Abstract: A wheel unit for an automated guided vehicle (AGV) includes a base structure; a steering structure rotatable relative to the base structure around a vertical steering axis; a wheel supported by the steering structure and rotatable relative to the steering structure around a horizontal wheel axis; a force device arranged to force the base structure and the steering structure away from each other along the steering axis; and a sensor arranged to sense a rotational position of the steering structure relative to the base structure around the steering axis and an axial position of the base structure relative to the steering structure along the steering axis.

Abstract: An automated guided vehicle (AGV), comprising a main unit including a main body and a plurality of main wheels supporting the main body, at least one of the main wheels being a traction wheel; an auxiliary unit including an auxiliary body and at least one auxiliary wheel supporting the auxiliary body; and a hinge connected between the main body and the auxiliary body such that the auxiliary body can rotate relative to the main body about a horizontal hinge axis; wherein the AGV is configured such that a center of mass of the auxiliary unit is horizontally offset from the hinge axis when the main body and the auxiliary unit are supported on a common horizontal surface; and wherein the AGV is configured to determine a rotational position of the auxiliary body relative to the main body about the hinge axis.

Abstract: A method of controlling an automated guided vehicle (AGV) includes at least one drive wheel connected to the base and being rotatable relative to the base around a drive axis to generate a tractive force in a heading direction transverse to the drive axis; and a control system that controls the AGV, selects a compliance direction in which the base should exhibit a compliant behavior, and includes an AGV control program, the AGV control program comprising program code which, when executed by the control system, causes the control system to control the AGV to be positioned at standstill such that the heading direction of each drive wheel is aligned with the compliance direction; and executing, by the control system, the AGV control program.

Abstract: A method of controlling an AGV, which includes a support structure and at least three wheel units, each comprising a wheel rotatable around a horizontal wheel axis; wherein for at least two of the wheel units, the wheel unit comprises a steering motor; and wherein the method comprises providing a support point and an application load comprising an application force in relation to the support structure; representing the application load by a remote force acting at a remote point horizontally offset from the support point, and in a horizontal remote direction transverse to an offset line; and for the at least two of the wheel units comprising a steering motor, positioning each wheel in a steering position such that an instant center of rotation (ICR) of each wheel substantially coincides with the remote point.

Abstract: An automated guided vehicle (AGV) comprising a chassis, a plurality of wheel units connected to the chassis, each wheel unit comprising a wheel for supporting the chassis on a horizontal surface; an electronic control system in signal communication with the wheel units; and one or more resilient suspension elements. The AGV further comprises a suspended carrier suspended from the chassis via the one or more suspension elements. The suspended carrier carries the control system horizontally inside of the chassis and extends horizontally outside of the chassis.

Abstract: A method of braking an AGV, the AGV including a support structure and at least three drive units connected to the support structure, wherein each drive unit includes a wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis; an electric wheel motor arranged to drive the wheel about the wheel axis; a wheel sensor device arranged to determine a rotational position of the wheel about the wheel axis; an electric steering motor arranged to drive the wheel about the steering axis; and a steering sensor device arranged to determine a rotational position of the wheel about the steering axis; wherein the method includes positioning the wheels of the drive units in an invalid configuration; and position controlling each wheel about the respective steering axis in the invalid configuration.

Abstract: A brake device including a first device having a shaft; a brake element having a first frictional brake surface and an engageable structure; a second device rotatable relative to the first device about a rotation axis, the second device including a second member having an opening, a second frictional brake surface, and a forcing member pre-tensioned to force the second frictional brake surface against the first frictional brake surface; and an actuator connected to the first device, the actuator including an engaging structure movable between a disengaged position, and an engaged position to brake relative rotation between the first device and the second device about the rotation axis; wherein the shaft is concentric with the rotation axis and passes through the opening.

Abstract: A method of handling a carrier by means of a mobile robot including a body having a base; a traction arrangement; at least one manipulator; and at least one end effector movable relative to the base; wherein the mobile robot is configured to perform an omnidirectional motion of the base relative to a surface; the method including obtaining environment data of a carrier positioned on the surface by means of an environment sensor; determining a handle position of at least one handle of the carrier based on the environment data; positioning each end effector in relation to at least one handle based on the one or more handle positions; securing each end effector to the at least one handle; and moving the mobile robot and the carrier in common over the surface by means of the mobile robot.

Abstract: A cable system has a first cable section (2f) with first inner layers (2fi) and a plurality of first armouring wires (8) surrounding the first inner layers (2fi). The first cable section (2f) is defined with a first end (2fe). A second cable section (2s) has second inner layers (2si) and a plurality of second armouring wires (9) surrounding the second inner layers (2si), where the second cable section (2s) is defined with a second end (2se). The inner layers of the first end (2fe) are joined to the inner layers of the second end (2se) at a joint (3). The cable system (1) has a first sleeve (10) with a first central bore (12) and a number of first wire holes (32) surrounding the first central bore (12), where the first inner layers (2fi) are provided through the first central bore (12) and where the first armouring wires (8) are inserted into the first wire holes (32).

