1234567 101 - 150 of 538
rss atomLink to result list
Permanent link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • 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
  • Holmberg, Anthony
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Lundqvist, Nils
    KTH, School of Industrial Engineering and Management (ITM).
    WoodWinder: MIDI Controlled Recorder2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    WoodWinder is a machine whose job is to interpret the signal from a Musical Instrument Digital Interface (MIDI) keyboard and make a recorder play accordingly. This was performed by simulating the two human traits needed in order to play the recorder: providing air flow for the mouthpiece and fingers to cover its holes. The air flow was provided by a custom made centrifugal fan and directed through a separation chamber which determined how much air was allowed to travel through the mouthpiece and how much was driven out through an exhaust. The purpose of the separation chamber was to simulate the amplitude of the played tone. The movement of the fingers was enabled by seven servo motors, mounted collaterally to the recorder. All movement was governed by two Arduino Microcontroller Units (MCU), a servo driver and a motor driver.

    The machine can play any note on demand without hardly any noticeable lag. The two lowest tones D and C were somewhat limited as they produced a distorted sound at high enough velocities. The largest error in accuracy for expected frequencies was around 6Hz.

  • Lindén, Josefine
    KTH, School of Electrical Engineering and Computer Science (EECS).
    Ljudbokens intåg: Vad händer med läsförståelsen vid ökad uppspelningshastighet?2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Audio books has become a big player on the literary market, in Sweden alone the share is 23 percent as of 2018. In apps like Storytel you are able to increase (or decrease) the playback speed. This is already becoming a trend in USA where it’s even a definition for it: Speed Listening. But what happens with our reading comprehension when the speed is increased? The essay contains an experiment on 48 persons separated into two groups listening to the same audio book in two different speeds. The participants were then asked to take a test with questions on the story. The groups where compared and the results show no significant difference between the group that listened to 1.0x and the one that listened to 1.25x. The essay also presents the result of a survey where authors are answering questions on what they think about the possible transformation on their books stories when listened to at different paces.

  • Boczar, Ludvig
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Myrsten, Felix
    KTH, School of Industrial Engineering and Management (ITM).
    Autonomous Counterbalance Forklift: Autonomous forklift capable of transporting pallets2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This thesis explored the possibility to use line following technology to automate forklifts in a warehouse scenario. This was done to reduce the need for staff to always be present in the warehouse. A prototype forklift was constructed with three wheels, where driving and steering was done by the rear wheel. To control the forklift an Arduino Uno was used. The line following was done using Infrared Radiation (IR) sensors. Different setups of line following sensors were tested to achieve a forklift capable of following a line. Different layouts of the operating area were also tested.

    Line following was found to work best when two sensors were placed in front of the front wheels when going forward and two by the back wheel when reversing. The conclusion was made that a setup of four sensors was enough to achieve a line following forklift.

    For the operating area, the best layout was found to be an X-shaped one. Using 90° corners proved to be the easiest to navigate.

  • Eskilsson, Tom
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Lindblom, Felix
    KTH, School of Industrial Engineering and Management (ITM).
    Kompakt Chassi Dynamometer: Ett mätinstrument till mindre el- och bränslemotorer2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The purpose with this project was to build a system for measuring speed and torque from motors.

    The project focused on investigating the differences between an optical and inductive sensor for measuring rotational speed. The focus was also on the construction of a friction brake which was used for measuring force from the engine.

    A small prototype was made, this made the construction on the break mechanism very different from a prototype in full scale. An electric motor was used to generate readings from the sensor which then could be used to calculate values which then could be compared with the values from the datasheet to the electric motor. The reference values for revolutions per minutes was measured by a photo tachometer, Lutron DT-2234B.

    The results indicate that the optical sensor is preferable, because the inductive sensor gives random measurement errors. The results also indicated that a friction brake construction is not optimal for measuring the torque that the motor produces. Due to losses by varying friction and the transmission of the braking force to the load cell resulted in deviant results and difficulties for iteration.

  • Ottosson, Joachim
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Renström, Niklas
    KTH, School of Industrial Engineering and Management (ITM).
    aMAZEing robot: A method for automatic maze solving2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The purpose of this report was to examine a method for automatic maze solving by developing a robot that can find a specific target within a maze. On this basis, a Arduino based robot was constructed.

    The steering mechanism was constructed in a way that supports differential steering which enables zero radius turns which is preferred in narrow spaces. The intersection detection as well as the method for defining which type of intersection occurring was based on three distance sensor mounted in front and on the left and right side of the robot. The target detection was based on a IR sensor. A feedback controller was applied on the left Ultrasonic sensor enabling the robot to keep a reference distance to the wall. The feedback system also enabled the robot to straighten up when taking to big or small turns.

    The robot was able to both detect and define what kind of intersection occurring as well as detect the specific target. The execution of the correct operation by detected intersection was calculated to 80% - 100% and the target was found 100% out of the test made. The definition of ”correct operation” in this report was when the robot detected a intersection, and executed the operation that was in accordance with the implemented algorithm.

    The rotational error, that is the quantity of degrees from the desired turn angle, occurring when the robot executed different operations was calculated to 3.5◦ - 9.5◦ . The robot started to oscillate due to angles grater than 19.5◦ when the left distance sensor was facing the wall which made the robot less able to follow a path and straighten up.

  • Lördal Tigerström, Gabriel
    KTH, School of Electrical Engineering and Computer Science (EECS).
    Automated decision support for placing terrain observers2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Access to reliable information is key for military decision-making. Reconnaissance assets are used to gather information about the Operational Environment. These assets need to be placed within the terrain so that they can see as much of the area of interest as possible. The manual task of placing assets within the terrain is a time-consuming task. This thesis examines the design for a system that could be used to generate candidate placement positions to aid the decision-maker. The system’s task is to find positions that maximize visual cover, while keeping the assets as safe as possible. The problem was formalized and reformulated into a multi-objective optimization problem. Three different optimization algorithms were evaluated: Simulated annealing, Tabu Search and the genetic algorithm NSGA-II. The optimization algorithms were tested in three different scenarios to reduce bias. The evaluation showed that NSGA-II had consistent gains over the other two algorithms.

  • Röing, Jacob
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Zheng, Martin
    KTH, School of Industrial Engineering and Management (ITM).
    Automatic Sound Level System: Constant volume at all times2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Studies have shown that music has plenty of positive effects on performances in working environments. The purpose of this project was to reap those benefits by developing a prototype that could automatically adjust the volume of a speaker. The prototype was also able to measure the total sound level in the surrounding environment. It would then regulate the speaker’s sound level in accordance with the measured sound and a desired volume set by the user.

    The main focus was to measure, filter and calibrate sound and to develop a regulatory system that could control the volume of the sound system.

    The final prototype had a user interface with an LCDdisplay and buttons. It had the ability to successfully measure the sound and its amplitude. Calibration of the sound sensor was done using two reference microphones. Measurements at eight different sound levels were taken. A model to convert the digital signal into decibels was then calculated through linear regression with a standard error of 2.9 dB. With this model the prototype could automatically adjust the volume of a Marshall Kilburn speaker to the desired level of 90 dB in approximately 40 seconds.

    It was found that the largest limiting factor was the sensor’s ability to pick up different sound sources at longer distances from the sensor. Further work may include optimizing the microphone and making an integrated product that can be applied to any sound system.

