved to be the most challenging task to solve. However, by implementing a precise work-piece orientation calibration system, combined with selective compliance robot tools, the task could be performed with mounting speeds of up to 50 mm/s. Although progress has been made, much work still remains before fully automated translator assembly is a reality.

    A secondary topic of this thesis is the development of stand-alone measurement systems to be used in the linear generator, once it has been deployed on the seabed. The main requirements of such a measurement system is robustness, resistance to electrical noise, and power efficiency. If possible the system should also be portable and easy to use. This was solved by developing a custom measurement circuit, based on industry standard 4–20 mA current signals, combined with a portable submersible logging unit. The latest iteration of the system is small enough to be deployed and retrieved by one person, and can collect data for 10 weeks before running out of batteries. Future work in this area should focus on increasing the usability of the system.

    The third and final topic of this thesis is a short discussion of an engineering approach to kinetic energy storage, in the form of high-speed composite flywheels, and the design of two different prototypes of such flywheels. Both designs gave important insights to the research group, but a few crucial design faults unfortunately made it impossible to evaluate the full potential of the two designs.

    List of papers
    1. Self-Sensing Electromagnets for Robotic Tooling Systems: Combining Sensor and Actuator
    Open this publication in new window or tab >>Self-Sensing Electromagnets for Robotic Tooling Systems: Combining Sensor and Actuator
    2016 (English)In: Machines, ISSN 2075-1702, Vol. 4, no 3, article id 16Article in journal (Refereed) Published
    Abstract [en]

    A low-cost method, which integrates distance sensing functionality into a switched electromagnet by using a hybrid switching mode and current ripple measurements, is proposed. The electromagnet is controlled by a micro-controller via a MOSFET H bridge, utilizing a comparator-based current control. Additionally, a method for calculating the inductance of the electromagnet and approximating the magnetic contact between the electromagnet and its target is also presented. The resulting tool is attached to an industrial robot, and the system performance using this setup is evaluated. Distance sensing in the range of 0 mm to 5.2 mm is demonstrated. It is also shown that the relation between magnetic contact, coil current and calculated inductance can be reduced to a predictive look-up table, enabling the quality of the magnetic contact to be estimated using minimal computational effort.

    Keywords
    electromagnet, distance measurement, self-sensing, robotic-tool, current control, current ripple, H bridge, micro-controller
    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Identifiers
    urn:nbn:se:uu:diva-305436 (URN)10.3390/machines4030016 (DOI)000401524100003 ()
    Funder
    VINNOVA
    Available from: 2016-10-18 Created: 2016-10-18 Last updated: 2017-10-08Bibliographically approved
    2. Automated Mounting of Pole-Shoe Wedges in Linear Wave Power Generators-Using Industrial Robotics and Proximity Sensors
    Open this publication in new window or tab >>Automated Mounting of Pole-Shoe Wedges in Linear Wave Power Generators-Using Industrial Robotics and Proximity Sensors
    2017 (English)In: MACHINES, ISSN 2075-1702, Vol. 5, no 1, article id 10Article in journal (Refereed) Published
    Abstract [en]

    A system for automatic mounting of high tolerance wedges inside a wave power linear generator is proposed. As for any renewable energy concept utilising numerous smaller generation units, minimising the production cost per unit is vital for commercialization. The linear generator in question uses self-locking wedges, which are challenging to mount using industrial robots due to the high tolerances used, and because of the fact that any angular error remaining after calibration risks damaging the equipment. Using two types of probes, mechanical touch probes and inductive proximity sensors, combined with a flexible robot tool and iterative calibration routines, an automatic mounting system that overcomes the challenges of high tolerance wedge mounting is presented. The system is experimentally verified to work at mounting speeds of up to 50mms(-1), and calibration accuracies of 0.25mm and 0.1 degrees are achieved. The use of a flexible robot tool, able to move freely in one Cartesian plane, was found to be essential for making the system work.

    Place, publisher, year, edition, pages
    MDPI AG, 2017
    Keywords
    automated production, wave power, robotics, calibration, sensors, wedges, linear-generator, touch probe
    National Category
    Environmental Engineering
    Identifiers
    urn:nbn:se:uu:diva-324353 (URN)10.3390/machines5010010 (DOI)000401524900009 ()
    Funder
    VINNOVA
    Available from: 2017-06-14 Created: 2017-06-14 Last updated: 2017-10-08Bibliographically approved
    3. Preparing the Uppsala University wave energy converter generator for large-scale production
    Open this publication in new window or tab >>Preparing the Uppsala University wave energy converter generator for large-scale production
    Show others...
    2014 (English)Conference paper, Published paper (Other academic)
    Place, publisher, year, edition, pages
    Halifax, Canada: , 2014
    National Category
    Engineering and Technology
    Identifiers
    urn:nbn:se:uu:diva-237554 (URN)
    Conference
    5th International Conference on Ocean Energy
    Available from: 2014-12-03 Created: 2014-12-03 Last updated: 2017-12-07
    4. Offshore Measurement System for WavePower: Using Current Loop Feedback
    Open this publication in new window or tab >>Offshore Measurement System for WavePower: Using Current Loop Feedback
    2016 (English)In: Electronics, ISSN 2079-9292, Vol. 5, no 4, article id 86Article in journal (Refereed) Published
    Abstract [en]

    This paper presents the design and testing of a measurement system for wave powergenerators. The work is part of a project to build a robust and cheap measurement system for offshoremonitoring of wave power farms. Due to the harsh offshore environment, low accessibility andhigh cost for installation and maintenance, it is of key importance to minimize power consumption,complexity and cost of each measurement unit. For the first prototype, the objective was to measurevoltage, current and translator position inside the linear wave power generator. For this, twoprinted circuit boards (PCBs) were developed, using a two wire current loop transmitter setup.They were tested separately and in a three phase setup inside a wave power generator duringonshore tests. To ensure stability, speed and accuracy in the signal transfer, the PCBs were tested forlinearity, frequency response and step response. In addition, power consumption was measured,for operational time evaluation. Results show good agreement between expected and measuredperformance, with an input range of ±1560 V and ±420 A for alternating current measurements anda bandwidth of 10 kHz and 7 kHz, for voltage and current measurements, respectively. The powerconsumption was measured to 0.5 W for each measurement unit, at 24 V feed.

