This dissertation addresses the problem of motion planning and control for nonholonomic mobile robots, particularly wheeled and tracked mobile robots, working in extreme environments, for example, desert, forest, and mine. In such environments, the mobile robots are highly subject to external disturbances (e.g., slippery terrain, dusty air, etc.), which essentially introduce uncertainties to the robot systems. The complexity of the motion planning problem is due to taking both nonholonomic and uncertainty constraints into account simultaneously. As a result, none of the conventional nonholonomic motion planning can be directly applied. The control problem is even more challenging since state constraints posed by obstacles in the environments must also be considered along with the nonholonomic and uncertainty constraints. In this research, we systematically develop a new type of motion planning technique that determines an optimal path for a mobile robot in a given environment. This motion planning technique is based on the idea of a maximum allowable uncertainty, which is a number assigned to each free configuration in the environment. The optimal path is a path connecting given initial and goal configurations through a series of configurations respecting the nonholonomic constraint and possessing the highest maximum allowable uncertainty. Both linear and quadratic approximations of the maximum allowable uncertainty, including their corresponding motion planners, have been studied. Additionally, we develop the first real-time robust control algorithm for the mobile robot under uncertainty to follow given paths safely and accurately in cluttered environments. The control algorithm also utilizes the concept of the maximum allowable uncertainty as well as the robust control theory. The simulation results have shown the effectiveness and robustness of the control algorithm in steering the mobile robot along a given path amidst obstacles without collisions even when the level of robot uncertainty is high. / Ph. D.

<p>Metal forming processes have been widely applied in many industries. With the severe competition in the market, a reliable and robust metal forming process becomes crucial for the manufacturer to reduce product development time and cost. For the purpose of supplying engineers with an effective tool for a reliable and robust design of metal forming process, this research investigates the application of traditional reliability theory and robust design methods in metal forming processes for the ultimate goal of increasing quality and reducing cost in manufacturing.</p> <p> A method to assess the probability of failure of the process based on traditional reliability theory and the forming limit diagram (FLD) is presented. The forming limit of a material is chosen as the failure criteria for analysis of reliability.</p> <p> A study of prediction of forming limit diagrams using finite element simulation without pre-defined geometrical imperfection or material imperfection is presented. A 3D model of the dome test is used to predict the FLD for AA 5182-0. The FE predicted forming limit diagram is in good agreement with the experimental one. The uncertainty sources for the scatter of forming limits are categorized and investigated to see their effects on the shape of FLD.</p> <p>A novel method of improving the reliability of a forming process using the Taguchi method at the design stage is presented. The thickness-thinning ratio is chosen as the failure criteria for the reliability analysis of the process. A Taguchi orthogonal array is constructed to evaluate the effects of design parameters on the thinning ratio. A series of finite element simulations is conducted according to the established orthogonal array. Based on the simulation results, Taguchi S/N analysis and ANOVA analysis are applied to identify the optimal combination of design parameters for minimum thinning ratio, minimum variance of thinning ratio, and maximum expected process reliability.</p> <p> A multi-objective optimization approach is presented, which simultaneously maximizes the bulge ratio and minimizes the thinning ratio for a tube hydroforming process. Taguchi method and finite element simulations are used to eliminate the parameters insignificant to the process quality performance. The significant parameters are then optimized to achieve the multiple optimization objectives. The optimization problem is solved by using a goal attainment method. An illustrative case study shows the practicability of this approach and ease of use by product designers and process engineers.</p> / Thesis / Doctor of Philosophy (PhD)

Purpose: This essay aims to examine the organizational and technical fire protection for the new emergency hospital in Västerås and analyze what measures are needed to ensure a safe hospital. By involving the staff and ensuring that they have the necessary knowledge and participation, one can ensure a safe care environment for the patients and create the conditions for dealing with potential dangers in an effective manner. Method: To achieve the objectives of the study the method involved carefully selected interviews with various professional roles possessing expertise in fire risks. Through these interviews, the aim was to attain a more comprehensive depiction of the results. In addition to the interviews, a versatile approach was adopted, encompassing surveys, site visits, literature reviews, and meticulous calculations of airlocks. Furthermore, data collection was augmented by utilizing documents from the Västmanland Region. Result: The outcome of the study showed a lack of knowledge, experience and ability to act when it comes to evacuation situations. The building was designed with fire safety in mind. Despite this, the opportunity to implement measures to further improve safety was identified. With regard to the building's fire protection, the possibility of implementing airlocks was identified to supplement and strengthen fire protection in departments where there were fewer fire cells. Conclusion: l the implementation of airlocks is important to improve the evacuation situation and safety. Regular evacuation drills should be prioritized to increase staff preparation and confidence. Measures such as clear fire separations, reliable fire alarm systems, automatic extinguishing systems and well-designed emergency escape routes need to be implemented to increase robustness and improve fire protection. This requires cooperation with fire safety experts. Airlocks can streamline the evacuation process for bedridden patients and staff, which is crucial for quick and safe evacuation in emergency situations.

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