  • Hasp Frank, Alexander
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Tjernström, Morgan
    KTH, School of Industrial Engineering and Management (ITM).
    Construction and theoretical study of a ball balancing platform: Limitations when stabilizing dynamic systems through implementation of automatic control theory2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Control theory and its applications are crucial when operating within the area of dynamic systems. Compensating for disturbances and external actions imposed on a given system being inherently unstable or semi-stable.

    Through the physical construction of a apparatus as a demonstrator of the theory further comparing the factual physical and computer simulated results derived from Newtonian mechanics. To enable comparison, designing a satisfactory controller capable of fulfilling the requirements set for the system is necessary. With regards to apparatus and control, the introduction of a proportional-integralderivative controller for a system balancing a ball on a platform. Further allowing for analysis to determine the limitations when stabilizing a naturally unstable or semi-stable system. Also, examine how these dier from the theoretical expectations.

    The control applied throughout the thesis is of the type linear, exclusively being able to operate properly within the linear spectrum of control. Using standard components and a microcontroller, a apparatus is constructed to maintain a ball on a platform. This is executed through programming with Arduino libraries and open source code. Hence, for research purposes, to see if the apparatus can operate satisfactory within the linear domain of control.

    With the aforementioned stated, this thesis will first cover the theoretical model of the ball on platform scenario through computer aided programs. Then compare the theoretical results with the results acquired from a physical construction. Further examine why dierences occur considering control theory and system implementation.

  • Svärdling, Niclas
    KTH, School of Electrical Engineering and Computer Science (EECS).
    Machine Learning can Reduce False Alarms when Detecting Humans in Surveillance Systems2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Video surveillance is becoming increasingly common, but with the increased number of cameras comes an increased demand for human operators to watch and issue alarms when needed. If these video feeds are left unsupervised they will be of little use in a moment of need and would only be used to find out what has happened long after it already happened. For a surveillance company simply hiring more operators to watch video feeds to meet the growing demands is not a sustainable approach.

    Instead, in this thesis machine learning approaches to perform human detection in a surveillance feed are investigated and two different implementations are developed, one based on convolutional neural networks and one based on the less complicated support vector machines. Since this human detection need to take place in real-time, speed is an important concern and so is the accuracy of the detections. If the models cannot be relied upon to provide accurate alarms it can have serious consequences if they were ever put into use.

    It was found that the implementation based on convolutional neural networks had a better accuracy in terms of classifying people as people and also not falsely classifying other objects as people. The convolutional neural network in this thesis had an accuracy of 88.4% on positive video examples while the support vector machine only had an accuracy of 63.2% on the same test samples.

    The support vector machine was significantly faster than the convolution neural network and thus more suited for real time applications that need to run on weak hardware. The convolutional neural network was 83.14% faster and more accurate than YOLOv3, a widely used algorithm for real time object detection.

  • Murtaza, Alexander
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Stenström, Oscar
    KTH, School of Industrial Engineering and Management (ITM).
    Handheld container stabilizer2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Self-stabilizing systems can be found in many contexts. They are used in aircraft and camera gimbals to name a few. In this project, a self-stabilizing container was constructed. The construction consists of three parts. An inner ring which rotates around the Z-axis, an outer ring which rotates around the Y-axis and a handle with space for three DC motors and a microcontroller. In this project an Arduino Nano was used. To detect inclination an IMU (Inertial Measurement Unit) was deployed. An IMU is a sensor consisting of three gyroscopes and three accelerometers, one for each coordinate axis. The software for the construction consists of four parts; angle reading, a Kalman filter, two PID-controllers and a motor controller. When a container is inserted into the construction the four-part system keeps the container horizontal and stable. Experimental data shows that in 84% of the tests the construction could stabilize the container.

  • Andersson, David
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Piroti, Shilwan
    KTH, School of Industrial Engineering and Management (ITM).
    Tailing Service Droid2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This project aims to build an electric powered robot, that by utilizing infrared light, recognizes a device carried by the user.

    The robot built in this project utilizes swivel wheel similar to car wheels for steering over the more conventional differential steering/drive. The testing done in this project proved that this method of steering has difficulties with navigating in small spaces and completing tight turns at low speeds. The result also gives reason to believe that a fixed reference distance between the user and the robot might not be optimal for all instances.

  • Gräsberg, Pontus
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Lavebratt, Bill
    KTH, School of Industrial Engineering and Management (ITM).
    Reaction Wheel Stabilized Stick2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Control theory can be used to make an unstable system stable. This thesis seeks to do this, where the system is a two DOF inverted pendulum with reaction wheels for stabilisation. The thesis also seeks to answer what is most important for making it stabilize for a longer period of time. It was decided that a state space controller was to be used with various sensors measuring the states. To be able to design a functioning demonstrator, a mathematical model of the system dynamics was developed. In the end the demonstrator proved to function as desired, being able to balance indefinitely. It was found that it is absolutely necessary to either give the controller a perfect set point or to implement an automatic set point.

  • Larsson, Ida
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Jansson, Jakob
    KTH, School of Industrial Engineering and Management (ITM).
    Jack the Jumping Robot: Pinion-based springpowered jumping robot2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This bachelor thesis will demonstrate and explain the building of a jumping robot. This work took place during the Spring semester of 2019 and was finished in May. The scope was to build a foot sized robot that can regulate jumping force and angle, while maintaining the ability to land safely and with its right side up. This thesis required that the robot made use of sensors and microcontrollers. The electronics used for this robot was an Arduino UNO, an IMU and several servos. The code behind the jump was based on the switch case statement model.

    Jack was built with three subsystems in mind: Energy storage to use for jumping, Decoupling for releasing a variable amount stored energy quickly and Suspension for reducing impact on landing and to prevent tipping.

    The work resulted in a robot who could jump 6.5% of its body length, regulate jump power and land on its feet. In conclusion, even though some of the subsystems were successful, our model of an jumping robot is insufficient due to its low jump height.

  • Lind, Henrik
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Janssen, Jacob
    KTH, School of Industrial Engineering and Management (ITM).
    The Irrigator: Autonomous watering robot for homes2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Inspired by the trend of automated homes, this thesis examines the possibility of designing a cheap and autonomous robot that will water plants effectively at home. Many existing solutions are cumbersome and not sufficiently effective, often due to flexibility and risk of over watering. Therefore this thesis examines a wheel based approach.

    In order to achieve the best possible results, the soil water content was measured, as opposed to a time-based approach where the user sets a timer to decide how often the plants are watered. This thesis also examines the advantages, and disadvantages of a capacitive moisture sensor versus a resistive moisture sensor, as well as effects of depth of penetration for the sensors.

    Controlled using an Arduino Uno, the robot was programmed to follow a line with IR-sensors, drive using differential steering, and had the ability to drive in reverse. It was able to identify a pot, read the moisture level of the soil, water it, and continue the loop. However, it was not completely autonomous as it is incapable of refilling the water tank – or recharging the batteries.

    It was stated that the resistive sensor was most suited to be used in the robot due to the relatively reliable results at increased depth. The results at deeper penetration were expected, as the moisture increased with depth when not recently irrigated. The capacitive sensor showed somewhat ambiguous results. The results showed higher water content deeper into the soil, compared to recently irrigated soils.