    Keywords
    wave power; conditional monitoring; PCB; current loop; measurement system
    National Category
    Electrical Engineering, Electronic Engineering, Information Engineering
    Identifiers
    urn:nbn:se:uu:diva-313258 (URN)10.3390/electronics5040086 (DOI)000392387600008 ()
    Available from: 2017-01-18 Created: 2017-01-18 Last updated: 2017-10-08Bibliographically approved
    5. Portable Data Acquisition System for Offshore Applications
    Open this publication in new window or tab >>Portable Data Acquisition System for Offshore Applications
    2019 (English)In: IEEE Journal of Oceanic Engineering, ISSN 0364-9059, E-ISSN 1558-1691, Vol. 44, no 3, p. 719-727Article in journal (Refereed) Published
    Abstract [en]

    In the development of ocean energy technologies, full-scale sea trials have proven technically challenging and expensive. As a contribution to the development of flexible, reliable, and affordable measurement systems for such sea trials, this paper presents and evaluates a portable data acquisition system. The system offers a cheap and flexible option for when and where signal infrastructure at site is not available. It is battery powered and consists of a sensor system and a logger unit. The sensor system is placed inside the object of study, which for this application is a wave power generator standing on the seafloor. The logger unit, which contains a logger with integrated data storage and a battery, is placed outside the object of study in a submersible and retrievable vessel. Sensor output is carried with 4-20-mA current signals between the sensor system and the logger, which makes the system directly compatible with a wide range of industrial sensors. For the specific setup implemented in this paper, the sensor system was used to measure voltage and current inside the generator. Beyond this, the system is designed to be adaptable for a wider range of sensors, with 16 individual signals and a sampling frequency up to 1 kHz. The custom logger is programmable and offers many options to apply different logging schedules and to limit the sensor system power supply accordingly. Evaluations show that the implemented system offers 5-22 weeks of 1-kHz and 16-bmonitoring of 16 signals, depending on a chosen logging schedule. Suggestions are also given for how to raise the operation time up to 50 weeks. The system has been tested offshore for the collection of power production data from two wave energy converters, with good results.

    Keywords
    Data Acquisition, Ocean Energy, Wave Power, Logger, Offshore Measurments
    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Identifiers
    urn:nbn:se:uu:diva-329827 (URN)10.1109/JOE.2018.2840398 (DOI)000476752900016 ()
    Funder
    StandUp
    Available from: 2017-09-21 Created: 2017-09-21 Last updated: 2020-01-08Bibliographically approved
    6. Nearshore Tests of the Tidal Compensation System for Point-Absorbing Wave Energy Converters
    Open this publication in new window or tab >>Nearshore Tests of the Tidal Compensation System for Point-Absorbing Wave Energy Converters
    2015 (English)In: Energies, ISSN 1996-1073, E-ISSN 1996-1073, Vol. 8, no 4, p. 3272-3291Article in journal (Refereed) Published
    Abstract [en]

    The power production of the linear generator wave energy converter developed at Uppsala University is affected by variations of mean sea level. The reason is that these variations change the distance between the point absorber located on the surface and the linear generator located on the seabed. This shifts the average position of the translator with respect to the center of the stator, thereby reducing the generator output power. A device mounted on the point absorber that compensates for tides of small range by regulating the length of the connection line between the buoy at the surface and the linear generator has been constructed and tested. This paper describes the electro-mechanical, measurement, communication and control systems installed on the buoy and shows the results obtained before its connection to the generator. The adjustment of the line was achieved through a linear actuator, which shortens the line during low tides and vice versa. The motor that drives the mechanical device was activated remotely via SMS. The measurement system that was mounted on the buoy consisted of current and voltage sensors, accelerometers, strain gauges and inductive and laser sensors. The data collected were transferred via Internet to a Dropbox server. As described within the paper, after the calibration of the sensors, the buoy was assembled and tested in the waters of Lysekil harbor, a few kilometers from the Uppsala University research site. Moreover, the performance of the sensors, the motion of the mechanical device, the power consumption, the current control strategy and the communication system are discussed.

    National Category
    Energy Engineering
    Identifiers
    urn:nbn:se:uu:diva-255300 (URN)10.3390/en8043272 (DOI)000353963400045 ()
    Available from: 2015-06-18 Created: 2015-06-15 Last updated: 2017-12-04Bibliographically approved
    7. Control System for Compensator of Mean Sea Level Variations at the Lysekil Research Site
    Open this publication in new window or tab >>Control System for Compensator of Mean Sea Level Variations at the Lysekil Research Site
    2014 (English)Conference paper, Published paper (Other academic)
    Place, publisher, year, edition, pages
    Japan, Tokyo: , 2014
    National Category
    Engineering and Technology
    Identifiers
    urn:nbn:se:uu:diva-237524 (URN)
    Conference
    2nd Asian Wave and Tidal Energy Conference
    Available from: 2014-12-03 Created: 2014-12-03 Last updated: 2017-10-08
    8. Reluctance Machine for a Hollow Cylinder Flywheel
    Open this publication in new window or tab >>Reluctance Machine for a Hollow Cylinder Flywheel
    Show others...
    2017 (English)In: Energies, ISSN 1996-1073, E-ISSN 1996-1073, Vol. 10, no 3, article id 316Article in journal (Refereed) Published
    Abstract [en]

    A hollow cylinder flywheel rotor with a novel outer rotor switched reluctance machine (SRM) mounted on the interior rim is presented, with measurements, numerical analysis and analytical models. Practical experiences from the construction process are also discussed. The flywheel rotor does not have a shaft and spokes and is predicted to store 181 Wh/kg at ultimate tensile strength (UTS) according to simulations. The novel SRM is an axial flux machine, chosen due to its robustness and tolerance for high strain. The computed maximum tip speed of the motor at UTS is 1050 m/s . A small-scale proof-of-concept electric machine prototype has been constructed, and the machine inductance has been estimated from measurements of voltage and current and compared against results from analytical models and finite element analysis (FEA). The prototype measurements were used to simulate operation during maximal speed for a comparison towards other high-speed electric machines, in terms of tip speed and power. The mechanical design of the flywheel was performed with an analytical formulation assuming planar stress in concentric shells of orthotropic (unidirectionally circumferentially wound) carbon composites. The analytical approach was verified with 3D FEA in terms of stress and strain.

