Abstract: A method for detecting a fault in a robot joint includes the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.

Abstract: There is provided mechanisms for predicting remaining useful lifetime of a bearing of an electric podded azimuth thruster. A method is performed by a controller. The method includes obtaining operational conditions of the bearing. The method includes predicting the remaining useful lifetime of the bearing using the operational conditions. The lifetime of the bearing is divided in three separate phases. The remaining useful lifetime of the bearing is predicted differently in the three separate phases.

Abstract: There is provided mechanisms for predicting remaining useful lifetime of a bearing of an electric podded azimuth thruster. A method is performed by a controller. The method includes obtaining operational conditions of the bearing. The method includes predicting the remaining useful lifetime of the bearing using the operational conditions. The lifetime of the bearing is divided in three separate phases. The remaining useful lifetime of the bearing is predicted differently in the three separate phases.

Abstract: The present invention relates to a method and a device for detecting abnormal changes in play in a transmission unit configured to transfer rotational movements of a motor, having a speed of rotation that depends on a torque reference signal (Tref), to a movable mechanical unit.

Abstract: A method for melting steel in an electric arc furnace (EAF). A hot heel is provided in the EAF. Metal scrap is loaded into the EAF. The metal scrap is melted in the EAF. The mass of the hot heel in relation to the mass of the metal scrap that is initially beyond the surface of the hot heel is a certain minimum. This minimum is 0.75 times the relation between the heat required to melt the metal scrap beyond the surface of the hot heel and the heat that can be taken from the hot heel without it being solidified when a theoretical heat balance calculation is applied as defined in a formula.

Abstract: An apparatus for electromagnetic stirring of the steel melt in an electrical arc furnace includes two electromagnetic stirrer units, a current supply, and a control unit. The two stirrers are mounted on an outer bottom surface of the electrical arc furnace at opposites sides of a central position of the bottom surface, the current supply is operatively connected to the two electromagnetic stirrer units, and the control unit is operatively connected to the current supply to control the operation of the two electromagnetic stirrer units.

Abstract: A method for melting steel in an electric arc furnace (EAF). A hot heel is provided in the EAF. Metal scrap is loaded into the EAF. The metal scrap is melted in the EAF. The mass of the hot heel in relation to the mass of the metal scrap that is initially beyond the surface of the hot heel is a certain minimum. This minimum is 0.75 times the relation between the heat required to melt the metal scrap beyond the surface of the hot heel and the heat that can be taken from the hot heel without it being solidified when a theoretical heat balance calculation is applied as defined in a formula.

Abstract: A method for detecting a fault in a robot joint includes the steps of: performing a first torque measurement at the robot joint to thereby obtain a first set of torque values; calculating a first distribution characteristic reflecting a distribution of the first set of torque values; performing a second torque measurement at the robot joint to thereby obtain a second set of torque values; calculating a second distribution characteristic reflecting a distribution of the second set of torque values; and comparing the first and the second distribution characteristics to determine whether a fault is present or not. A difference in the distributions of torque measurements is a robust fault indicator that makes use of the repetitive behavior of the system.

Abstract: An apparatus for electromagnetic stirring of the steel melt in an electrical arc furnace includes two electromagnetic stirrer units, a current supply, and a control unit. The two stirrers are mounted on an outer bottom surface of the electrical arc furnace at opposites sides of a central position of the bottom surface, the current supply is operatively connected to the two electromagnetic stirrer units, and the control unit is operatively connected to the current supply to control the operation of the two electromagnetic stirrer units.

Abstract: A method and an apparatus for detecting condition changes in a robot system. The method includes logging a work cycle representative signal at a first and a second occasion, logging, synchronously with the logging of the work cycle representative signal, a reference signal associated with work cycles at the first and second occasions, selecting the reference signal from signals having the following characteristics: a signal influenced by the path performed by the robot, a signal calculated by the robot system, and a signal that is identical at both the occasions if a manipulator of the robot performs a movement along exactly the same path at the first and second occasions, synchronizing the representative signals utilizing the logged reference signals, and comparing the synchronized signals to determine if any condition changes have occurred between the first and second occasions.

Abstract: The present invention relates to a method and a device for detecting abnormal changes in play in a transmission unit configured to transfer rotational movements of a motor, having a speed of rotation that depends on a torque reference signal (Tref), to a movable mechanical unit.

Abstract: An industrial robot diagnostic method including performing a condition analysis utilizing at least two selected input signals, wherein each selected input signal indicates a condition related to a property of the industrial robot, performing an analysis of any combination of the selected input signals utilizing a signal modeling of the signals and outputting from the condition analyzer a result being at least one of: a detection of a malfunction of the robot system, an identification of a root cause failure in the robot system and prediction of a potential malfunction in the robot system. Also an industrial robot system utilizing the method.

Abstract: A method and an apparatus for detecting condition changes in a robot system. The method includes logging a work cycle representative signal at a first and a second occasion, logging, synchronously with the logging of the work cycle representative signal, a reference signal associated with work cycles at the first and second occasions, selecting the reference signal from signals having the following characteristics: a signal influenced by the path performed by the robot, a signal calculated by the robot system, and a signal that is identical at both the occasions if a manipulator of the robot performs a movement along exactly the same path at the first and second occasions, synchronizing the representative signals utilizing the logged reference signals, and comparing the synchronized signals to determine if any condition changes have occurred between the first and second occasions.

Abstract: An industrial robot diagnostic method including performing a condition analysis utilizing at least two selected input signals, wherein each selected input signal indicates a condition related to a property of the industrial robot, performing an analysis of any combination of the selected input signals utilizing a signal modeling of the signals and outputting from the condition analyzer a result being at least one of: a detection of a malfunction of the robot system, an identification of a root cause failure in the robot system and prediction of a potential malfunction in the robot system. Also an industrial robot system utilizing the method.