  • Falcon, Lucas
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Hallbeck, Viktor
    KTH, School of Industrial Engineering and Management (ITM).
    Robot Platform for Whiteboards2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The blackboard and whiteboard are common in schools globally. Many of them have interesting magnetic properties, which is not largely used. In this thesis, a study is conducted in which the possibility of navigating along a whiteboard, using its magnetic property, is examined. A robot was manufactured and tested to see the possibilities of operating a robot with multiple functions on the board. By utilizing an accelerometer and a distance sensor, the robot was capable of navigating the board without the risk of falling of. The completed robot has an integrated controller which allows adjustments to any desired angle and detection of the edge of the board.

  • Geiberger, Philipp
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Hanna, Ivan
    KTH, School of Industrial Engineering and Management (ITM).
    Fimp-bot: Robot för upplockning av cigarettfimpar2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Approximately one billion cigarette butts are thrown onto Swedish streets each year. This leads to risks both for the human and the environment that could be reduced considerably with robots that clean up the cigarette butts. This report deals with a construction proposal for a robot that performs exactly this task. Considering the restraints that this project faces only the functionality is developed that is required for the robot to be able to perform the task in an idealised indoor-environment. A prototype is constructed to be able to examine the precision of detection and collection of the cigarette butts for the chosen construction.

    To find cigarette butts the prototype is driving and steering with two DC-motors that are connected to separate H-bridges. A ultrasonic sensor detects large obstacles for the prototype to be able to avoid them. For detection of cigarette butts a Pixy-camera is used that identifies objects by calculating their colour signature. When a cigarette butt is detected the prototype steers towards it. Then it picks up the cigarette butt with a mechanism working with servomotors that are controlled by an Arduino Uno microcontroller. This mechanism is made up of a ramp with door that is tilted down onto the ground and leads the butt into a container.The construction was built using mainly multiple electric components, a building kit and parts designed in Solid Edge and 3D-printed in Ultimaker.

    Results of conducted tests show that the Pixy-camera is a weak spot as it is very light sensitive. Furthermore it is much harder for the camera to detect cigarette butts in standard colour orange compared to red cigarette butts. Tests of the cigarette butt collection performance showed a success ratio of 78% which shows that the construction works well. A future development for the prototype that lowered the success ratio was that it was unreliable at driving straight forward.

  • Svjatoha, Maksims
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Yosef Nezhad Arya, Behnam
    KTH, School of Industrial Engineering and Management (ITM).
    A Gimbal Stabilizer: Self-stabilizing platform for holding objects horizontally stable2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This bachelor thesis is about the design and construction of a self-stabilizing platform. The purpose of this system is to balance objects placed upon the platform by keeping the platform level regardless of how the mechanism itself is rotated. Its uses include stabilization of sensors, cameras and vehicle cockpits.

    The prototype was constructed using 3D printing and basic machining. It uses two DC motors, an inertial measurement unit, an Arduino Uno microcontroller and a motor driver. The inertial measurement unit acts as an accelerometer and gyroscope, it measures the change in position and angle relative to its starting position. The controller algorithm processes the sensor signal and calculates an appropriate output signal. This output signal regulates the two DC motors in such a way that compensates for any angle changes in the platform.

    This project is based on, and is the continuation of the work by J. Larsson, titled ”Gimbal stabilizer for cockpit bases of terrain vehicle or combat boat: A proof of concept”. The task is to develop it to a functioning physical prototype and implement a control system which is fast, responsive and precise.

    The controller tuning process involved a trial and error approach, using binary search between parameters that give a performance that is too slow and a performance that is too fast and unstable. A satisfactory performance was achieved and the platform could effectively stabilize objects that weigh 400 grams at its center, 200 grams at its edges and 100 grams at its corners. This takes 100 milliseconds on average. Besides bearing loads, the platform could also compensate for sudden forced angle changes and any tilting of the mechanism the platform is attached to.

  • Mauritzson, Samuel
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Revilla, Fabian
    KTH, School of Industrial Engineering and Management (ITM).
    Motorized control of a blind2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Automated solutions such as robotic vacuum cleaners and smart lighting are gaining popularity, both in the home as well as in public environments. The purpose of this project is to investigate the possibility of using a microcontroller to, in a user-friendly way, control a blind and to implement a sound sensor to activate the mechanism.

    A stepper motor was used to drive the blind and control its position. The prototype was programmed to recognize a sequence of two claps within a specific time interval. To make the prototype more user-friendly a UI was implemented with an LCD-display and mechanical buttons. A menu was designed where the user would be able to change settings such as the sound level threshold and motor speed as well as calibrate the position of the blind.

    The performance of the prototype was evaluated by testing the audio recognition by attempted activation in a quiet environment and by recording accidental activations in a loud environment. The conclusions drawn from these test were that the sound recognition was implemented and operated with a success rate of up to 73 %, but that it also triggered relatively easily by extraneous sound sources. Future improvements to this problem could include implementation of a band pass filter to further optimize the sound recognition to the desired audio cue.

  • Sjögren, Andreas
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Wolff, Victor
    KTH, School of Industrial Engineering and Management (ITM).
    W8ERBOT: Autonomous robot waiter2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The advent of robotics and automation leaves few industries untouched. Today, robots assist in everything between production lines at automotive manufacturing plants to home cleaning. One area that remains relatively untouched by robotics however, is the restaurant industry. The purpose of this bachelor’s thesis was to develop a prototype designed to assist with one of the tasks a restaurant waiter faces - food delivery.

    In order to accomplish this the robot must be able to drive and navigate in a restaurant environment and deliver food, all the while communicating with both restaurant staff and guests.

    The project resulted in a differentially steered robot that navigates using infrared, radio-frequency identification and ultrasonic modules. An elevator mechanism was devised to present the food to the guests. The user interface consists of a screen and a keypad.

    The prototype was tested successfully on an oval track measuring 3 by 1 meters. The tests showed that such a robot could likely be implemented in most restaurant settings.

  • Lindström, Jonas
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Nilsson, Måns
    KTH, School of Industrial Engineering and Management (ITM).
    Badminton Training Robot: Badminton Buddy2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Badminton is hard to practice alone and contemporary practice machines are either expensive or too simple to be useful.

    This bachelor thesis revolves around the mechanical, electrical, and software design of a badminton practice machine with an automated feeding mechanism and a firing mechanism capable of shooting to different locations on the badminton court. The resulting product was an aesthetically pleasing robust machine with a 91% reliability and an accuracy of less than one meter.

  • Hamada, Ali
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Larsson, Fredrik
    KTH, School of Industrial Engineering and Management (ITM).
    EastWest: Solar tracking photovoltaic panel2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The purpose of this project was to investigate how efficient it is to implement steering of a solar panel, in one or two axes. To determine how efficient it is, special consideration was taken to the energy usage of the driving system. Practical applications have also been considered with pros and cons. To answer the research questions a prototype was built and a controlled environment for testing was arranged. Rotating the panel in one axis resulted in a 26% energy increase and for the two-axis system a 56% energy increase compared to stationary panel.

    The use of stepper motors turned out to be not as efficient as needed, due to continuous use of energy at all times during operation.

