The PhD positions are connected to the project FACT which is financed by SSF – the Swedish Foundation for Strategic Research during the period 2016-2020 with a total of approximately 2.5 million Euro. The outcomes of FACT will provide novel functionalities and design principles for the future factories and will be applicable both to small and large scale frameworks. The focus is on providing safe and flexible feedback in unforeseen situations, enhancement of human-robot cooperation and learning from experience.