    Keywords
    flywheel energy storage, hollow cylinder flywheel, reluctance machine, high-speed machines
    National Category
    Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Engineering Science with specialization in Science of Electricity
    Identifiers
    urn:nbn:se:uu:diva-317875 (URN)10.3390/en10030316 (DOI)000398736700056 ()
    Available from: 2017-03-21 Created: 2017-03-21 Last updated: 2017-11-29Bibliographically approved
    9. High-Speed Kinetic Energy Buffer: Optimization of Composite Shell and Magnetic Bearings
    Open this publication in new window or tab >>High-Speed Kinetic Energy Buffer: Optimization of Composite Shell and Magnetic Bearings
    2014 (English)In: IEEE transactions on industrial electronics (1982. Print), ISSN 0278-0046, E-ISSN 1557-9948, Vol. 61, no 6, p. 3012-3021Article in journal (Refereed) Published
    Abstract [en]

    This paper presents the design and optimization of a high-speed (30 000 r/min) kinetic energy storage system. The purpose of the device is to function as an energy buffer storing up to 867 Wh, primarily for utility vehicles in urban traffic. The rotor comprises a solid composite shell of carbon and glass fibers in an epoxy matrix, constructed in one curing. The shell is optimized using a combined analytical and numerical approach. The radial stress in the shell is kept compressive by integrating the electric machine, thereby avoiding delamination. Radial centering is achieved through eight active electromagnetic actuators. The actuator geometry is optimized using a direct coupling between SolidWorks, Comsol, and Matlab for maximum force over resistive loss for a given current density. The optimization results in a system with 300% higher current stiffness than the reference geometry with constant flux area, at the expense of 33% higher power loss. The actuators are driven by semipassive H bridges and controlled by an FPGA. Current control at 20 kHz with a noise of less than 5 mA (95% CI) is achieved, allowing position control at 4 kHz to be implemented.

    National Category
    Other Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Engineering Science with specialization in Science of Electricity
    Identifiers
    urn:nbn:se:uu:diva-212101 (URN)10.1109/TIE.2013.2259782 (DOI)000329055300039 ()
    Available from: 2013-12-05 Created: 2013-12-05 Last updated: 2017-12-06Bibliographically approved
    10. Spin-down Losses and Vibration Analysis of a Flywheel Energy Storage System
    Open this publication in new window or tab >>Spin-down Losses and Vibration Analysis of a Flywheel Energy Storage System
    (English)In: Energies, ISSN 1996-1073, E-ISSN 1996-1073Article in journal (Refereed) Submitted
    Abstract [en]

    An integrated flywheel prototype designed to store 868 W h at 30 000 rpm with a novel radial flux core-less electric machine was constructed. The rotor was suspended contactlessly on active radial magnetic bearings and passive axial magnetic bearings. This paper describes the system in detail. The rotor was found to be weakly damped (even at standstill) and the magnetic bearings were used to specifically compensate particular eigenfrequencies. The levitation system was then used to experimentally evaluate the vibrations of the rotor, and compared to FEM studies. Spin-down tests were conducted to evaluate levitation system performance. 

    Keywords
    flywheel energy storage, spin-down losses, vibrations
    National Category
    Electrical Engineering, Electronic Engineering, Information Engineering
    Research subject
    Engineering Science with specialization in Science of Electricity
    Identifiers
    urn:nbn:se:uu:diva-319522 (URN)
    Funder
    StandUp
    Available from: 2017-04-06 Created: 2017-04-06 Last updated: 2017-11-29
    11. High Speed Flywheels for Vehicular Applications
    Open this publication in new window or tab >>High Speed Flywheels for Vehicular Applications
    Show others...
    2014 (English)In: 14th International Symposium on Magnetic Bearings, Linz, Austria, 2014Conference paper, Published paper (Refereed)
    Place, publisher, year, edition, pages
    Linz, Austria: , 2014
    National Category
    Engineering and Technology
    Identifiers
    urn:nbn:se:uu:diva-237547 (URN)
    Conference
    14th International Symposium on Magnetic Bearings
    Available from: 2014-12-03 Created: 2014-12-03 Last updated: 2017-10-08
    12. A Method for Calibrating Work-Piece Orientation: Using a Dual-Axis MEMS Inclinometer
    Open this publication in new window or tab >>A Method for Calibrating Work-Piece Orientation: Using a Dual-Axis MEMS Inclinometer
    (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537Article in journal (Refereed) Submitted
    Abstract [en]

    An accelerometer based alignment system designed to align robotic tools and work-pieces in a Cartesian coordinate system is presented, with potential applications within the automated production industry. An overview of the underlying theory, used hardware, micro-controller implementation and performed experiments is presented. The developed theoretical model and prototype hardware is veried against both simulations and experiments, evaluating their performance and practical limitations. For a set of 2000 random initial misalignments with an amplitude in the range of 0° to 10°, the system achieved an alignment accuracy with a 3-sigma bound of 0.023° in the XY plane and 0.14° along the Z-axis. On average the used robot needed 20.86 s to align the used tool to stated accuracy.

    National Category
    Robotics
    Identifiers
    urn:nbn:se:uu:diva-330869 (URN)
    Available from: 2017-10-05 Created: 2017-10-05 Last updated: 2017-10-15
  • 24.
    Knorn, Steffi
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
    Donaire, A
    Agüero, JC
    Middleton, RH
    Scalability of bidirectional vehicle strings with static and dynamic measurement errors2015In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 62, p. 208-212Article in journal (Refereed)
    Abstract [en]

    Poor scalability arises in many vehicle platoon problems. Bidirectional strings appear to show some promise for mitigating these problems. In some cases these solutions have the undesirable side effect of non-scalable response to measurement errors. We examine this problem and show how information exchange between neighbouring vehicles may eliminate scalability difficulties due to measurement errors.