  • Adem Esmail, Blal
    et al.
    Geneletti, Davide
    Knowledge transfer and capacity building: an example from the urban water sector2018In: JUNCO Journal of UNiversities and international development COoperationnviron, Vol. 1, no 1Article in journal (Other academic)
    Abstract [en]

    Rural-to-urban migration and sustained natural population growth in Africa, if not properly addressed, may pose serious threat to ecosystems and human wellbeing, both locally and afar. Novel concepts and operative approaches are needed to better frame these challenges and support local decision-making processes, to promote sustainable development. Indeed, this is a key area in which the Academia can make a significant contribution, for example, exploring innovative concepts and developing related approaches to support decision-making processes at a local scale. This paper focuses on the urban water sector as an informative example, ultimately aiming to highlight key areas in which research can provide concrete and valuable assistance. More specifically, we introduce two innovative concepts, i.e. ecosystem services and boundary work; hence propose an operative approach to support the process of design and assessment of the impact of watershed investments. To illustrate real-life implementation of the approach in a data scarce context in sub-Saharan Africa, we consider as a case study soil erosion and water scarcity-related challenges affecting Asmara, a medium-sized city in Eritrea. Accordingly, we adopt urban water security and rural poverty alleviation as two illustrative objectives, within a ten-year planning horizon. The case study application resulted in spatially explicit outputs that inform decision-making processes. By timely addressing stakeholders' concerns of credibility, saliency, and legitimacy, the proposed approach is expected to facilitate negotiation of objectives, definition of scenarios, and assessment of alternative watershed investments. Above all, and beyond the urban water sector, the case study application helps highlighting key areas in which the academic work can make concrete contribution mainly in terms of knowledge transfer and capacity building.

  • Stenberg, Erik
    KTH, School of Architecture and the Built Environment (ABE), Architecture, Architectural Design.
    Skånberg, Kristian (Contributor)
    KTH, School of Architecture and the Built Environment (ABE), Sustainable development, Environmental science and Engineering, Strategic Sustainability Studies.
    Kalén, Victoria (Contributor)
    Bosaeus, Malin (Contributor)
    Nordling, Carolina (Contributor)
    En ny plattform för att lösa bostadsfrågan: En antologi om samverkan kring bo- och byggnadsfrågor2019Report (Other (popular science, discussion, etc.))
    Abstract [sv]

    Bakgrund: Hur hamnade vi här (sid 16-28)

    av Carl-Johan Engström, Kristian Skånberg och Erik Stenberg

    Byggandet utgör en stor delav de svenska samhälleligainvesteringarna. Boendet ståri sin tur för den enskilt störstaposten i de flestas hushållsbudget.Detta gör att det sammantagethandlar om mycket stora pengaroch resursflöden kopplade tillhållbarhetsfrågor. Det rör ocksåde miljöer där de flesta människortillbringar merparten av sina liv,med alla de beröringspunkter kringsocial hållbarhet som detta för medsig. Det gör förändringar mycket angelägna.

    Byggandet: Kolsänka och energiproducent

    av Victoria Kalén och Erik Stenberg (sid 55-61)

    Bygg- och fastighetssektorn stårför en stor del av samhälletsutsläpp av växthusgaser. År 2015var de inhemska utsläppen avväxthusgaser ca 11,1 miljonerton koldioxidekvivalenter. Detmotsvarade 18 procent av Sverigestotala utsläpp av växthusgaser.Lägger vi till utsläppen som byggochfastighetssektorn genererarutomlands så blir totalen över 20miljoner ton koldioxidekvivalenter.Boverkets miljöindikatorer visaratt bygg- och fastighetssektornsmiljöpåverkan ökat ytterligaresedan dess. Dessutom kommervia de globala varukedjorna förbyggmaterial ytterligare uppemot 10miljoner ton koldioxidekvivalenter ini den svenska byggprocessen årligen.Ur ett konsumtionsperspektiv äralltså de byggrelaterade utsläppenännu högre.

    Hela rapporten:

    En ny plattform för att lösa bostadsfrågan är en antologi skriven av sex författare i samråd med Global Utmanings programråd för Hållbara Städer. Antologin tar avstamp i bostadsfrågan ur ett historiskt perspektiv och belyser frågan utifrån den gemensamma strategin för en hållbara omställning – Agenda 2030. Plattformen hanterar en såväl ekonomisk, som social och miljömässig omställning av ”bostadsfrågan”, det vill säga boendet, byggandet och stadsutvecklingen. Antologin innehåller dels förslaget till plattform för samverkan och dels fem bidrag som konkretiserar problem och utmaningar.

  • Stenberg, Erik
    KTH, School of Architecture and the Built Environment (ABE), Architecture, Architectural Design.
    En studie av arkitektens roll: Del 2. Bostadsritande arkitekter i Stockholmsområdet2019Report (Other academic)
    Abstract [sv]

    I rapporten Arkitektens roll: Bostadsritande arkitekter i Stockholmsområdet presenterasresultatet av intervjuer med arkitekter som ritat flerbostadshus med beviljade bygglov iStockholms kommun år 2014. Studien utgår ifrån bostadsfrågan och ligger inom ArkDesuppdrag att stärka och vidga arkitektens roll. Syftet med studien är vidare att kartlägga och analysera på vilket sätt praktiken löser sina behov av kunskap och på vilka sätt dettabreddar arkitektens traditionella roll. Studien har utförts av Erik Stenberg på KTH undervåren 2019 och presenteras på ett seminarium på ArkDes 27 augusti 2019 tillsammansmed den parallellt framtagna rapporten Arkitektens roll: Forsknings􀀐nära arkitekter i Stockholmsområdet av Anna Sundman, Theory Into Practice.

    Under mars och april 2019 genomfördes femton entimmes intervjuer med bostadsritandearkitekter i Stockholmsområdet. Tillsammans med den intervju som gjordes i oktober2018 bildar dessa sexton intervjuer med knappt trettio arkitekter det huvudsakligaunderlaget för föreliggande rapport. Valet av arkitekter utgick från det dryga femtiotalbygglov som finns redovisade i Bygglovsboken: Flerbostadshus 20144. Dearkitekter/kontor som ritat dessa bygglov utgör ett tvärsnitt av små och stora etableradearkitekturpraktiker i Stockholm. Att kunna genomföra och få beviljat ett bygglov för ettflerbostadshus i Stockholm är kvalificerat arbete som inte minst kräver kunskap,kompetens, kapacitet och kontakter. Eftersom byggloven beviljades för flerbostadshus iStockholms kommun år 2014 var de flesta husen uppförda vid intervjutillfället ochdärmed kunde arkitektens roll i hela processen beaktas.

  • Modée, Samuel
    KTH, School of Engineering Sciences (SCI), Mathematics (Dept.).
    Limiting Behavior of the Largest Eigenvalues of Random Toeplitz Matrices2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    We consider random symmetric Toeplitz matrices of size n. Assuming that the entries on the diagonals are independent centered random variables with finite γ-th moment (γ>2), a law of large numbers is established for the largest eigenvalue. Following the approach of Sen and Virág (2013), in the limit of large n, the largest rescaled eigenvalue is shown to converge to the limit 0.8288... . The background theory is explained and some symmetry results on the eigenvectors of the Toeplitz matrix and an auxiliary matrix are presented. A numerical investigation illustrates the rate of convergence and the oscillatory nature of the eigenvectors of the Toeplitz matrix. Finally, the possibility of proving a limiting distribution for the largest eigenvalue is discussed, and suggestions for future research are made.

