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For an environmentally sustainable society thetransportation of goods must be optimized. The next step inmaking truck transportation more sustainable is platooning.Platooning is when vehicles drive close together in a line whichrequires implementation of a control system. The aim of thisproject is to tune and implement a stabilizing controller thatcan handle various scenarios. This paper proposes a PIDcontroller to solve the problem of achieving platooning. Using asimulation environment written in Python, the PID controlleris tuned for three specific scenarios; platooning, merging andsplitting. To obtain a smooth control signal setpoint weightingwas implemented. The results presented in the report show thatPID controller can create a stable platoon for the range oftested scenarios. However, these results are purely theoreticaland while promising, more tests must be done to determine ifthe results hold in practice. / För att kunna uppnå ett hållbart samhällemåste lastbilstransporter effektiviseras. Nästa steg i utvecklingenmot mer h°allbara lastbilstransporter är konvojkörning. Konvojkörning syftar på att fordon kör nära varandra i led. Dettäar dock inte möjligt för mänskliga chaufförer att åstadkommaoch därmed krävs det något typ av kontrollsystem. Syftet medprojektet är att konstruera en kontroller som kan hanteratre stycken scenarion, nämligen konvojkörning, separering ochsammanslagning. Rapporten föreslår en PID-regulator för atthantera dessa scenarion. En simuleringsmiljö byggdes upp iPython och där justerades reglerparametrarna för att klaraav uppgiften. För att göra PID-kontrollen stabil implementeradessetpoint-weighting. Resultaten visar att PID-regulatorn kanerhålla en stabil konvoj för de utförda testerna. Resultaten ärdock helt teoretiska och även om de är lovande måste fler testergöras innan konkreta slutsatser om hur lösningen fungerar ipraktiken kan dras. / Kandidatexjobb i elektroteknik 2021, KTH, Stockholm

Hybrid organizations that pursue both social mission and profit aims have been prevalent in our society for many decades. However, the importance of for-profit corporations’ positive social impact has been emphasized and scrutinized in recent few decades, attracting attention of both scholars and practitioners. This study builds on the existing strategy and control framework and proposes an extended conceptual framework for the link between strategic positioning and operational control for hybrid organizations that pursue both social mission and financial sustainability. By conducting a field study, I document three main findings. First, hybrid organizations differentiate themselves from each other by striking a unique balance between social mission and profit goals, and this unique balance determines unique strategic positioning of a hybrid organization. Second, hybrid organizations with different strategic positioning mobilize different dimensions of operational control to monitor their operating activities that support the unique balance between social mission and profit aims. Third, using the content analysis, I document that managerial attention placed on various dimensions of operational control on a daily basis vary across hybrid organizations with different strategic positioning as each organization configures different sets of operating activities to support its unique hybridity. / Business Administration/Interdisciplinary

<p> It has been argued for some time that tabular representations of formal specifications can help in writing them, in understanding them, and in checking them. Recently it has been suggested that tabular representations also help in breaking down large verification and refinement conditions into a number of smaller ones.</p> <p> The article [32] developed the theory, but the real proof in terms of an implementation is not provided. This project is about formalizing tables in a theorem prover, Simplify, defining theorems of [32] in terms of functions written in the OCaml programming language, and conducting some case studies in verifying and refining realistic problems.</p> <p> A parser is designed to ease our job of inputting expressions. Pretty-print is also provided: all predicates and tables of the examples in our thesis are automatically generated.</p> <p> Our first example is a control system, a luxury sedan car seat. This example gives us an overall impression on how to prove correctness from tabular specification. The second example specifies a visitor information system. The design features of this example involve modeling properties and operations on sets, relations and functions by building self-defined axioms. The third example illustrates another control system, an elevator. Theorems of algorithmic refinements, stepwise data refinements, and the combination of algorithmic abstraction and data abstraction are applied correspondingly to different operations.</p> / Thesis / Master of Science (MSc)