Search results for "VDP::Teknologi: 500::Informasjons- og kommunikasjonsteknologi: 550::Teknisk kybernetikk: 553"
showing 10 items of 46 documents
A Self-Contained Electro-Hydraulic Cylinder: Modeling, Control Design, Simulation and Experimental Validation
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 In the constant effort to improve the efficiency of hydraulic systems, the pressure drop over hydraulic valves has been one of the major obstacles. In the Self-Contained Electro-Hydraulic Cylinder, the directional valve and the hydraulic power unit have been replaced by a bi-directional axial piston pump and a Permanent Magnet Synchronous Motor. Actuation of the cylinder is performed by controlling the direction of rotation and the velocity of the motor. Originally the purpose of this project was to: "Design a proper control algorithm for an existing novel selfcontained electro-hydraulic cylinder, implement it on the main boom o…
Modelling, Identification and Control of a 5-DOF Shotcrete Robot : Development of a Framework for Automatic Application of Shotcrete for AMV 4200H
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019 Today, process automation is the primary area of development in the shotcrete industry. Automaticshotcrete operations can yield an increase in operational efficiency and personnel safety as well asreductions in cost and environmental impact. This thesis develops a framework for automaticapplication of shotcrete using the AMV 4200H and provides an automatic spraying mode usinginteroceptive sensing. The shotcrete vehicle is equipped with a five degrees-of-freedom manipulatorand is currently operated manually. Our contributions include solving the forward kinematicsthrough the Denavit-Hartenberg convention, and the inverse kinemati…
Design and Development of a Multi-Mode, Two-Wheeled, Self-Balancing Service Platform
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019 This thesis covers the design and development of a multi-mode, two-wheeled, self-balancing serviceplatform. The purpose of such a platform is to assist people with transportation tasks in crowdedspaces like airports by consuming as little space as possible and minimizing its overall footprint.This is solved by constructing a robot that can transition between bicycle and differential driveconfigurations and keep its balance in both configurations as well as in the transition processbetween them. A two-wheeled, self-balancing robot is an inherently unstable system that can bebased on the theory of an inverted pendulum. The unstabl…
Simultaneous Localization and Mapping in Repeating Environments
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 Konfidensiell til / confidential until 01.07.2023
State Estimator using Hybrid Kalman and Particle Filter for Indoor UAV Navigation
2021
Master's thesis in Mechatronics (MAS500) Unmanned aerial vehicles (UAVs) are being used for outdoors inspection and surveying tasks. When operating in an outdoor environment, the global navigation satellite system (GNSS) is predominantly used for position aiding, and magnetometers are used for heading aiding. In combination with an inertial sensor, these sensors form the backbone for state estimation for drones operating in an outdoor environment. A desire to utilize UAVs for inspections in indoor environments means that new challenges are faced. One of these challenges is that the traditional GNSS is unavailable for position aiding, and magnetometers can be unreliable in the presence of in…
Implementering av maskinsyn for montering av fasadeplater
2017
Masteroppgave i mekatronikk MAS500 - Universitetet i Agder 2017 The construction industry has seen a surge in efficiency and automation solutions in recent years. MacGregor, in cooperation with the University of Agder want to use crane and lifting technology to streamline construction processes. Facade panels are widely used due to ease of installation and require minimal maintenance. The process associated with installation has an automation potential. This thesis looks at the implementation of machine vision for installation of facade panels. Installation is done using a ABB IRB6600 industrial robot and a vacuum tool. The machine vision is based on OpenCV and C++. The main components of t…
Using AI and Robotics for EV battery cable detection.: Development and implementation of end-to-end model-free 3D instance segmentation for industria…
2021
Master's thesis in Information- and communication technology (IKT590) This thesis describes a novel method for capturing point clouds and segmenting instances of cabling found on electric vehicle battery packs. The use of cutting-edge perception algorithm architectures, such as graph-based and voxel-based convolution, in industrial autonomous lithium-ion battery pack disassembly is being investigated. The thesis focuses on the challenge of getting a desirable representation of any battery pack using an ABB robot in conjunction with a high-end structured light camera, with "end-to-end" and "model-free" as design constraints. The thesis employs self-captured datasets comprised of several batt…
Learning Automata based Shiftable Domestic Load Scheduling in Smart Grid: Accuracy and Fairness
2016
Master's thesis in Information- and communication technology IKT590 - University of Agder 2016 In this thesis, investigation is carried out on scheduling of shiftable loads which involves partly selection of loads within the power budget of operator. Domestic shiftable loads are scheduled along multiple timeslots with the considerations of the accuracy of scheduling in terms of optimization of capacity and of the fairness between appliances in terms of frequency of usage in smart grids. Since the scheduled load can not be over the capacity, the global optimal point is a combination of loads which are most close or equal to but not over the capacity. This optimization problem is shown to be …
RPA og prosessledelse : En eksplorativ studie av RPA-implementering i norske bedrifter
2020
Master's thesis in Information systems (IS501) Bakgrunnen for denne utredningen har vært å undersøke om det er en sammenheng mellom Robotic Process Automation (RPA) og Business Process Management (BPM), samt hvordan norske virksomheter nyttiggjør seg av dem. I de siste årene har det i økende grad blitt populært å ta i bruk RPA for å automatiseredeler av bedrifters prosesser. Utover dette vet vi veldig lite om hvilke erfaringer virksomheter har med denne teknologien. På den annen side har vi BPM, et konsept som har blitt forsket på i flere år.Samtidig finnes det lite forskning som tar for seg både RPA og BPM. På bakgrunn av dette gjennomførte vi en forstudie høsten 2019. Her gjorde vi flere …
Condition monitoring of steel wire ropes
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 By utilising the measurements from a commercial acoustic emission sensor system, magnetic tester and a camera system, conducted during four separate simple bending fatigue tests of steel wire ropes (SWR), several measurable quantities of the SWR which indicate deterioration were identi ed. Based on the measurements of a commercial acoustic emission sensor system of one of the tests in this thesis, the fatigue process of a SWRs in a simple bending test is three-phase, with a relatively long rstand second phase, showing little- and steady increase in activity, respectively, followed by a shorter phase with a ramp up of activity. T…