  • Stenberg, Erik
    KTH, School of Architecture and the Built Environment (ABE), Architecture, Architectural Design.
    Million Program Kitchens: Reconstructing the Welfare State2018In: Rethinking the Social in Architecture: Making Effects / [ed] Sten Gromark, Jennifer Mack, and Roemer van Toorn, Barcelona: ACTAR, 2018, 1, p. 240-247Chapter in book (Other academic)
    Abstract [en]

    The postwar Swedish kitchen was especially well studied and designed with highambitions not only to contribute to but also to drive the push for increasing the generalstandard of living in Sweden (Berg 1962; Thiberg 1968; Reppen and Vidén 2006).However, societal and demographic changes have left these kitchens outdated. Originallydesigned for a rising middle-class nuclear family, they are today inhabited and used byvariations of the global, multicultural, networked, family (Nylander and Braide Eriksson2011). The aim of Million Program Kitchens, a seminar course taught at the KTHSchool of Architecture during the spring term of 2015, was to revisit postwar kitchens bystudying the strong research that lies behind them and analyzing how they are being usedtoday. Another goal of the course was to prepare future architects for the challenges ofreconstructing the welfare state from the inside out.

    Book abstract:

    The socially oriented perspective of Volume #1, Rethinking the Social, is complemented by discussions of architectural and transdisciplinary theories and methodologies in Volume #2, After Effects. Together these twin volumes reflect on topics such as the utopian idea of a welfare state, the role of intersubjective and non-human points of view, and the impact of historical and current images on the making of realities. The task of these books is to present a wide range of research topics that combine historical, material, and critical research approaches that respond to our current crises and challenges. Ultimately, this enables new modes of knowledge production within architecture to be advanced in its relation to societal transformation.

  • Stenberg, Erik
    KTH, School of Architecture and the Built Environment (ABE), Architecture, Architectural Design.
    Nygaard, Marius (Editor)
    Beim, Anne (Editor)
    Sustainability in Scandinavia: _Architectural Design and Planning2018Collection (editor) (Other (popular science, discussion, etc.))
    Abstract [en]

    In this book, essential aspects of sustainability in architecture and planning are approached from many diverse perspectives that exemplify the breadth and depth of explorations underway in Scandinavia today. The collection of writings is based on six years of visits made to these three Scandinavian countries, and sustained engagements with the schools of architecture in the capital cities. The presentation of these perspectives is intended to illuminate lessons being learned by architects in Scandinavia, and to expand the influence of these ideas to a global audience.The main drivers of sustainability are highlighted through case studies that cover all scales from planning and infrastructure to buildings and components. The cases treat broad themes such as global, regional, political, and cultural, and give each their specifically architectural significance. More acutely architectural topics such as adaptability, holistic thinking, and architectural education/tradition further permeate the cases. At the same time, the cases exemplify the best practices of sustainable architecture in Scandinavia including housing, offices, and cultural buildings, and urban development.

  • Sjöbom, Anders
    KTH, School of Electrical Engineering and Computer Science (EECS).
    Studying Test Flakiness in Python Projects: Original Findings for Machine Learning2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Flaky tests can fail or pass without any changes to the code under test. They can destroy developers trust in a test suite and if ignored lead to bugs in released code. This thesis performs an empirical study of the most popular open source Python projects on GitHub. 197 commits with keywords indicating test flakiness are manually inspected and categorized according to the root cause of their flakiness. The results are compared to previous studies of Java projects.

    Two completely novel flakiness causes are found - precision and training (of a machine learning network). These two causes are almost entirely domain-specific to machine learning projects. Precision flakiness comes from an assertion with a too high or too low threshold. Training flakiness is caused by a faulty training setup of a machine learning network in a test. Most tests in Python projects are found to be flaky due to problems with asynchronous waiting, precision and network.

  • Håkansson, David
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Lund, Anna
    KTH, School of Industrial Engineering and Management (ITM).
    Hydroponic Greenhouse: Autonomous identification of a plant s growth cycle2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In a world with an ever growing population, the ability to grow food eciently is essential. One way to improve the eciency is by automation. The purpose of this project is therefore to investigate how the identification of a plant’s stage in its growth cycle that can be made autonomous. This was done with the method of measuring the amount of green pixels in an image of the plant.

    To be able to answer our research questions a demonstrator was built. The demonstrator is a greenhouse with a non regulated aeroponic system, a regulation system for humidity and an identification system for determining the plant growth stage. The plant chosen to test the identification system was basil.

    The identification system successfully identified the stage of plants well into the adult stage, in the seed stage and in the middle of the sprout stage. It was however not always successful in the identification of plants transitioning from the sprout stage into the adult stage.

  • Noblía, Matilda
    KTH, School of Electrical Engineering and Computer Science (EECS).
    Automatic Anomaly Detection in Graphical User Interfaces Using Deep Neural Networks2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    The automatic detection of code errors is a ubiquitous part of the quality assurance process performed during software development. However, graphical errors that may occur in user interfaces are often detected manually. This report examines if deep neural networks (DNNs), may be used to automatically detect two common types of anomalies present in a graphical user interface. The results point towards this being the case for the particular dataset used in this report.

  • Björklund, Filip
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Strand, Christopher
    KTH, School of Industrial Engineering and Management (ITM).
    Omnidirectional pong playing robot: Pong playing robot using kiwi drive and a PID controller2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This project goal was to determine the flexibility of an omnidirectional robot with a physical implementation of the video game pong. A robot was created to follow and catch a ball and could play against a human player. The challenge of the project was to create a stable system that could move in a straight path and catch the ball within a reasonable distance from the other player.

    A camera was used to implement an image recognition system that could determine the two-dimensional position of the ball and hard coded values for the size of the ball was used to simulate a three-dimensional position. Given these values, the robot was able to follow the ball and push the ball when close. For the omnidirectional system, socalled kiwi drive with three DC motors and omnidirectional wheels was used. Ultrasonic sensors were also used to stop the robot if a nearby wall was too close.

    To make the robot move in a straight path, control theory together with a compass module was used to measure the angular error which was fed as feedback to the system. This enabled the robot to travel in a straight path and catch the ball.

    The results of the project showed that it is possible to control an omnidirectional robot with control theory in a stable manner. Using image recognition with a web camera together with OpenCV is fast enough to create a fast robotic system that can successfully complete a given task.

  • Höjer, Vidar
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Sundberg, Alexander
    KTH, School of Industrial Engineering and Management (ITM).
    Active DampeningActive Dampening: Servo controlled suspension with infrared sensor obstacle detection2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The purpose of this project was to create an active dampening suspension for a small prototype that was able to detect obstacles using infrared sensors. The suspension system consisted of servomotors that controlled the angle of a leg upon which a wheel was attached. The infrared distance sensor measured the height of obstacles and the necessary raising of the suspension was calculated on a microcomputer of type Arduino Uno. It was concluded that the constructed system of suspension and obstacle detection was inadequate. Most subsystems worked but not as a whole.

  • Ahlqvist, Niklas
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Jungåker, Jonas
    KTH, School of Industrial Engineering and Management (ITM).
    Perrin, Agnes
    KTH, School of Industrial Engineering and Management (ITM).
    Internet of things and automated farming2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The purpose of this project is to make it easier to grow plants domestically all year round. The objective is to construct a remotely controllable and environmentally independent automated hydroponic system. This would minimize the efforts required by the user to sustain plants in non-native climates.

