Interest in the implementation of AGV-systems (Automated Guided Vehicle) has in recent decades increased. The reason is that it allows companies to perform reliably and secure internal transport while reducing the need of personnel. It is one of todays most advanced and complex material handling system that can independently make their own decisions regarding flow paths and traffic control. An AGV-system consists of transport units carrying cargo from point A to point B, and communicates using a computer. The purpose of this study is to develop a model on how to proceed in order to design an AGV system in heavy industry. The model is tested by a case study of a company in the metal industry to determine if the model works and gives the correct result. Relevant literature has been collected through scientific articles, books. In order to find relevant information, a flow mapping on Billet preparation of Sandvik AB was performed. The information was summarized in a situation analysis. In order to design the AGV system, we found that analytical approach and simulation was according to the literature's most successful approaches. By using these methods in the theoretical model and adjust their performance against one another the results from the model should be a sufficiently accurate reflection of the design needed to serve the Billet preparation.

O Estado de São Paulo encontra-se em uma situação epidemiológica da raiva humana, canina e felina que permite a declaração de área livre de raiva humana transmitida por cães (AgV-2). Entretanto, a vigilância precisa ser avaliada e capaz de detectar a doença com velocidade e sensibilidade. O objetivo do presente estudo foi avaliar a situação epidemiológica da raiva, o seu sistema de vigilância e propor uma reestruturação com base em vigilância baseada em risco. A situação epidemiológica foi avaliada de maneira descritiva. A avaliação foi realizada com o guia de avaliação de sistemas de vigilância do Centro de Controle de Doenças dos Estados Unidos. A proposta de reestruturação foi realizada com árvores de cenários da sensibilidade do sistema e uma proposição, com cálculos de probabilidade, de amostragem para maximizar tal sensibilidade. A situação epidemiológica mostrou que não houve casos de raiva humana entre 2003 e 2013 e que os casos em cães e gatos são esporádicos, dispersos no tempo e no espaço e ocasionados pelas AgV-3 e AgV-4, não sendo registrados casos pela AgV-2 também há mais de dez anos. Para cães e gatos, a vigilância foi dependente de estrutura específica dos serviços locais para enviar amostras de cérebro para os laboratórios (baixa simplicidade). Os veterinários privados tiveram baixa participação e percepção sobre o sistema (baixa aceitabilidade). A área sem vigilância em cães cresceu 30% entre 2003 e 2013 (baixa representatividade). Recebendo cães com sintomas associados à raiva, 39% dos serviços locais e 72% dos veterinários privados não suspeitaram de raiva em 2012 (baixa sensibilidade). O tempo entre o início dos sintomas e o resultado laboratorial dos cães suspeitos, em 2012 e 2013, foi, em média, 25 dias (baixa oportunidade). Os indicadores mostraram que o sistema tem baixa capacidade de detectar a doença precocemente. Se os esforços de amostragem para vigilância em cães forem direcionados aos animais com sintomas neurológicos (mesmo os inespecíficos de raiva), em ação conjunta entre médicos veterinários privados e serviços locais de controle de zoonoses, a sensibilidade do sistema chegaria ao máximo, utilizando-se da estrutura laboratorial de diagnóstico já existente. / The State of São Paulo is in an epidemiological situation of human, canine and feline rabies allowing a declaration of free area of human rabies transmitted by dogs (AgV-2). However, the surveillance needs to be evaluated and be able to detect the disease with speed and sensitivity. The aim of this study was to evaluate the epidemiological situation of rabies and the surveillance system and propose a restructure on a risk-based surveillance strategy. The epidemiological situation was descriptively assessed. The evaluation was performed according to the evaluation guidelines for surveillance systems in public health from the US Center for Disease Control (CDC). The proposed restructure was performed by building scenario trees of the system sensitivity and a proposition, with probability calculations, of sampling to maximize this sensitivity. The evaluation of the epidemiological situation showed no cases of human rabies between 2003 and 2013, cases in dogs and cats were sporadic, dispersed in time and space and occasioned by AgV-3 and AgV-4, cases not reported by AgV-2 for over ten years. For dogs and cats, surveillance was dependent on the specific structure of the local services to send brain samples to laboratories (low simplicity). Private veterinarians had low participation and perception of the system (low acceptability). The area unattended in dogs grew 30% between 2003 and 2013 (low representativeness). Getting dogs with symptoms associated with rabies, 39% of local and 72% of private veterinarians not suspected of rabies in 2012 (low sensitivity). The time between onset of symptoms and laboratory results from dogs suspected in 2012 and 2013 was on average 25 days (low timeliness). The indicators have shown that the system has low ability to disease detect early. If the sampling efforts for surveillance in dogs were directed to animals with neurological symptoms (even the nonspecific of rabies), a joint action between private veterinarians and local services of zoonoses controls, the system sensitivity could reach the its maximum, using the structure of existing laboratory diagnosis.