  • 25.
    Knorn, Steffi
    et al.
    Univ Newcastle, Ctr Complex Dynam Syst & Control, Callaghan, NSW 2308, Australia..
    Middleton, Richard H
    Univ Newcastle, Ctr Complex Dynam Syst & Control, Callaghan, NSW 2308, Australia..
    Stability of two-dimensional linear systems with singularities on the stability boundary using LMIs2013In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 58, no 10, p. 2579-2590Article in journal (Refereed)
    Abstract [en]

    This paper gives results on stability and asymptotic stability of two-dimensional systems using linear matrix inequalities (LMIs). Despite a long history of research in this area, systems with singularities on the stability boundary (SSB) have received limited attention because they cannot produce a sign definite solution to the required LMI. However, 2D systems describing some classes of models of vehicle platoons generically involve an SSB. Therefore, commonly used definitions for (asymptotic) stability and strict LMI conditions are not suitable to discuss the stability of these systems. It is shown that the existence of a negative semidefinite solution together with simple additional conditions is sufficient to guarantee asymptotic stability. Thus, the stability conditions discussed here can be used to study a wider range of dynamical systems, including systems with singularities on the stability boundary (SSB), which cannot be exponentially stable. A unified framework is used to analyse continuous-continuous, continuous-discrete and discrete-discrete systems simultaneously.

  • 26.
    Kung, Enoch
    et al.
    Hong Kong Univ Sci & Technol, Dept Elect & Comp Engn, Kowloon, Hong Kong, Peoples R China.
    Dey, Subhrakanti
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
    Shi, Ling
    Hong Kong Univ Sci & Technol, Dept Elect & Comp Engn, Kowloon, Hong Kong, Peoples R China.
    The performance and limitations of ε-stealthy attacks on higher order systems2017In: IEEE Transactions on Automatic Control, ISSN 0018-9286, E-ISSN 1558-2523, Vol. 62, no 2, p. 941-947Article in journal (Refereed)
    Abstract [en]

    In a cyber-physical system, security problems are of vital importance as the failure of such system can have catastrophic effects. Detection methods can be employed to sense the existence of an attack. In a previous study of an attack on the controller while avoiding detection in scalar systems under a certain control assumption, the notion of epsilon-stealthiness was introduced and the strength of epsilon-stealthy attacks was fully characterized. We generalize to the vector system and prove the cases in which we show that the limitations of epsilon-stealthy attack do not extend, in the sense that epsilon-stealthy can inflict damage of arbitrary magnitude to a vector system.

  • 27.
    Larsson, Hannes
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Scientific Computing.
    Deep Reinforcement Learning for Cavity Filter Tuning2018Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    In this Master's thesis the option of using deep reinforcement learning for cavity filter tuning has been explored. Several reinforcement learning algorithms have been explained and discussed, and then the deep deterministic policy gradient algorithm has been used to solve a simulated filter tuning problem. Both the filter environment and the reinforcement learning agent were implemented, with the filter environment making use of existing circuit models. The reinforcement learning agent learned how to tune filters with four poles and one transmission zero, or eight tune-able screws in total. A comparison was also made between constant exploration noise and exploration noise decaying over time, together with different maximum lengths of the episodes. For the particular noise used here, decaying exploration noise was shown to be better than constant, and a maximum length of 100 steps was shown to be better than 200 for the 8 screw filter.

  • 28.
    Larsson, Johan
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Preparering av kabelände inför statorlindning2015Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    At Uppsala university scientists have during the last years developed and built wave energy converters. This project is called "Lysekilsprojektet". The development has come so far that they are currently investigating how to gain profit in a mass production. For that reason they want to automate as many steps in the production as possible.

    The winding of the stator is one part that is being automated using industry robots. The stator is cable wound unlike many other generators. The stator consists of many thin stator sheets that have been stacked. These stator sheets have cable slots where the cables pass through. This can lead to the cable getting stuck during winding. To avoid this the shape of the cable end has to be changed. This report investigates methods to automate the process of preparing the cable end.

    Experiments show how the cable insulation acts when heated and cooled. Different methods are tested to see how the insulation can be pulled out and reshaped. The methods presented have showed good results and are worth to continue to develop. The results have achieved the set requirements. The project leader has shown interest to build the presented concept tools. This report also shows that it is possible to save three hours and 40 minutes per complete stator winding by using a separate robot to carry out the preparation instead of the winding robots. This could reduce about 20 % of the total winding cycle. If this preparation were to be carried out manually it would take about five hours and ten minutes for each stator.

  • 29. Leong, AS
    et al.
    Quevedo, Daniel E
    Dey, Subhrakanti
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Signals and Systems Group.
    Optimal control of energy resources for state estimation over wireless channels2018In: SpringerBriefs in Control, Automation and Robotics / [ed] Başar, Tamer; Krstic, Miroslav, Springer Publishing Company, 2018Chapter in book (Refereed)
  • 30.
    Liljequist, Viktor
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control.
    Development of a Bioreactor Simulator for supporting automation software test and verification2017Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    The GE Healthcare Life sciences organization develop and manufacture bioreactors, mixers, filtration skids and chromatography systems used together in a biomanufacturing platform. The platform is monitored and controlled by a distributed control system through a Programmable Logic Controller (PLC). The automation software controlling the platform is today tested and verified together with the physical units. The software use PROFIBUS, an industry standard for industrial automation, for communication and control of the units. Limited access to the physical units is usually a bottleneck and it's difficult to test abnormal situations to make sure the correct alarms are triggered. To reduce the hardware dependency and to provide support during test and verification, a virtual environment is developed to simulate the behavior of a bioreactor during execution. A .NET application has been developed together with a mathematical framework to simulate a cell culture and to return relevant process parameters such as pH, dissolved oxygen, temperature and weight. The results show that it's possible to simulate a bioreactor and to communicate with the control system. The software can be a valuable tool when developing and testing automation software but should not be used for process optimization or tuning of control parameters.

  • 31.
    Lindblom, Sebastian
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Johansson, David
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Automatic System Tests on Airborne Radar Systems2018Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    The aim of this master thesis was to create automated system tests on airborne radar systems. Automated tests can reduce time spent on repetitive and monotone work and instead create time for exploratory testing and customer criteria testing. Nightly builds and well designed tests can improve robustness and create a more stable system for the user.