    A hydroponic gardening system uses water as a growth medium instead of soil. The system is climate conscious and has benefits compared to conventional agriculture.

    Hydroponic systems are affected by several factors, this project only focuses on controlling the light intensity by isolating the system, and regulating the nutrient concentration through EC. The system uses a microcontroller for analysis and control.

    The results are promising, showing that the system works. However, the limitations in time led to a short test period, therefore the data gathered is limited. The discussion based on the results conclude that the system cannot be considered completely automatic but reduces the need of manual labour.

  • Antonova, Anastasia
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Lundin, Hanna
    KTH, School of Industrial Engineering and Management (ITM).
    Photobot: An Exploring Robot2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Sometimes when terrain is inaccessible to humans we use robots to help us explore it. In this project a self navigating robot was created that used ultrasonic sensors to detect obstacles in its path and avoided them. When an obstacle is encountered the robot documents said obstacle by taking photographs of it as well as registered its coordinates and created a map, as a bonus feature. Thereafter the robot continued its path based on where obstacles were absent.

    By using stepper motors to drive the robots traveled distance was calculated. With this information a map over the traveled path was created. Tests were conducted where the map was compared to real life as well as letting the robot roam freely. The tests showed the robots ability to evade obstacles and how well the integrated camera function performed.

    The placement of the sensors worked well enough considering only five were used. Although the robot would improve significantly if an increased amount of sensors were to be added. The algorithm enabled the robot to navigate and avoid all detected obstacles. It is the sensors that inhibited its navigation since they only detected obstacles directly in front of them.

    Since this was a mobile robot it was powered by batteries. The robot would be able to explore to a greater extent if it could recharge its batteries on its own, for example with solar panels. A GPS could be installed to keep track of the robot at all times.

  • Malachowska, Julia
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Severinsson, Ellen
    KTH, School of Industrial Engineering and Management (ITM).
    ROBOTIC BALL RETRIEVING: A METHOD TO DETECT, COLLECT AND RETRIEVE A BALL2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The aim of the presented thesis is to examine the potential of an autonomous football handling machine. It has been noted that the number of machines with the purpose of autonomously handling footballs, tennis balls, golf balls etc. are increasing but that no such machine is yet well established on the market. The performance of a robot that can both find, collect and retrieve a ball to a fix position is being examined. An area where the machine is intended to fill a purpose is for example penalty or free kick practice within football, where a single player stands relatively far away from goal and the ball does not necessarily bounce back to the player after scoring. Such a robot could make practice more efficient by relieving the player from the repetitive task of running back and forth to the goal, hence providing him/her with the flexibility of practicing alone.

    The results of the study show that ultrasound is not an effective technique for detecting a football, because of many reasons. One of the reasons is that the ultrasonic sensor doesn’t measure distance accurately enough when dealing with spherical surfaces. However, since the developed demonstrator is tested in a fixed setting, its success rate is high. With a few adjustment, the system as a whole shows high potential. The main recommendation for future work is to replace the ultrasonic sensor with a camera, and implementation of feedback control, for the steering of the robots movements.

  • Adeeb, Karam
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Alveteg, Adam
    KTH, School of Industrial Engineering and Management (ITM).
    SIYA - Slide Into Your Albums: Design and construction of a controllable dolly camera with object recognition2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The scope of this project is to design, construct and build an automated camera rig with object recognition. The project explores if there are any advantages with an automated camera rig compared to a manual one, how an external camera module can be implemented to track an object and under what circumstances the camera module can register the objects for optimal performance.

    The construction is built to travel along a rail of two iron pipes. A camera is mounted on a small wagon that travels on top of the rail with the help of a DC-motor. On the wagon, an external camera module called Pixy2 detects a predetermined object that the user wants the main camera to detect and focus on. Using the feedback data from the Pixy2, two stepper motors run to rotate the main camera horizontally and vertically so that the object is placed in the middle of the frame while the wagon travels along the rail.

  • Ström, David
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Jensen, Carl
    KTH, School of Industrial Engineering and Management (ITM).
    Compact safety system for automatic flagpole: Flow sensor anemometer2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Automating tasks and processes are becoming more and more common in both corporate and everyday life. The aim of this project is to assist the company Hotswap in the development of a safety system for an existing automatic flagpole. The safety system should be able to monitor wind velocity and, optionally, wind direction as well as communicate the data to the flagpole’s main control unit. The thesis describes and discusses the different possible mechanisms, solutions for measuring wind, and a possible implementation. A method for measuring wind velocity by utilizing an FS5 thermal mass flow sensor was selected and a prototype was developed for testing the performance of the implementation. The tests showed that the thermal mass flow sensor fulfilled the requirements regarding wind velocity measurement and accuracy with an average deviation of 0.19 m/s from the reference value. The solution was then discussed and compared with Hotswap’s existing prototype. The comparison showed that the prototype was a viable alternative. Finally, some suggestions for further development were presented along with the conclusion that the prototype provides a proof of concept for a fully realizable solution.

  • Conradi, Justus
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Tiainen, Patrik
    KTH, School of Industrial Engineering and Management (ITM).
    Automated water mixer2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The aim for this thesis is to explore the possibility to save both water and energy in showers. Through a quicker, more responsive and precise shower faucet using digital thermometers and stepper motors. A faucet has two input pipes with cold and hot water respectively. To reach a desired shower temperature; a single thermometer is needed, to measure the mixed water temperature. Using this information, two motors will control two valve until the desired temperature is reached. To maintain the desired temperature throughout the shower session, the temperature should be continuously monitored and when temperature disturbance occurs, the valves should compensate for it.

    To achieve this a demonstrator was made. The demonstrator uses stepper motors connected to valves to control the flow through a hot and cold water pipe. The system reads the temperature of the output water continuously and makes appropriate changes to the position of the valves.

    Due to safety concerns, no water was used in the testing of the demonstrator. The theoretical response time of the system is very short, and the demonstrator can theoretically change temperature of the mixed water by around 5°Celsius per second.

  • Bergstrand, Alejandro
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Haga Lööf, Anton
    KTH, School of Industrial Engineering and Management (ITM).
    S.A.C.: The Smart Alarm Clock2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The aim of this project was to make an alarm clock with multiple functions intended to make waking up a more pleasant experience. The main function of the alarm clock was to simulate a sunrise by raising roller blinds. The project was limited in scope due to both time and budget. If the main function was to be completed, more secondary functions were to be implemented. An intuitive control method, supplementary lights and wireless connectivity were for example considered as secondary functions.

    A demonstrator was built, using an Arduino microcontroller at its core. Different types of motors were considered for raising the roller blinds but in the end a stepper motor was chosen because of its ease of use. To keep track of the time a real time clock module was connected to the Arduino. The time was displayed on an liquid crystal display and the clock settings were controllable with five different buttons.

    All of the implemented functions worked with satisfaction. Even if the implemented functions worked, there are still a lot of improvements to be made before the prototype can be called a smart alarm clock.

