Search results for "etikk"
showing 10 items of 84 documents
Computer-Based Environment for Lower Limb Neurorehabilitation and Assessment Biomechatronic System for Human Machine Interconnection through Motion P…
2020
Master's thesis in Mechatronics (MAS500)
Model-free object grasping : Model-free object grasping with a learning-free approach
2021
Master's thesis in Mechatronics (MAS500) The industry standards and capability are constantly advancing and pushing forward to increase data collection, efficiency, profit, and quality as well as decrease downtime, injuries, and hazards as much as possible. In recent years, robot systems have received more attention in the context of a large number of industrial applications, such as automotive manufacturing, additive manufacturing, assembly, quality inspection, and co-packing. The collaboration between multiple robots and human operators is considered to be the most prominent strategy in Industry 4.0 and future Industry 5.0, sharing the same space and collaborating on tasks according to th…
Autonomous Pick-and-Place Procedure with an Industrial Robot Using Multiple 3D Sensors for Object Detection and Obstacle Avoidance
2021
Master's thesis in Mechatronics (MAS500) This thesis proposes a full pipeline autonomous pick-and-place procedure, integrating perception, planning, grasping and control for execution of tasks towards long term industrial automation. Within perception, we demonstrate the detection of a large object (target) including position and orientation (pose) estimation in 3D world. Further on, obstacles in the work area are mapped with proposed filtering prior to motion planning and navigation of an industrial robot to the target’s pose. The target is then picked using a custom built motorized 3D printed end gripper, and placed at a desired location in the robot’s reachable environment. Point cloud b…
Towards Data-Driven Modelling of Saulekilen Wastewater Treatment Plant based on Artificial Intelligence
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019 The processes at a wastewater treatment plant (WWTP) are complex systems thatclean the wastewater before it is released into the environment. Total phosphorous(TP), biological oxygen demand (BOD) and chemical oxygen demand (COD) arecritical measurements of the water quality. Measuring BOD and COD are too slowto effectively control the wastewater treatment processes (5 days and a couple ofhours respectively) as the wastewater treatment process at Saulekilen WWTP usesabout 30-40 minutes from influent to effluent. Measurements of effluent TP are alsoperformed and are quicker but controlling by the use of effluent TP is too slow. He…
Miniature Fish Respirometry System with Integrated Cameras
2021
Master's thesis in Mechatronics (MAS500) A respirometry system for small fish up to 30 mm in length has been developed and a prototype has been produced to verify the design. The developed system has two integrated cameras for top and side filming of the specimen during testing. The report details the development of an axial impeller pump based on a theoretical pump head loss analysis of the system and max flow velocity of 20 cm/s. A PI regulator has been implemented to accurately control the rotational velocity of the impeller. Control software for the operation of the respirometry system has been conceptualized and partly implemented.
Pose Estimation of Drilling Pipe Using a 3D-Sensor Network
2019
Master's thesis Mechatronics MAS500 - University of Agder 2019 In this thesis, a pose estimation system for drill pipe-ends has been made. The systemutilizes 6 sensor nodes containing a Kinect v2 RGB-D camera in addition to a Jetson TX2computer. Pipe detection is done on 2D images from each camera using Tiny-YOLOv3.A pair of point clouds for the box-end and pin-end are made based on these detections, inaddition to the depth map which the Kinect provides. Further segmentation is done, andpose estimation using ICP is performed.When the pipes are placed on the ground and placed vertical at a minimum distance of5.5m away from the sensors, the system achieves a mean positional accuracy of≈2.6cm,…
Simulation and Control of an Anti-Swing System for a Suspended Load attached to a moving Base Robot
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 Advanced motion compensation is an important eld of engineering in today's o shore industry. Performing advanced load handling operations at sea requires high attention to both safety and e ciency. In environments governed by wave motion and harsh weather conditions, these types of operations are complex tasks. Most of the load handling scenarios are performed by advanced o shore loader cranes, where many of these are equipped with the industry's state-of-the-art Active Heave Compensation. This technology is capable of compensating for the wave height disturbance, meaning that the load is kept at a constant height above the sea …
Design and Implementation of a Computer Vision System for Robotic Disassembly of Electric Vehicle Battery Pack
2020
Master's thesis in Mechatronics (MAS500)
Modeling of an Underwater Robotic Manipulator With a Customized End-Effector for Removal of Derelict Pots
2020
Master's thesis in Mechatronics (MAS500) This thesis investigates the opportunity of generating complementary technology devices forexisting remotely operated vehicles (ROVs) so that abandoned material can be collected andretrieved, particularly from the bottom of the ocean.According to World Wide Fund for Nature (WWF), over eight million tons of plastic end upin the sea each year [13]. Furthermore, they claim that based on a survey of Northern fulmarsin the North Sea, as many as 9 out of 10 birds have plastic in their stomachs. However, plasticis not the only issue regarding marine litter. A survey from the Institute of Marine Researchshows that accessories findings reported by divers in t…
Automatic Path Planning for Door-Milling Application Using an Industrial Robot
2018
Master's thesis Mechatronics MAS500 - University of Agder 2018 This report covers automatic path planning for a 6 degree of freedom industrial robot used in a milling application. The kinematics are derived for the ABB IRB6600 robot used in this master thesis. Different sensors for determining the work-object pose in relation to the robot are evaluated, and a suggested vision system is presented and tested. When industrial robots are used in high precision contact applications, such as milling, the robot stiffness must be considered. Therefore, a joint stiffness analysis is conducted for the ABB IRB6600. The results from the stiffness analysis are, in addition to the milling force data, use…