    The project started with a pre-study, which consisted of researching the system in question, researching the possibilities of automated tests on said system and different tools that could be used in the project. Furthermore the pre-study contained interviews, visits and workshops within SAAB, with topics including automated tests, automation software and the SAAB GlobalEye system.

    The solution included two separated tests, one regression test and one startup test. The regression test verifies that selected standard functions works with the new soft/hardware updates and the Startup test verifies that the starting sequences for selected subsystems are

    executed correctly. Both of these tests were installed in the test laboratory. The tests were separated in to two parts; one control part and one analysis part. By recording the data being sent on the different interfaces while performing the tests, it's made possible to analyze the recorded data. This method enables many tests to be performed on the same set of data. The control part was solved with a third party software, called Squish, from a German company named Froglogic. The analysis part was written in MATLAB, where the test results were presented as well.

    The chain of events was set up and executed by Jenkins (an open source automation software), which also served as a scheduler, to enable nightly builds.

  • 32.
    Ljungberg, Emil
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Industrial Engineering & Management.
    Livscykelkostnad för olika grader av automatiserat underhåll: LCC för manuell och semiautomatisk kameratvätt i Sveriges vägtunnlar2016Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    At the Swedish Transport Administration two different maintenance strategies are practiced to keep cameras in road tunnels clean. The theory of Life Cycle Cost, LCC, is applied on maintenance depending on its Level of Automation, LoA, and is further developed. In the case of cameras, in Swedish road tunnels the processes demonstrate two different LoA. LCC is used to compare and analyze how the properties between semiautomatic and manual maintenance affect investment costs, operational costs and the cost of preventive and corrective maintenance. Semiautomatic cleaning maintenance of cameras in road tunnels indicate a larger LCC than manual maintenance. This is due to a larger investment cost for machinery, but a similar annual cost for preventive maintenance. The presented properties affecting LCC are placed in a general context. This emphasize the significance of examining costs at high level of detail and comprehend the properties causing the costs.

  • 33.
    Lu, Qi
    et al.
    ABB Corp Res China, Shanghai, Peoples R China..
    Zhen, Fei
    Zhejiang Univ, Coll Mech Engn, Hangzhou, Zhejiang, Peoples R China..
    Kefer, Martin
    ABB Corp Res China, Shanghai, Peoples R China..
    Nylander, Maria
    Uppsala University, Disciplinary Domain of Science and Technology, Earth Sciences, Department of Earth Sciences.
    A Multi-objective Design Optimization of a Centrifugal Cooling Fan on a TEFC Motor2017In: Mechanism And Machine Science / [ed] Zhang, X Wang, N Huang, Y, Springer, 2017, p. 1355-1364Conference paper (Refereed)
    Abstract [en]

    A design optimization method of a centrifugal fan on a totally-enclosed fan-cooled (TEFC) motor was studied in this paper. A multi-objective optimization problem was formulated which is to decrease noise level of fan and to increase air flow rate at the same time. Two design variables, namely fan diameter (D) and blade height (H), were investigated. Responses surface models were established based on design of experiments to identify the mathematical relationships between fan performances and the design parameters. These models were later used in optimization. As a result, a Pareto front was obtained which illustrated the optimal trade-offs that can be achieved in design. The Pareto front was then experimentally verified on an in-house test rig by using acoustic holography techniques.

  • 34.
    Malmgren, Henrik
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences.
    Revision of an artificial neural network enabling industrial sorting2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Convolutional artificial neural networks can be applied for image-based object classification to inform automated actions, such as handling of objects on a production line. The present thesis describes theoretical background for creating a classifier and explores the effects of introducing a set of relatively recent techniques to an existing ensemble of classifiers in use for an industrial sorting system.The findings indicate that it's important to use spatial variety dropout regularization for high resolution image inputs, and use an optimizer configuration with good convergence properties. The findings also demonstrate examples of ensemble classifiers being effectively consolidated into unified models using the distillation technique. An analogue arrangement with optimization against multiple output targets, incorporating additional information, showed accuracy gains comparable to ensembling. For use of the classifier on test data with statistics different than those of the dataset, results indicate that augmentation of the input data during classifier creation helps performance, but would, in the current case, likely need to be guided by information about the distribution shift to have sufficiently positive impact to enable a practical application. I suggest, for future development, updated architectures, automated hyperparameter search and leveraging the bountiful unlabeled data potentially available from production lines.

  • 35.
    Mattsson, Per
    et al.
    Univ Gavle, Dept Elect Engn Math & Sci, Gavle, Sweden.
    Zachariah, Dave
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Automatic control.
    Bjorsell, Niclas
    Univ Gavle, Dept Elect Engn Math & Sci, Gavle, Sweden.
    Flexible Models for Smart Maintenance2019In: 2019 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2019, p. 1772-1777Conference paper (Refereed)
    Abstract [en]

    Smart maintenance strategies are becoming increasingly important in the industry, and can contribute to environmentally and economically sustainable production. In this paper a recently developed latent variable framework for nonlinear-system identification is considered for use in smart maintenance. A model is first identified using data from a system operating under normal conditions. Then the identified model is used to detect when the system begins to deviate from normal behavior. Furthermore, for systems that operate on separate batches (units), we develop a new method that identifies individual models for each batch. This can be used both to detect anomalous batches and changes in the system behavior. Finally, the two methods are evaluated on two different industrial case studies. In the first, the purpose is to detect fouling in a heat exchanger. In the second, the goal is to detect when the tool in a wood moulder machine should be changed.

  • 36.
    Melcherson, Tim
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Gustavsson, Anna
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Gideonsson, Albin
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Spybot - Webbstyrd robot med värmesensor2017Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [sv]

    I detta projekt byggdes en fjärrstyrd robot som styrs över Wi-Fi, ochstreamar video till användaren av vad den ser. Som komplement körsäven en temperatursensor för att utöka robotens möjlighet att kännaav sin omgivning. Huvudkomponenten är en Raspberry PI 3 modell B, därall kod för styrning och hemsidekontrollerna körs. Resultatet är enrobot som kan styras utanför synhåll och kan sända tillbaka en stabilkameraström så länge den är kopplad till ett stabilt nätverk.Dessvärre sjunker resultatet i takt med nätverkskvalitén. Vid ettsvagare nätverk blir det långa laddningstider för kameraströmmenvilket leder till att roboten blir mindre responsiv. Det tillsammansmed den förlorade kameraströmmen resulterar i att roboten ärobrukbar. Vid tillräckligt svaga nätverk, eller vid nätverksproblemkommer roboten repetera sin sista order tills dess att kontakt äråterupprättad.