Abstract: An arrangement for welded conductors for power transmission cables includes conductors welded by a high conductive welding material. A method for production of such welded conductors and power transmission cables including the welded conductors includes joining the conductor elements by welding.

Abstract: An AGV including a support structure and at least one drive unit connected to the support structure, wherein each drive unit includes a wheel rotatable about a wheel axis and about a steering axis perpendicular to the wheel axis; a wheel motor arranged to drive the wheel about the wheel axis; and a steering motor arranged to drive the wheel about the steering axis; wherein the AGV further includes at least one actuation member movable in an additional degree of freedom; and wherein the at least one actuation member is arranged to be driven by the wheel motor and/or the steering motor of at least one drive unit in the additional degree of freedom. A method of controlling an AGV is also provided.

Abstract: A method of joining tubes with friction welding includes the steps of aligning end walls of tubes to be welded, introducing an intermediate tube segment between the tubes, and bringing the tube end walls together against opposing end walls of the tube segment to put the end walls under axial compressive stress at a friction ramp-up pressure. The method further includes rotating the intermediate tube segment about a tube segment longitudinal axis in at least one direction, increasing the axial compressive friction stress to a forging pressure in order to heat the end parts of the tube and the intermediate tube segment, and increasing the axial compressive friction stress to a forging pressure, thus joining the tubes and the tube segment. The tube segments have a tube wall made of a material resistant to hydrogen embrittlement.

Abstract: A method of controlling a robot, the method including obtaining, by means of a proximity sensor on the robot, a distance value indicative of a distance between an object and the robot; obtaining, by means of a thermal sensor on the robot, a temperature value indicative of a temperature of the object; and controlling the robot to reduce its mechanical impedance if the distance value is smaller than a distance threshold value and the temperature value is higher than a temperature threshold value. A control system for controlling a robot, and a robot including the control system, are also provided.

Abstract: A method of detecting sensor malfunction in an automated guided vehicle, AGV, including for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of a body of the AGV based on sensor data from a wheel sensors and/or a steering sensors; for at least one motion variable, calculating a difference between the motion values for at least two different pairs; and determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable.

Abstract: A method of handling a carrier by means of a mobile robot including a body having a base; a traction arrangement; at least one manipulator; and at least one end effector movable relative to the base; wherein the mobile robot is configured to perform an omnidirectional motion of the base relative to a surface; the method including obtaining environment data of a carrier positioned on the surface by means of an environment sensor; determining a handle position of at least one handle of the carrier based on the environment data; positioning each end effector in relation to at least one handle based on the one or more handle positions; securing each end effector to the at least one handle; and moving the mobile robot and the carrier in common over the surface by means of the mobile robot.

Abstract: A brake device including a first device having a shaft; a brake element having a first frictional brake surface and an engageable structure; a second device rotatable relative to the first device about a rotation axis, the second device including a second member having an opening, a second frictional brake surface, and a forcing member pre-tensioned to force the second frictional brake surface against the first frictional brake surface; and an actuator connected to the first device, the actuator including an engaging structure movable between a disengaged position, and an engaged position to brake relative rotation between the first device and the second device about the rotation axis; wherein the shaft is concentric with the rotation axis and passes through the opening.

Abstract: Described herein are methods and devices useful for delivering a biologically relevant cargo to biological cells, especially to sensitive cells such as primary stem cells and primary derived cells. The methods and devices may use centrifugation of cells to drive the cells into hollow nano straws on a substrate for delivering the biologically relevant cargo to the cells.

Abstract: A method of detecting sensor malfunction in an automated guided vehicle, AGV, including for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of a body of the AGV based on sensor data from a wheel sensors and/or a steering sensors; for at least one motion variable, calculating a difference between the motion values for at least two different pairs; and determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable.

Abstract: The invention relates to a timber handling vehicle (1) and a timber grip, wherein said timber handling vehicle includes a load compartment (2), a crane (3) a timber grip (4), a hydraulic cylinder (4c), a hydraulic system (11, 12), a pump (15), a tank (16), a control valve (18) with which a fluid flow set under a pump feed pressure (P) is directed to a plus side (15:1) via a first pipe (15A) respectively a minus side (15:2) via a second pipe (15B).

Abstract: A high voltage alternative current cable is provided having mechanically reinforced electric conductor, by having a reinforcement member at the centre of the conductors of the cable, where the reinforcement member is made of one or more low or non-magnetic steel wires, one or more wires of CuNiSi precipitation alloy, or one or more aluminium wires made of an EN AW-1xxx, EN AW-2xxx, EN AW-5xxx, AW-6xxx, EN AW-7xxx, or EN AW-8xxx alloy, according to the European aluminium standard.