  • Hermansson, Hanna
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Lundblad, Louise
    KTH, School of Industrial Engineering and Management (ITM).
    Automatic irrigation system for plants2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    The purpose of this project was to develop an automatic irrigation system for plants. It is beneficial to have plants indoors. In addition to their air-purifying qualities, they have been proven to increase the productivity of employees at workplaces, as well as decrease the amount of sick leave. Three research question were investigated: how much energy the system requires and if it is possible to replace the energy source with an alternative energy source, how well the system stabilises and how a wireless regulation can be implemented.

    The final design consisted of a mictrocontroller which controlled the system, a water pump, a moisture level sensor and a plant on which everything was tested. The system was left during a four week period to see how well it managed. The project resulted in a system that managed to keep the plant alive. The energy demand of the system could be covered by solar cells instead of batteries.

  • Geneletti, Davide
    et al.
    Adem Esmail, Blal
    Liekens, Inge
    Broekx, Steven
    Kallay, Tamas Kristof
    Arany, Ildikó
    Viinikka, Arto
    Kopperoinen, Leena
    Svensson, Johan
    Klug, Hermann
    Reichel, Steffen
    Potschin-Young, Marion
    Martín, Fernando Santos
    Stoev, Pavel
    Maes, Joachim
    Burkhard, Benjamin
    Report illustrating the application of the final methods in policy and decision-making: Deliverable D5.3, EU Horizon 2020 ESMERALDA Project, Grant agreement No. 642007.2018Report (Refereed)
  • Malm, Lukas
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Phan, Anna
    KTH, School of Industrial Engineering and Management (ITM).
    Mozart2000: Music reading and piano playing robot2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    Many industries have been transformed to better perform in today’s digital age. In this project a solution for digitalizing printed sheet music as well as automating piano playing is researched, developed and built.

    The project was divided into three sub-systems, the first focusing on the digitalizing of sheet music, the second on identifying and classifying the notes and the third on playing the piano. These were later combined to form a demonstrator called Mozart2000, or M2k. The result was a robot which could determine the note pitch of an arbitrary note, or note combination, written in common music notation, and furthermore play these on the piano.

    The algorithm is based of off finding coordinates for stafflines and notes using image processing. Programming was done in Python with some functions extracted from the library OpenCV (Open Source Computer Vision). The piano playing mechanism uses solenoids and lever arms, controlled by electrical signals from a Raspberry Pi.

    Due to scope in budget and time some restrictions were made. The note range for the robot was limited to one octave, meaning 8 piano keys. Moreover, other musical information such as rhythmical and coloring were overlooked and set to a predetermined value. For the digitalizing part, a camera was used, taking a snapshot of one musical bar.

    The final solution however can be expanded to include additional keys and music segments by replicating the existing mechanism.

  • Hanefors, Victor
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Rahmanian, Shaya
    KTH, School of Industrial Engineering and Management (ITM).
    Sharkbait - A self-stabilising underwater drone: Evalution of response time, propulsion and steering in a underwater environment2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This projects purpose was to build an underwater remote operated vehicle with software controlled self-stabilisation for evaluation of the response time, propulsion and steering to see what could be achieved. A prototype was constructed and tested in dry conditions at first. The prototype features an Arduino and a Raspberry Pi as control units, controlling six thrusters. With the help of a controller the user can manoeuvre the vehicle and when exposed to unexpected forces sensors detect this allowing the software to counteract it. Due to risk of massive electrical failure as a result of failed waterproofing tests underwater were postponed until the end. Unfortunately this made full optimisation of the software difficult. The results in a dry enviroment were positive, the system was able to fully perform the desired outputs at the thrusters, the PID controller kicked in when it detected a disturbance in its position. Testing the propulsion system in the water gave positive results as well, the propeller held and the motor kept working while submerged. The response time performed adequately at an average of 50ms.

  • Geneletti, Davide
    et al.
    Adem Esmail, Blal
    KTH, School of Architecture and the Built Environment (ABE), Urban Planning and Environment.
    Guidelines and recommendations to support the application of the final methods: Deliverable D5.4  EU Horizon 2020 ESMERALDA Project, Grant agreement No. 6420072018Report (Refereed)
  • Nilsson, Simon
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Widmark, Johan
    KTH, School of Industrial Engineering and Management (ITM).
    PIPER: Robot for vertical in-pipe climbing2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    In old houses, the pipes can often be in poor conditions and require cleaning to improve air quality. There are robotic solutions to this problem but often only for large industrial pipes and not for regular pipes that you would find in your home. Pipes can often be hard to access and even harder to determine the pipe’s condition. This thesis aims to research and build a small robot that can travel through pipes, gather footage and attempt to clean them.

    The goal is to create a robot that can climb vertically in pipes, record video inside of the pipes and detect obstacles. After research was done a prototype was built. The prototype uses spring loaded pistons that pushes wheels against the walls of the pipes to provide friction for vertical travel. To be able to perform all these tasks, the robot uses tools that can be exchanged depending on what needs to done. The ability to turn in pipes has been ignored in this thesis due to time restrictions but could be done as future work.

    The resulting prototype is a robot that can steadily travel vertically through pipes, carry its own weight of 750 grams and an additional load of up to 500 grams. The robot is able to stop at pre-determined locations by measuring the distance it has travelled by using a hall-effect sensor.

  • Gutekvist Olsson, Cecilia
    et al.
    KTH, School of Architecture and the Built Environment (ABE), Real Estate and Construction Management.
    Norkko, Fanny
    KTH, School of Architecture and the Built Environment (ABE), Real Estate and Construction Management.
    Omvänd logistik - vägen mot hållbar utveckling?: Hur ökad återanvändning av byggmaterial i samverkan kan bidra till en mer cirkulär ekonomi på byggarbetsplatser2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    In the past decades the planet has, due to human overuse of resources, undergone climate change and global warming. Because of the projected increase of the population as well as the urbanization that has been going on the last 40 years, where more people seek towards metropolitan areas, it will result in an increased construction of housing. This will result in challenges considering the fact that the construction sector today represents a significant part of society's negative climate impact from a life-cycle perspective. One factor contributing to the negative climate effect given by the construction industry is its unsustainable waste management in which a significant part of the wasted materials is reusable. For this reason, the purpose of this research has been to investigate whether reverse logistics, targeted at reuse of construction materials, in collaboration between contractors in limited urban areas can reduce waste materials for sustainable development. The theoretical framework identified in this study, from which the result obtained originates and the conclusions are drawn, consists primarily of three theories: sustainable development, circular economy and reverse logistics. Sustainable development with its three dimensions: social, ecological and economic sustainability is aimed to reach the optimal stage in which resources are consumed in a sustainable way as possible. Circular economy is a process where used material is used as long as possible in a circular cycle with the ability to organize and optimize sustainable material flows, this by conserving resources and reducing waste. Lastly, reverse logistics is a branch within the common logistics that manage products of any kind after usage with an efficient management that either creates new value or a proper disposal. The results are based on a qualitative method with interviews supplemented by quantitative data from a questionnaire. The results confirm what constitutes the study's problem of today's unsustainable waste management in which still usable materials are discarded, whereupon the mean value of eight percent of the total waste is estimated to still be usable. The materials with the greatest potential for reuse are wood, board materials of various kinds, insulation, reinforcement bars and steel joists. Regarding the study's focus on increasing reuse in collaboration between contractors, a general positive attitude is seen towards it and there is an insight in the fact that solving the problem of today's unsustainable waste management will be difficult without collaboration. However, this is given by the fact that the challenges identified can be solved. The identified challenges in the study were mainly problems with quality assurance on reusable materials, inventory and resource inefficiency. In this study it has emerged that when it comes to starting reuse in collaboration consisting all types of building materials, there are factors that must be resolved before it will be possible. Something that stands in the way of implementing it today. On the other hand, there are no major obstacles towards reusing standardized building materials for temporary work since the quality assurance issue in the form of a guarantee is not relevant and that there is a need for such material during the entire building process, which solves the problem of inventory. To begin work on this, digital platforms that already exist today could be used as a marketplace, where a restriction is placed on who may buy the material. It could also be as simple as keeping a closer communication between projects. Finally it can be concluded that, after a period of time, an implementation of this type of reverse logistics, focused on reuse in collaboration, will be able to reduce the amount of waste compared to today. This will create a more circular economy in limited urban areas, whilst contributing to a more sustainable development.