  • 37.
    Måhlberg, Tomas
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Systems and Control.
    A user-friendly tool-set for compensating post-rolling effects in cold rolling mills2015Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Rolling is the act of passing a material between a set of rolls with the purpose of reducing the thickness and/or deforming it. Metal rolling is arguable one of the most important industry processes in modern society. Flat rolling is a task that can be performed with very high precision. However, subsequent processes might deform this flatness profile to a less flat post-rolling flatness. This deformation can be so severe that strips even have to be scrapped because of poor flatness. Previous work has shown that a - in mathematical terms - simple method can result in improvements of flatness of up to 34%.

    In this Masters thesis, a software platform for working with models for post-rolling flatness compensation was developed and statistical methods were implemented for compensating future deformations already during rolling.

    Previous to this project there existed no flat rolling system which used statistical data for compensating for post-rolling flatness deformations. A component for use with the ABB Stressometer system has been created which is intended both for use when testing new mathematical methods of modelling and for the end-user (i.e. the plant operator) to use in actual production. The system has been installed as a test at a plant at SAPA Heat Transfer AB in Finspång, Sweden.

  • 38. Norstedt, Erik
    et al.
    Bräne, Olof
    Prototypframtagning av robotarm med sex axlar genom 3D-skrivning2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [sv]

    3D-skrivare är inte längre något som endast stora företag har råd att använda sig av, utan någonting som har tagit sig ända till konsumentmarknaden. Detta har givit både hobbyanvändare och småföretag tillgång till ett kraftfullt verktyg för iterativ design. Det görs idag även stora framsteg inom robotik som ger upphov till möjligheter för tillämpningar av både industri- och konsumentrobotar i framtiden. Komplexiteten i robotar gör 3D-skrivare till användbara verktyg när det kommer till att ta fram robotprototyper. Målet med detta projekt var därför att analysera fördelar och nackdelar med 3D-skrivning i samband med prototypframtagning av en robotarm med sex axlar som kunde utföra enkla pick-and-place-rörelser.

    Roboten designades i Fusion360 och skrevs ut med 3D-skrivare i PETG. En Arduino MEGA användes till att styra stegmotorer i robotens axlar och styrningen implementerade en analytisk lösning till robotens kinematisk modell. Resultatet var en fungerande prototyp som kunde programmeras till att flytta och rotera föremål. Ett antal förbättringar av prototypen går att göra, till exempel går det att öka robotens rörlighet genom att designa om delar för att tillåta att axlar rotera längre och att implementera ytterligare funktionalitet i programmet som accelerationsrampning av stegmotorer och rörelse längs förvald bana. Utifrån analys av 3D-skrivningens inverkan på projektet framgick det att 3D-skrivning verkar användbart i prototypframtagning om dess möjlighet till iterativ design är önskvärd, men att det passar ännu bättre till mindre projekt då robotens storlek hindrade möjligheten till att utnyttja iterativ design till fullo och på så sätt hindrades även effektiviteten i 3D-skrivningsprocessen.

  • 39.
    Olofsson, Michael
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Fräsning av laxkilar till vågkraftverk med användning av industrirobot2014Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [sv]

    I den här rapporten utreds möjligheten att fräsa laxkilar av konstruktionsstål, enkomponent som ingår i de vågkraftgeneratorer som utvecklas vid Uppsala universitet,genom att använda en industrirobot. Denna användning av robotar inom bearbetningskiljer sig från den konventionella genom att roboten här genom helabearbetningsmomentet håller det bearbetade stycket. Den vanliga användningen avrobotar inom bearbetning är att roboten används för att plocka stycket i och ur enbearbetningsmaskin. Genom att istället låta roboten hålla stycket genom helabearbetningen kan dess flexibilitet utnyttjas.Rapporten presenterar resultat av den använda robotens uppmätta egenskaper samtpraktiska tester av fräsning. Ett antal laxkilar har tillverkats med metoden och utifrånanalyser av dessa har en kvalitetsmässigt och produktivitetsmässigt utvärdering avmetoden gjorts.Ett robotverktyg för att hålla ämnet som ska bearbetas har designats och en prototyp avverktyget har tillverkats. I rapporten presenteras även ett förslag på en komplettrobotcell för bearbetningen.Resultatet av testerna visar att det är möjligt att fräsa laxkilar med presenterad metod.Ytjämnheten är sämre, måttavvikelserna är större och tillverkningstider är högre än vidkonventionell fräsning. Detta resultat är väntat då roboten är mindre stabil än enbearbetningsmaskin, vilket innebär att den är sämre på att motstå de vibrationer somskärkrafter vid fräsning ger upphov till. Metoden är därför lämplig för tillämpningar därkraven på dessa egenskaper inte är så höga.Ytterligare tester krävs dock för att undersöka metodens repeterbarhet och slitage påutrustningen. Även robotverktyget behöver verifieras i ytterligare tester.Nyckelord. Industrirobot,

  • 40.
    Olsson, Pontus
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Nysjö, Fredrik
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Carlbom, Ingrid B.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Johansson, Stefan
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Microsystems Technology.
    Comparison of walking and traveling-wave piezoelectric motors as actuators in kinesthetic haptic devices2016In: IEEE Transactions on Haptics, ISSN 1939-1412, E-ISSN 2329-4051, Vol. 9, no 3, p. 427-431Article in journal (Refereed)
    Abstract [en]

    Piezoelectric motors offer an attractive alternative to electromagnetic actuators in portable haptic interfaces: they are compact, have a high force-to-volume ratio, and can operate with limited or no gearing. However, the choice of a piezoelectric motor type is not obvious due to differences in performance characteristics. We present our evaluation of two commercial, operationally different, piezoelectric motors acting as actuators in two kinesthetic haptic grippers, a walking quasi-static motor and a traveling wave ultrasonic motor. We evaluate each gripper's ability to display common virtual objects including springs, dampers, and rigid walls, and conclude that the walking quasi-static motor is superior at low velocities. However, for applications where high velocity is required, traveling wave ultrasonic motors are a better option.