O Estado de São Paulo encontra-se em uma situação epidemiológica da raiva humana, canina e felina que permite a declaração de área livre de raiva humana transmitida por cães (AgV-2). Entretanto, a vigilância precisa ser avaliada e capaz de detectar a doença com velocidade e sensibilidade. O objetivo do presente estudo foi avaliar a situação epidemiológica da raiva, o seu sistema de vigilância e propor uma reestruturação com base em vigilância baseada em risco. A situação epidemiológica foi avaliada de maneira descritiva. A avaliação foi realizada com o guia de avaliação de sistemas de vigilância do Centro de Controle de Doenças dos Estados Unidos. A proposta de reestruturação foi realizada com árvores de cenários da sensibilidade do sistema e uma proposição, com cálculos de probabilidade, de amostragem para maximizar tal sensibilidade. A situação epidemiológica mostrou que não houve casos de raiva humana entre 2003 e 2013 e que os casos em cães e gatos são esporádicos, dispersos no tempo e no espaço e ocasionados pelas AgV-3 e AgV-4, não sendo registrados casos pela AgV-2 também há mais de dez anos. Para cães e gatos, a vigilância foi dependente de estrutura específica dos serviços locais para enviar amostras de cérebro para os laboratórios (baixa simplicidade). Os veterinários privados tiveram baixa participação e percepção sobre o sistema (baixa aceitabilidade). A área sem vigilância em cães cresceu 30% entre 2003 e 2013 (baixa representatividade). Recebendo cães com sintomas associados à raiva, 39% dos serviços locais e 72% dos veterinários privados não suspeitaram de raiva em 2012 (baixa sensibilidade). O tempo entre o início dos sintomas e o resultado laboratorial dos cães suspeitos, em 2012 e 2013, foi, em média, 25 dias (baixa oportunidade). Os indicadores mostraram que o sistema tem baixa capacidade de detectar a doença precocemente. Se os esforços de amostragem para vigilância em cães forem direcionados aos animais com sintomas neurológicos (mesmo os inespecíficos de raiva), em ação conjunta entre médicos veterinários privados e serviços locais de controle de zoonoses, a sensibilidade do sistema chegaria ao máximo, utilizando-se da estrutura laboratorial de diagnóstico já existente. / The State of São Paulo is in an epidemiological situation of human, canine and feline rabies allowing a declaration of free area of human rabies transmitted by dogs (AgV-2). However, the surveillance needs to be evaluated and be able to detect the disease with speed and sensitivity. The aim of this study was to evaluate the epidemiological situation of rabies and the surveillance system and propose a restructure on a risk-based surveillance strategy. The epidemiological situation was descriptively assessed. The evaluation was performed according to the evaluation guidelines for surveillance systems in public health from the US Center for Disease Control (CDC). The proposed restructure was performed by building scenario trees of the system sensitivity and a proposition, with probability calculations, of sampling to maximize this sensitivity. The evaluation of the epidemiological situation showed no cases of human rabies between 2003 and 2013, cases in dogs and cats were sporadic, dispersed in time and space and occasioned by AgV-3 and AgV-4, cases not reported by AgV-2 for over ten years. For dogs and cats, surveillance was dependent on the specific structure of the local services to send brain samples to laboratories (low simplicity). Private veterinarians had low participation and perception of the system (low acceptability). The area unattended in dogs grew 30% between 2003 and 2013 (low representativeness). Getting dogs with symptoms associated with rabies, 39% of local and 72% of private veterinarians not suspected of rabies in 2012 (low sensitivity). The time between onset of symptoms and laboratory results from dogs suspected in 2012 and 2013 was on average 25 days (low timeliness). The indicators have shown that the system has low ability to disease detect early. If the sampling efforts for surveillance in dogs were directed to animals with neurological symptoms (even the nonspecific of rabies), a joint action between private veterinarians and local services of zoonoses controls, the system sensitivity could reach the its maximum, using the structure of existing laboratory diagnosis.