  • Danielsson, Sara
    et al.
    KTH, School of Architecture and the Built Environment (ABE), Real Estate and Construction Management.
    Brahm, Annelie
    KTH, School of Architecture and the Built Environment (ABE), Real Estate and Construction Management.
    Tröghet och splittring i infrastrukturprojekt: Betydelsen av rutiner för välmående i uppstarten av produktion2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Working sustainably is becoming significantly more important, especially in the construction industry which has struggled to create safe working environments for a long time. In order to be an attractive employer companies must work with sustainability from many aspects of their employees’ health. Sustainability demands have increased along with expectations of well-being in the workplace. Companies have reason to consider this also from a productivity perspective, research has shown that work affects the well-being of employees and well-being affects their performance which in turn affects project productivity. The purpose of this study is to better understand how project organizations and its members work to establish socially sustainable work processes in the start-up of production in an infrastructure project. To do so the development of routines along with the consequences of inertia and fragmentation have on the members of the project will be investigated, with a focus on well-being. In a qualitative interview study, the start of production in three infrastructure projects in Stockholm were investigated. It turned out that well-being and other soft parameters are very important to the project members and that project routines in the start of production do not reflect that. Partly the reasons for this can be explained from a routine perspective: the organization contains inertia which makes it difficult for them to change routines, in some cases they are also fragmented which makes it difficult to agree upon common routines. It is easier for the members of the projects to work towards short term goals than long term goals, which becomes clear when it comes to work aimed towards well-being and other soft parameters.

  • Carlsson Sandelin, Emma
    et al.
    KTH, School of Architecture and the Built Environment (ABE), Real Estate and Construction Management.
    Mattsson, Maja
    KTH, School of Architecture and the Built Environment (ABE), Real Estate and Construction Management.
    Kvalitetssäkring inom byggbranschen: Entreprenörens egenkontroll i produktion2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    Self-inspection is an important part of the construction industry's quality work and is something that has been discussed as a solution to the quality problems of the construction industry. However, studies have criticized how self-inspection is carried out and documented, also pointing out its low credibility. In addition, it is emphasized that there are major shortcomings in both commitment and knowledge about the purpose and execution of self-inspection. With the fourth industrial revolution and its rapid digital development, digital tools have been implemented to facilitate the execution and documentation of self-inspection. With that being said, the question is whether digital tools are the correct solution to increase the selfinspection’s lack of credibility. Therefore, this master thesis aims to provide readers with an increased understanding of the purpose of self-inspection, as well as to provide a comprehensive picture of how the system of self-inspection within the Swedish construction industry is perceived in production. This applies both to the system of self-inspection in general, as well as the digital tool that are implemented for execution and documentation. The work has been carried out as an in-depth literature study with a complementary empirical study in which experiences have been collected from both previous research, studies and participant respondents. The result of the study shows that there is a great variation in the perception of the purpose and requirements of self-inspection, and that there is a widespread lack of both knowledge and motivation regarding the execution and documentation of self-inspection. This has contributed to a general lack of trust in the self-inspection system. The tool that has been implemented for digital execution and documentation of self-inspection has shown beneficial effects but has not been able to address the problems surrounding the variations and shortcomings that have emerged throughout this report. In order to remedy the prevailing quality deficiencies in the construction industry, it is advocated that companies set up clear frameworks for how the work with self-inspection should be carried out within their own operations and that this work method is then implemented correctly. The means of self-inspection needs to be in place before any implementation of digital tools is advantageously possible.

  • Bill, Cecilia
    et al.
    KTH, School of Architecture and the Built Environment (ABE), Real Estate and Construction Management.
    Widéen, Hanna
    KTH, School of Architecture and the Built Environment (ABE), Real Estate and Construction Management.
    Implementation of construction innovation: A study of a large Swedish contractor firm2019Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
    Abstract [en]

    In the increasingly competitive market, innovation has become important if not crucial for entrepreneurial survival. The construction industry, although argued to be a bit behind, is catching on. As the ambition to become more innovative rapidly increase, several challenges must be managed within the building sector and one of them is the implementation of innovations. The aim of this study is therefore to investigate the implementation process of innovation in a construction organisation’s projects. More specifically, to increase the understanding of the important aspects, which could result in a more effective implementation in the future. This will be done in collaboration with a large contractor firm in Sweden, NCC and with the help of an implementation framework developed by Sarah E. Slaughter. The framework will be used to see how well theory reflects practice and is especially directed towards the construction industry. It describes how innovations in general should be implemented, regardless of its type. The thesis is built around a case study and where a particular project within NCC has been chosen to study more closely. The project, which is addressed as the “Pilot Project” is a collaboration between NCC and an external supplier. In this collaboration they have worked together to implement an innovation, however, the process will be looked through the contractor’s eyes. The empirics has been collected through a qualitative interview study including individuals in different positions in the pilot project but also complemented with interviews with other individuals in the firm that have in some way been involved in an implementation of an innovation. Through the empirics, a number of significant aspects could be identified in the following categories: “Commitment”, “Communication”, “Organizing teams and Creating good Conditions” and last “Evaluation”. The result was that the majority of the most important factors were in line with the framework’s stages but that it should be complemented or modified with several aspects found in the empirics. It can therefore be concluded that the model, to a large extent, reflects reality in a good sense.

  • Ortner, Jens
    et al.
    KTH, School of Industrial Engineering and Management (ITM).
    Ågren, Erik
    KTH, School of Industrial Engineering and Management (ITM).
    Automated Hydroponic system2019Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
    Abstract [en]

    This report includes research into how to automate a small scale system for hydroponics. Hydroponics is a growing technique which features a soil-less environment were the plants roots are exposed to a nutrient-enriched water solution.

    The research focused mainly on how to regulate the pH and the level of nutrient in the water solvent and finding a system to automate that process.

    In the research fully grown basil plants were used as test specimens, with the plants roots submerged in a water solvent. The water solvent had sensors that were connected to a micro controller making it possible to monitor the presence of nutrients and pH in the solvent.

    If the micro controller deemed that the pH and/or the nutrient level was too high or too low, the micro controller would adjust the solvent by activating pumps adding pH down buffer solution and/or nutrient solution to the solvent.

    The research proved that a way to automate a small scale hydroponics system is by building a computerized system consisting of:

    • Micro controller.

    • pH sensor.

    •EC sensor (to measure nutrient level in solvent).

    • Temperature sensor.

    • Fluid pumps connected to pH- and nutrient reservoirs