  • 41.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction. RoboCup Team Hamburg Bit-Bots.
    Baltes, Jacky
    Gerndt, Reinhard
    Robots as Individuals in the Humanoid League2016In: RoboCup 2016: Robot World Cup XX, Springer, 2016Conference paper (Refereed)
    Abstract [en]

    Having the goal of winning against the human world champions in soccer in 2050 in mind, the Humanoid League is facing the challenges of having to increase field and robot size until the sizes of regular fields and regular players are reached in the year 2040. The next major step is foreseen for the year 2020, when minimum robot size will increase by 50%, the number of robots per team will increase and the field size will fourfold. All three aspects will have a crucial impact. For the organizers, it will become increasingly hard, if not impossible at some point, to make arrangements for up to six fields at the RoboCup venue. For the participants, sustaining a team of ever increasing robots, in size and numbers will be a similar challenge. We believe that the 2050 goal can only be achieved if a new scheme of competition of individual robots, playing with others, can be found. Then, teams could focus on a single robot. To encourage this, we propose to revise the competition scheme, moving away from participating with a team of robots to participating with a single robot, that preserves the competitive element of ranking performance of individual robots and awarding trophies. This paper is intended to spark a discussion of a rule change to encourage participation of single robots in the Humanoid League and still contribute to reaching the 2050 goal.

  • 42.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Peters, Christopher
    KTH Royal Inst Technol, Stockholm, Sweden.
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Congruency Matters – How ambiguous gender cues increase a robot’s uncanniness2016In: Social Robotics, Springer, 2016, p. 402-412Conference paper (Refereed)
    Abstract [en]

    Most research on the uncanny valley effect is concerned with the influence of human-likeness and realism as a trigger of an uncanny feeling in humans. There has been a lack of investigation on the effect of other dimensions, for example, gender. Back-projected robotic heads allow us to alter visual cues in the appearance of the robot in order to investigate how the perception of it changes. In this paper, we study the influence of gender on the perceived uncanniness. We conducted an experiment with 48 participants in which we used different modalities of interaction to change the strength of the gender cues in the robot. Results show that incongruence in the gender cues of the robot, and not its specific gender, influences the uncanniness of the back-projected robotic head. This finding has potential implications for both the perceptual mismatch and categorization ambiguity theory as a general explanation of the uncanny valley effect.

  • 43.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Peters, Christopher
    KTH Royal Inst Technol, Stockholm, Sweden.
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Effects of multimodal cues on children's perception of uncanniness in a social robot2016In: Proc. 18th ACM International Conference on Multimodal Interaction, 2016, p. 297-301Conference paper (Refereed)
    Abstract [en]

    This paper investigates the influence of multimodal incongruent gender cues on the perception of a robot's uncanniness and gender in children. The back-projected robot head Furhat was equipped with a female and male face texture and voice synthesizer and the voice and facial cues were tested in congruent and incongruent combinations. 106 children between the age of 8 and 13 participated in the study. Results show that multimodal incongruent cues do not trigger the feeling of uncanniness in children. These results are significant as they support other recent research showing that the perception of uncanniness cannot be triggered by a categorical ambiguity in the robot. In addition, we found that children rely on auditory cues much stronger than on the facial cues when assigning a gender to the robot if presented with incongruent cues. These findings have implications for the robot design, as it seems possible to change the gender of a robot by only changing its voice without creating a feeling of uncanniness in a child.

  • 44.
    Paetzel, Maike
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Peters, Christopher
    Nyström, Ingela
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Castellano, Ginevra
    Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Division of Visual Information and Interaction. Uppsala University, Disciplinary Domain of Science and Technology, Mathematics and Computer Science, Department of Information Technology, Computerized Image Analysis and Human-Computer Interaction.
    Preliminary results from using a back-projected robot head in uncanny valley research2016In: Proc. 25th International Symposium on Robot and Human Interactive Communication, Piscataway, NJ: IEEE, 2016, p. 944-945Conference paper (Other academic)
  • 45.
    Pennartz, Cyriel M. A.
    et al.
    Department of Cognitive and Systems Neuroscience, Swammerdam Institute for Life Sciences, University of Amsterdam, Amsterdam, Netherlands ; Research Priority Area, Brain and Cognition, University of Amsterdam, Amsterdam, Netherlands.
    Farisco, Michele
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Public Health and Caring Sciences, Centre for Research Ethics and Bioethics. Biogem, Biology and Molecular Genetics Institute, Ariano Irpino, Italy.
    Evers, Kathinka
    Uppsala University, Disciplinary Domain of Medicine and Pharmacy, Faculty of Medicine, Department of Public Health and Caring Sciences, Centre for Research Ethics and Bioethics.
    Indicators and Criteria of Consciousness in Animals and Intelligent Machines: An Inside-Out Approach2019In: Frontiers in Systems Neuroscience, ISSN 1662-5137, E-ISSN 1662-5137, Vol. 13, article id 25Article, review/survey (Refereed)
    Abstract [en]