AIT Umeå is a manufacturer of mobile material handling equipment, mainly for the aviation industry. The products are complete vehicles or wheel systems that can be mounted on already existing designs. AIT is considering expanding their offer with a smaller wheel system designed for a load of up to 1 ton. The purpose of this work is to develop a design concept of a wheel suspension that meets the demands of the clients.  The project was conducted through three main topics. Design concept, structural design and compilation of drawings for manufacturing. From three initial concepts, one was selected and further improved, before the final concept was presented. The strength analysis was conducted parallel by using traditional strength analysis and by finite element method. Finally, drawings for manufacturing and assembly of components were made.  The project resulted in a wheel suspension that meets all demands on the product. The suspension is based on a gas spring and linear rails that allow for 22 mm leveling in both directions around the regular height. A cover case and a wheel brush device were also designed to protect the suspension from the environment. The frame is subjected to stresses up to 77 MPa, which gives a safety factor of more than 4 times the yield stress of the material. The low-stress design was governed by allowable bending to meet tolerances and to be suitable for all applications and environments. / AIT Umeå tillverkar mobil materialhanteringsutrustning med flygindustrin som huvudkund. Produkterna är kompletta fordon eller egentillverkade hjulsystem som kan monteras på redan befintliga konstruktioner. AIT ser ett behov att utöka med ett mindre hjulsystem för laster upp till ett ton. Syftet med arbetet är att fram ett komplett konstruktionsunderlag för en hjulupphängning som uppfyller beställarens krav.  Projektet utfördes genom de tre huvudområdena konceptframtagning, hållfasthetsdimensionering och framtagning av konstruktionsunderlag. Konceptframtagningen utgick från tre konceptförslag där det lämpligaste förslaget arbetades igenom två versioner med förbättringsanalysering, innan det slutliga konceptet presenterades. Parallellt med detta arbete hållfasthetsdimensionerades konstruktionen med hjälp av traditionella hållfasthetsberäkningar och enligt finita elementmetoden. Slutligen skapades ritningar för all tillverkning och montering.  Resultatet blev en hjulupphängning som uppnådde alla produktkrav. Upphängningen består av en gasfjäder och en linjär skenstyrning som tillåter 22 mm levelering åt båda riktningar från neutralläget. Till upphängningen tillverkas även en täckhuv och hjulsopenhet för att skydda konstruktionen från omgivningen. Ramen på hjulsystemet utsätts för maximalt 77 MPa vilket ger en säkerhetsfaktor på över 4 gånger materialets sträckgräns. Dessa låga spänningar är en följd av att dimensioneringen gjorts utifrån utböjningen och för att uppfylla alla toleranskrav, samt vara bruklig i alla tänkbara miljöer och användningsområden.

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This project first explored various methods of designing a communication and control system for an AGV. It then implemented a SOA based communication system in ROS on the selected AGV. The ROS package created in the project implemented functions of the Aria and ArNetworking libraries from Adept. The next step of the project implemented the functions of teleoperation, mapping and transfer of maps and navigation from Aria into ROS. The packages built implemented these functions in different ways to test the best method to transfer Aria functions into ROS. A generic set of rules were then formulated that aided the conversion of these functions for users unfamiliar with either of the two packages (ROS and Aria).

