This thesis is treating the modelling of a thermocouple (tc) to compensate forheat transfers due to convection, radiation and conduction when performingtemperature measurements in an SI-engine. An experiment plan was developedwhich covered experiments in an stc-rig and on a 4-cylinder SI-engine. The measurementsin the stc-rig was mainly to develop the model, while the measurementsin the engine lab was mainly to examine the characteristics of the engineand evaluate the modelled tc.Measurements with an exposed thin tip tc in the stc-rig showed a symmetricaltemperature profile in the pipe. By examining how the 1.5 mm tc behaved inthis environment with known gas temperature profile, the obtained knowledgecould be applied to cross-sectional measurements in the SI-engine. It was foundthat the temperature profile in the engine deviated from the temperature profilemeasured in the stc-rig. The temperature was higher near the top of the pipethan in the center and lower part. In the horizontal direction, the temperaturewas found to be constant.Conclusions drawn from measurements in the engine lab points to that the crosssectionaltemperature and mass flow profiles have a strong connection with theengine’s operation point. The cross-sectional profiles, along with respective profileover time, is crucial when estimating the energy content of an exhaust gaspulse.The inverted sensor model with optimized parameters could estimate the meanvalue of the measured gas temperature during stationary runs within 6 degC.

This survey has shown, using the Monte Carlo N-Particle(MCNP) code to model a detection system, to demonstrate that it is possible to design a system to measure hazard elements in polluted water. At first, the measurement method needs to be determined. For measuring the specimen component without knowing the accuracy concentration in a short time, when compared with other methods, the Energy-dispersive X-ray fluorescence (ED-XRF) is a good choice for solving this problem. Then, a basic part of this method and actual experiment setting is using the simulation to find the suitable parameters such as the input X-ray energy level, the detector thickness, etc. At last, the polluted water has been measured for evaluating the system function.

Dagens stora miljöutmaningar i form av förbränning av fossila bränslen och medföljande koldioxidutsläpp har också gjort att många individer blivit allt mer miljömedvetna. Avancerade sensor för att mäta koldioxid finns numera på marknaden i form av lågenergiförbrukande alternativ som Senseairs LP8. Att utveckla firmware och att bedriva utveckling med sådana avancerade sensorer är något som inte är speciellt enkelt för vanliga användare. I detta projekt har en plattform byggd på bluetooth och enkla gratis utvecklingsverktyg tagits fram. Denna prototyp ugör en grund för utvecklingen av ett klimatsmycke där CO2 skall rapporteras till en molntjänst via mobiltelefon. Med prototypen har det utförts mätningar av strömförbrukningen genom att mäta urladdningstid av superkondensatorer, spänningsfallmätningar av cr2032 batterier samt kompletterande kapacitansmätningar av superkondensatorerna. Dessa mätningar visar att strömförbrukningen för prototypen ligger i intervallet 1-2 mA, beroende av vilka inställningar som önskas. Metoderna är väldigt enkla men ger en relativt god uppskattning av den totala strömförbrukningen.

The demands of mobile robots system are growing rapidly in recent days. Autonomous and semi-autonomous mobile robots for indoor environments have become great helper to human, such as transport robot in warehouse, cleaning robot for apartment and various humanoids for personal assistance, education and space exploration. This thesis project work describes how to implement a mobile robot system for unstructured indoor environment. This mobile robot system is able to build a map of the environment, plan path and navigate robot between user-defined locations in the environment autonomously or teleoperated by human through GUI or keyboard on a remote control terminal. Additionally, this mobile robot will be equipped a laser pointer worked as an interaction interface between robot and human by showing robot intensions to operator or surroundings. The development of this project work will involve two rapid growing features, one is depth camera and the other is ROS. Use depth camera as the primary sensor has been accepted by more and more mobile robot platform. ROS, as the fast-growing robot software framework, is an inevitable path when developing robot systems.