    In today’s society, it becomes increasingly important to assess which non-human and non-verbal beings possess consciousness. This review article aims to delineate criteria for consciousness especially in animals, while also taking into account intelligent artifacts. First, we circumscribe what we mean with “consciousness” and describe key features of subjective experience: qualitative richness, situatedness, intentionality and interpretation, integration and the combination of dynamic and stabilizing properties. We argue that consciousness has a biological function, which is to present the subject with a multimodal, situational survey of the surrounding world and body, subserving complex decision-making and goal-directed behavior. This survey reflects the brain’s capacity for internal modeling of external events underlying changes in sensory state. Next, we follow an inside-out approach: how can the features of conscious experience, correlating to mechanisms inside the brain, be logically coupled to externally observable (“outside”) properties? Instead of proposing criteria that would each define a “hard” threshold for consciousness, we outline six indicators: (i) goal-directed behavior and model-based learning; (ii) anatomic and physiological substrates for generating integrative multimodal representations; (iii) psychometrics and meta-cognition; (iv) episodic memory; (v) susceptibility to illusions and multistable perception; and (vi) specific visuospatial behaviors. Rather than emphasizing a particular indicator as being decisive, we propose that the consistency amongst these indicators can serve to assess consciousness in particular species. The integration of scores on the various indicators yields an overall, graded criterion for consciousness, somewhat comparable to the Glasgow Coma Scale for unresponsive patients. When considering theoretically derived measures of consciousness, it is argued that their validity should not be assessed on the basis of a single quantifiable measure, but requires cross-examination across multiple pieces of evidence, including the indicators proposed here. Current intelligent machines, including deep learning neural networks (DLNNs) and agile robots, are not indicated to be conscious yet. Instead of assessing machine consciousness by a brief Turing-type of test, evidence for it may gradually accumulate when we study machines ethologically and across time, considering multiple behaviors that require flexibility, improvisation, spontaneous problem-solving and the situational conspectus typically associated with conscious experience.

  • 46.
    Pettersson, Rasmus
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Solid State Electronics.
    Continuous localization in indoor shifting environment2017Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    In this Master Thesis different approaches to mobile localization within construction environments are investigated. At first an overview of different sensors commonly used within localization is presented together with different map representations and a system consisting of a laser scanner and wheel encoders is chosen.

    The hardware is prepared for the open source ROS environment and three different algorithms for localization are tested. Two algorithms, Gmapping and HectorSLAM, used for Simultaneous Localization and Mapping, are compared. The best map is then used by a Monte Carlo localization algorithm, AMCL, for autonomous navigation.

    It is found that HectorSLAM produces the most accurate map, given that the grid refinement level is fine enough for the environment. It is also found that the maximum Kullback Leiber distance, used in AMCL, needs to be calibrated in order to perform a sufficient navigation. 

  • 47.
    Remouit, Flore
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Galeazzi, Roberto
    Technical Unievrsity of Denmark (DTU).
    Engström, Jens
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Laser-based relative positioning system for underwater remotely operated vehicleIn: IEEE Journal of Oceanic Engineering, ISSN 0364-9059, E-ISSN 1558-1691Article in journal (Refereed)
    Abstract [en]

    This paper addresses the development, testing and verification of a relative positioning system for underwater vehicles. The position and orientation of the vehicle relative to a plane based target is estimated through a laser-based optical system. The sensor package consists of two green line-lasers and a camera. The image processing algorithm is built on the probabilistic Hough transform and a light but robust filtering method. This decreases the computational time to 13.6 ms per image. Experimental results from laboratory testing show that the mean absolute error in distance measurement is as low as 6 mm at 0.7 m from the target, whereas in heading is 2°.

  • 48.
    Remouit, Flore
    et al.
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Kamf, Tobias
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Abrahamsson, Johan
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Engström, Jens
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
    Thruster model for Observation Class Remotely Operated VehicleIn: Ocean Engineering, ISSN 0029-8018, E-ISSN 1873-5258Article in journal (Refereed)
    Abstract [en]

    For any small company or research group in offshore renewable energy, the costs to invest into Remotely Operate Vehicles (ROVs) for offshore operations are highly significant. There is however a potential to adapt and equip Observation Class ROVs (OCROVs) in order to make them perform light tasks, such as cable connection. OpenROV is a small and light OCROV with open source software, making it easy to implement tools, such as an autopilot. In this paper a model of the autopilot is presented. To be tested, it needs a model of the thrusters of the OpenROV. Those thrusters are hence tested, modelled in Simulink, and the experimental results are compared to the Matlab model.

  • 49.
    Sehlstedt, Sigrid
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Industrial Engineering & Management.
    En fjärran framtid: införande av digital teknik i gruvor2014Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Traditionally, mining has been performed mechanically with implementation ofyesterdays (and older) data. Several mining companies have started to useautonomous technology and robotics in the production areas although the harshmining environments make it unsuitable for today's electronic equipment. Despite allthe obstacles along the way of digitization, there seems to be no end in sight as thisdevelopment continues. This thesis focuses on what the mining industry is aiming forand why the mining companies are interested in these technologies. The actors of themining industry can be found to have a vision for the future mine, a production with ahigher degree of digitization and resemblances to a factory. With this transformationthey hope to boost productivity and efficiency, improve the working environment,and reinvent the image of mining production. There are several ways of implementingthe vision; making the mine totally remote controlled and without any humans in theproduction areas, creating a mine with both manned and unmanned equipment or bycreating a mine with mainly manned equipment together with a higher degree ofdigital aids and tools. There is also a possibility to control and manage the productionbetter with digital technology. This theses suggest that to develop processes and newequipment for a human free and remote controlled mine is the best way ofimplementing the vision. The implementation of the vision has to be performed withcare and is best suited for new or expanding mines.

  • 50.
    Skarstedt, Therése
    Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences.
    Automated test of magnetron modulators2016Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    ScandiNova Systems AB has a growing production of magnetron modulators.Before a modulator is sent to the customer it goes through a factoryacceptance test ensuring that it meets the pre-defined requirements.Today these tests are done manually and therefor they vary in time andquality. In order to quality assure and streamline the processScandiNova wants to minimise the manual handling of the units.This projects main focus has been to evaluate and initiate thepossibility of automating SvandiNova’s factory acceptance test usingLabVIEW. Early in the project the decision was made that focus would beon the part of the test called Performance test. The performance testconsists of ten different tests where eight are performed with anoscilloscope and two with a multimeter. Only the eight preformed withan oscilloscope where included in the automation.A program that communicates with the oscilloscope through Ethernet hasbeen created in LabVIEW. This program performs all eight tests takingmeasurements and saves the images of the pulses from the oscilloscope.Before every new measurement, the program will change the settings onthe oscilloscope according to the user defined values. After a run ofthe program, the images will be saved to the user specified location onthe computer and the measured values will be presented on the userinterface.The resulting program clearly shows the possibilities of this approach,and also demonstrates the flexibility and short development timeneeded.

12 1 - 50 of 55
CiteExportLink to result list
Permanent link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf