Abstract: A sensor module is provided for adding functionality to a robot. The sensor module is attached between the robot tool flange and the end effector. Additional interchangeable modules may also be provided between the tool flange and the end effector. The sensor module includes a sensor for monitoring a condition near the end effector. An output port of the module transmits sensor data to a processor outside of the sensor module for further processing.

Abstract: A communications module is provided for simplifying routing of communications pathways in a robot. The communications module is attached between the robot tool flange and the end effector. Additional interchangeable modules may also be provided between the tool flange and the end effector. The communications module includes multiple input ports and at least one output port. A data switch within the module combines sensor data from multiple input ports into a single output stream that is transmitted from one or more of the output ports.

Abstract: A method for monitoring operation of at least one camera observing a scenery includes the steps of: a) producing (S1) a moving pattern within a field of view of the camera; b) detecting a change (S2) in successive images from the camera; and c) determining (S4) that the camera is not in order if no change is detected.

Abstract: Mechanical condition monitoring of robots can be used to detect unexpected failure of robots. Data taken from a robot operation is processed and compared against a health baseline. Features extracted during the monitoring stage of robot operation are aligned with features extracted during the training stage in which the health baseline is established by projecting both onto a common subspace. A classifier which can include a distance assessment such as an L2-norm is used within the common subspace to assess the condition of the robot. Excursions of the distance assessment from a criteria indicate a failure or potential failure.

Abstract: A processing module is provided for improving performance of a robot. The processing module is attached between the robot tool flange and the end effector. Additional interchangeable modules may also be provided between the tool flange and the end effector. The processing module includes a processor that processes sensor data received from one or more sensors. The processor generates lower bit rate processed sensor data from the incoming sensor data. The processed sensor data is transmitted from the processing module to another processor of a robot controller.

Abstract: A communications module is provided for simplifying routing of communications pathways in a robot. The communications module is attached between the robot tool flange and the end effector. Additional interchangeable modules may also be provided between the tool flange and the end effector. The communications module includes multiple input ports and at least one output port. A data switch within the module combines sensor data from multiple input ports into a single output stream that is transmitted from one or more of the output ports.

Abstract: A sensor module is provided for adding functionality to a robot. The sensor module is attached between the robot tool flange and the end effector. Additional interchangeable modules may also be provided between the tool flange and the end effector. The sensor module includes a sensor for monitoring a condition near the end effector. An output port of the module transmits sensor data to a processor outside of the sensor module for further processing.

Abstract: Mechanical condition monitoring of robots can be used to detect unexpected failure of robots. Data taken from a robot operation is processed and compared against a health baseline. Features extracted during the monitoring stage of robot operation are aligned with features extracted during the training stage in which the health baseline is established by projecting both onto a common subspace. A classifier which can include a distance assessment such as an L2-norm is used within the common subspace to assess the condition of the robot. Excursions of the distance assessment from a criteria indicate a failure or potential failure.

Abstract: A control system adapted for real time applications for carrying out the following functions: communication, control of a process or a device, and safety functions. The control system includes a plurality of function modules adapted for at least carrying out the control function and the safety functions. Each function module is adapted for receiving input data and for providing output data. Each function module is adapted to carry out a defined task based on the received input data and provide output data based on the task carried out. Each function module is adapted to carry out the task during a time period, which is independent of what is simultaneously going on in the other modules. At least one of the function modules has its logical components implemented on a programmable logic device.

Abstract: A method for controlling an arc welding equipment (21) used in a welding operation and adjustable by varying at least one welding parameter value, comprising the steps of determining said at least one welding parameter while using a theoretical model (24) of the welding process associated with the welding operation, and controlling the operation of the welding equipment and the welding process associated therewith by using said at least one welding parameter for adjusting the welding equipment and a device comprising an arc welding equipment (21) used in a welding operation and adjustable by varying at least one welding parameter and an arrangement (22) for controlling the operation of the arc welding equipment, said control arrangement including a means (23) adapted to determine the value of said at least one welding parameter while using a theoretical model (24) of the welding process, and a member (25) adapted to control the operation of the welding equipment and the welding process associated therewith by

Abstract: Measures of a torque and rotational speed of a pump or fan are obtained, from which a mechanical input power can be calculated. By further using predetermined relations between mechanical input power and flow rate through the pump or fan, a measure of the flow rate can be derived without use of in-line flow or pressure sensors. In preferred embodiments the torque and/or rotational speed is obtained by measuring the input current and voltage of a motor driving the pump or fan and using predetermined relations between on the one hand current and voltage and on the other hand torque and rotational speed. Furthermore, also other flow properties, such as pump head, pump efficiency and total efficiency can be determined in this manner.

Abstract: The present invention discloses devices and methods for improved starting and stopping of rotary motors. A rotary electrical machine (3) is supplied with a voltage from a voltage supply (10). The magnitude of a phase current is measured. The measured current value (IM) and applied voltage (U) is compared with what is expected for a predetermined target slip (ST), by means of a relation between phase current, applied voltage and slip. The comparison gives a discrepancy value, which is used to create a regulation signal (?U) to the voltage supply (10). To start and stop the machine, the target slip is increased and decreased, respectively, in a predetermined manner. The means for regulation may be provided as a separate add-on unit to existing soft starter equipment.

Abstract: Measures of a torque and rotational speed of a pump or fan are obtained, from which a mechanical input power can be calculated. By further using predetermined relations between mechanical input power and flow rate through the pump or fan, a measure of the flow rate can be derived without use of in-line flow or pressure sensors. In preferred embodiments the torque and/or rotational speed is obtained by measuring the input current and voltage of a motor driving the pump or fan and using predetermined relations between on the one hand current and voltage and on the other hand torque and rotational speed. Furthermore, also other flow properties, such as pump head, pump efficiency and total efficiency can be determined in this manner.

Abstract: The present invention discloses devices and methods for improved starting and stopping of rotary motors. A rotary electrical machine (3) is supplied with a voltage from a voltage supply (10). The magnitude of a phase current is measured. The measured cuurent value (IM) and applied voltage (U) is compared with what is expected for a predetermined target slip (ST), by means of a relation between phase current, applied voltage and slip. The comparison gives a discrepancy value, which is used to create a regulation signal (&Dgr;U) to the voltage supply (10). To start and stop the machine, the target slip is increased and decreased, respectively, in a predetermined manner. The means for regulation may be provided as a separate add-on unit to existing soft starter equipment.