I April 2018 an experiment was conducted at the university of Bergen in collaboration with Novelda using the XeThru range-doppler radar. The goal of the experiment was to record data on rats using XeThru radar and by using traditional medical sensors, to see if a XeThru radar can be used instead of the traditional sensors. The data from the experiment consisted of data saved as EDF (European Data Format) from the traditional sensors, radar data and video. The rest goal of this thesis was to analyze the different data types. Then to look at the radar data with the goal of seeing if respiration detection on rats was possible and try to create a radar pro le for use on rats. This report focuses on only one of the rats from the experiment, because this rat was recorded using a video camera. In a preliminary project a python program had been written to use on the EDF data. The program was expanded upon in this thesis to optimize the performance. The python program took the EDF data and extracted the desired signal, data from a muscle sensor, and plotted it, making it possible to analyze. For the radar data Matlab was used, since Novelda already had the tools to process the data using that program. This worked using parameter les to set all the necessary settings to do a playback and change the radar and processing settings. The work then consisted of changing the parameters to get the best results on the data from the rats. A parameter le was created for use on rats that was based on the parameter le for respiration detection on adult humans. The conclusion on the EDF data was that it was not possible to nd a pattern for respiration using the muscle sensor. The radar data fortunately yielded better results. After much testing and optimization it was possible to get good respiration detection on rat 7. Some of the e ndings was possible noise problems and sources. The radar was mounted to the rack holding the cages. This meant it was susceptible to vibration noise form the other rats in the same rack and to the construction work being done at the university. Another problem with mounting of the radar was that is was to close to the cage, because the rat slept close to the wall of the cage closest to the radar. Then the problem of directly coupled energy interfered with the actual signal form the radar. It is still unclear if a radar sensor can replace the traditional sensors, but it is very possible to detect respiration on rats. With some more work, and possible a new experiment xing the noise sources, can make it possible.

Ultrasonic sensors are popular in parking functions in automotive. They are used to measure distances between a car and obstacles near the car. Car companies need to prove that sensors are reliable before using them on vehicles since these sensors are safety-critical. Therefore, it has great practical value to research on the measurement and verification of ultrasonic sensors. The purpose of this thesis work is to analyse analog parts of some ultrasonic sensors. Measurement methods and three experimental setups are designed to get analog data. Ice, soil, stones or some other things on the road might cover the sensor, which limits the movement of horn and causes measurement errors. Sensor impedance is measured to check the possibility of blockage situation detection in a simulation of a real environment. The work also includes analysing the ultrasonic sensor beam pattern, the sound reflection from the environment, noise reduction, the relationship between the signal voltage amplitude and different positions of sensors, influences on different input signal lengths, and bandwidth investigation of the ultrasonic sensor. MATLAB compares measurement results with theory or simulation, All methods and setups are validated by getting measurement results successfully and correctly. Sensor blockage situation is recognized clearly by different impedance magnitudes. Sensors types under study are different from sensors installed on cars. However, other ultrasonic sensor measurements can utilize the same measurement methods and experimental setups. This thesis has been performed in collaboration with the company Volvo Car Corporation active safety department.

This Licentiate of Engineering thesis concerns modelling and simulation of hydraulic percussion units. These units are often found in equipment for breaking or drilling in rock and concrete, and are also often driven by oil hydraulics, in which complex fluid-structure couplings are essential for their operation. Current methodologies used today when developing hydraulic percussion units are based on decoupled analyses, which are not correctly capturing the important coupled mechanisms. Hence, an efficient method for coupled simulations is of high importance, since these mechanisms are critical for the function of these units. Therefore, a co-simulation approach between a 1D system simulation model representing the fluid system and a structural 3D FE-model is proposed. This approach is presented in detail, implemented for two well-known simulation tools and evaluated for a simple but relevant model. The Hopsan simulation tool was used for the fluid system and the FE-simulation software LS-DYNA was used for the structural mechanics simulation. The co-simulation interface was implemented using the Functional Mock-up Interface-standard. The approach was further developed to also incorporate multiple components for coupled simulations. This was considered necessary when models for the real application are to be developed. The use of two components for co-simulation was successfully evaluated for two models, one using the simple rigid body representation, and a second where linear elastic representations of the structural material were implemented. An experimental validation of the co-simulation approach applied to an existing hydraulic hammer was performed. Experiments on the hydraulic hammer were performed using an in-house test rig, and responses were registered at four different running conditions. The co-simulation model was developed using the same approach as before. The corresponding running conditions were simulated and the responses were successfully validated against the experiments. A parameter study was also performed involving two design parameters with the objective to evaluate the effects of a parameter change. This thesis consists of two parts, where Part I gives an introduction to the application, the simulation method and the implementation, while Part II consists of three papers from this project.