Background: In the present competitive environment manufacturing firms have shifted their production from mass production to mass customization. In this line, a flexible manufacturing system (or FMS) has evolved to the changing requirements. The estimation of fleet size of AGVs has shown to be a critical decision to increase the efficiency of material handling systems by increasing throughput and reduce delay in manufacturing.[4] The initial investment cost and the total life cycle cost of AGV systems rely on the number of AGVs required.   Objectives: The objective of this study is to analyze the optimal fleet sizing of AGVs in terms of the capacity needs of machines/stations and the available capacity of the AGVs working in the production site. The aim of this study is to give potential users of AGVs an optimization model to consider when planning the optimal number of AGVs needed given their capacity needs.   Methods: The methodology presents our contribution to a general model for deciding fleet size with multiple AGV’s defined as a “big system”. In comparison to previous models, we consider how the capacity of AGV’s can change depending on several factors leading to congestion and delay. The study defines these factors, finds the cause behind them and categorizes them to be used as input variables for the model. The methodology explains the important factors needed for implementing the general model for specific cases when conducting the investigation. The final part of the methodology will discuss the reliability and validity of our approach.  Results: the result presents how the general model was applied at the manufacturing company of Emballator Växjöplast AB. The data gathered and information from the capacity analysis were used to measure the demand for transportation, the AGV capacity, and the factors affecting delay and congestion. The values were then used in the model to determine the optimal fleet size for the case. The result gave a high indication for accuracy and that the general model can be used in specific cases. Finally, we conducted an analysis of how delays and congestion affected the supply of transportation as fleet size increases. The result indicated that the optimal fleet size of AGVs that satisfy 35 machines/stations was 1,32 while the theoretical fleet size of AGVs was 1.3. This yielded a result of 98.84% accuracy in estimating the optimal fleet sizing of AGVs in terms of the capacity needs of machines/stations and the available capacity of the AGVs working in the production site. Conclusions: The result shows that the approach of analyzing the capacity needs of the production site and the capacity available to the AGV can accurately be used to estimate the optimal fleet sizing of AGVs. The implication of this study and the optimization model that considers capacity needs and capacity available rather than specific layout characteristics will allow users to cope with the changing requirements of mass customization. The users will consider their demand forecast and use the optimization model to help them plan the optimal fleet sizing of AGVs. / Bakgrund: I den nuvarande konkurrensenskraftiga miljön har tillverkningsföretag skiftat produktion från massproduktion till massanpassning. Därmed har flexible manufacturing system (eller FMS) växt fram till följd av de förändrade kraven. Estimation av fleet size av AGV har visat sig vara ett kritiskt beslut för att öka effektiviteten av materialhanteringssystem genom ökad genomströmning och minskad försening i produktionen.[4] Den initiala investeringskostnaden och den totala livscykelkostnaden beror på antalet AGVer som det finns behov av i produktionen.   Syfte: Syftet med här studien är att analysera det optimala antalet AGVer som det finns behov av i relation till kapacitetsbehovet hos maskiner/stationer och den tillgängliga kapaciteten hos AGV som arbetar i produktionsanläggningen. Målet med den här studien är att förse potentiella användare av AGV med en optimeringsmodell som de kan använda vid planering av antalet AGV som de har behov av givet deras kapacitetsbehov.   Metod: I metoden presenteras vårt bidrag till en generell modell för att bestämma antalet AGV: er för ett system med flera enheter som definieras som ett ”stort system”. Till skillnad från tidigare modeller, så tar vi hänsyn till flera faktorer som orsakar kongestion och fördröjningar. Studien definierar dessa faktorer, finner orsaken till dem, och kategoriserar dem för att kunna tillämpa dem i modellen. Metoden förklarar vikten av varför dess variabler är nödvändiga att mäta när den generella modellen tillämpas för specifika fall när man utför en utredning av fallet. Slutligen avslutas metoden med att diskutera dess trovärdighet och validitet.     Resultat: Resultatet presenterar hur den generella modellen tillämpats på ett produktionsföretag Emballator Växjöplast AB.  Datainsamlingen och information från kapacitet analysen har använts för att mäta transportbehovet, AGV: ens kapacitet och de påverkande faktorer som orsakar fördröjning och kongestion. Dessa värden användes sedan i den generella modellen för att avgöra det optimala antalet AGV: er för fallet. Resultatet indikerar tydligt på att det finns en hög precision av den generella modellen kan tillämpas för specifika fall. Slutligen utför vi en analys om hur fördröjningar och kongestion påverkar transportillförsen i samband med att antalet AGV: er ökar. Resultatet visar att det optimala antalet AGVer som det finns behov av för att förse kapacitetsbehovet av 35 maskiner/stationer var 1.32 medan det teoretiska svaret från optimeringsmodellen visade ett svar på 1.30 AGVer. Detta resulterade i en noggrannhet på 98.84% för att estimera antalet AGVer som det finns behov av givet kapacitetsbehovet från maskiner/stationer och den tillgängliga kapaciteten hos AGVerna som jobbar på produktionsanläggningen.   Slutsatser:  Resultatet av tillvägagångssättet som använts i denna studie, att analysera kapacitetsbehovet i produktionsanläggningen och den tillgängliga kapaciteten hos AGVerna, visade sig vara noggrann för att estimera det optimala behovet av AGVer. Detta innebär att optimeringsmodellen som presenteras i denna studie och som tar hänsyn till kapacitetbehovet snarare än de specifika layoutegenskaperna kommer göra det möjligt för användarna att kunna uppfylla de förändrade kraven på massanpassning. Användaren kommer kunna använda sin prognos på efterfrågan och i samspel med användning av optimeringsmodellen presenterad i denna studie kunna estimera det optimala antalet AGVer som det finns behov av.

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