Security Monitoring Platform (SMP) represents multiple detective controls applied inthe enterprise to protect against cyberattacks. Building SMP is a challenging task, as itconsists of multiple systems that require integration. This paper introduces a framework thatcompiles various aspects of Security Monitoring and presents respective requirements sets.SMP framework provides guidance for establishing a risk-based detection platform,augmented with automation, threat intelligence and analytics capabilities. It provides morebroad view on the problem of Security Monitoring in the enterprise context and can assist inthe platform creation. The proposed solution has been built using Design Science ResearchMethodology and contains of twenty requirements for building SMP. Expert evaluation andcomparison with similar frameworks show potential value in holistic approach to the problem,as well as indicate the need for further research.

Cu2ZnSnS4 (CZTS) is a thin film solar cell material that only contains abundant elements and for which promising conversion efficiencies of 9.2 % have been shown. In this thesis composition measurements and reactive sputtering of precursors for CZTS films have been studied. These precursors can be annealed to create high quality CZTS films. Accurate control and measurement of composition are important for the synthesis process. The composition of a reference sample was determined using Rutherford backscattering spectroscopy. This sample was thereafter used to find the composition of unknown samples with x-ray fluorescence measurements. Pros and cons with this approach were discussed. The reactive sputtering process, and the resulting thin films, from a CuSn- and a Zn-target sputtered in H2S-atmosphere were investigated and described. A process curve of the system was presented and the influence of sputtering pressure and substrate temperature were examined. The pressures tested had little influence on the film properties but the substrate temperature affected both composition and morphology, giving less Zn, Sn and S and a more oriented film with increasingly facetted surface for higher temperatures. The precursors produced with this method are suggested to have a disordered phase with randomized cations, giving a CZTS-like response from Raman spectroscopy but a ZnS-pattern from x-ray diffraction measurements. The films have an excellent homogeneity and it is possible to achieve stoichiometric sulfur content. The complete steps from precursors, to annealed films, to finished solar cells were investigated for three controlled compositions and three substrate temperatures. The films sputtered at room temperature cracked when annealed and thus gave shunted solar cells. For the samples sputtered at higher temperatures the trend was an increased grain size for higher copper content and increased temperature. However, no connection between this and the electrical properties of the solar cells could be found.

Att öka leveranskvaliteten i sina elnät är något som varje nätbolag strävar mot. En metod att göra detta kan vara att utrusta nätstationer i mellanspänningsnätet med feldetektering och fjärrstyrning för snabbare felsökning och sektionering vid fel. I denna studie har dessa möjligheter utretts och även de potentiella vinsterna i kortare avbrottstider mätt i indikatorn SAIDI. Studien har resulterat i ett förslag för fortsatt investering i feldetektering och fjärrstyrning i Umeå Energis elnät. Den metod som använts är att beräkna SAIDI för det värsta felscenariot för varje matande linje som tittats på, både med och utan elnätsautomation. Det förslag som tagits fram har utgått ifrån de enskilda matningarna förutsättningar vad gäller kundantal, antal nätstationer och nättopologi och har sedan jämförts med två standardalternativ, med detektering i samtliga nätstationer samt detektering i mitten av linjen. Resultatet visar att det förslag som lämnats till Umeå Energi har potential att sänka det summerade SAIDI-värdet vid värsta felscenario från 37 minuter till 10 minuter i de matningar som undersökts. Detta till en kostnad av mindre än två miljoner kronor, eller en kostnad per potentiellt minskad SAIDI-minut på ca. 70 000 kr. Studien har tittat på 16 matande linjer med totalt ca. 17 000 kunder.