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The railway industry in Ethiopia has been an important way of communication and transportation for a long time. It is a developing sector with many national plans for future investments. However, the current major corridors of Ethio­-Djibouti and Awash­-Weldiya have interoperability issues due to two different signalling systems being used. Thus, this study was undertaken with the objectives of assessing technical interoperability of the Chinese signalling system (CTCS) and the European signalling system (ETCS), identifying a possible technical solution regarding the interoperability issues, and assessing the economic benefits of a harmonized system. Compatibility of the two signalling systems was analyzed particularly with respect tothe technical configurations by thoroughly investigating each system’s features and making interviews and having discussions with professionals who worked with the two systems. In addition, a life cycle cost analysis of the Ethio­Djibouti signalling system was done with data obtained from Ethiopian Railway Corporation and compared with average life cycle costs of ETCS level 1. After analyzing each system, two possible technical solutions were found to achieve interoperability between the two systems used in Ethiopia currently. The first technical solution is upgrading Ethio­Djiboutirailway line from the current CTCS level 0 to CTCS level 2 to be compatible with the new Awash­Weldiya line which will use ETCS level 1. The second technical solution to make the two systems interoperable is to install ERTMS as an overlay on the existing CTCS level 0 as ERTMS is designed as an overlay system that could be installed on top of an existing national infrastructure and vehicles. However, these technical solutions have to be tested in laboratory and onsite with respect to their practical and economical feasibility. / Järnvägsindustrin i Etiopien har länge varit viktig för kommunikation och transport. Det är en sektor under utveckling med många nationella planer för framtida investeringar. De nuvarande korridorerna i Ethio­Djibouti och Awash­Weldiya har emellertid interoperabilitetsproblem på grund av två olika signalsystem. Detta examensarbete har analyserat kompatibiliteten för de två signalsystemen särskilt med avseende på de tekniska konfigurationerna genom att noggrant undersöka varje systems funktioner och genom intervjuer och diskussioner med yrkesverksamma somhar arbetat med de två systemen. Dessutom genomfördes en livscykelkostnadsanalys av Ethio­Djibouti signalssystemet med den data som erhölls från Ethiopian Railway Corporation. Efter analys av varje system hittades två möjliga tekniska lösningar för att uppnå interoperabilitet mellan de två systemen som används i Etiopien för närvarande. Den första tekniska lösningen är att uppgradera Ethio­Djiboutis järnvägslinje från nuvarande CTCS nivå 0 till CTCS nivå 2 för att vara kompatibel med den nya Awash­Weldiya­linjen som kommer att använda ETCS nivå 1. Den andra tekniska lösningen för att göra de två systemen interoperabla är att installera ERTMS som ett överlägg på det befintliga CTCS­0 signalsystemet, eftersom ERTMS är utformat som ett överläggssystem som kan installeras ovanpå en befintlig nationell infrastruktur. Dessa tekniska lösningar måste dock testas i laboratorium och i fält med avseende på deras praktiska och ekonomiska genomförbarhet.

There is a constant demand to use more advanced control methods in a wider field of applications. Model Predictive Control (MPC) is one such control method, based on recurrently solving an optimization problem for determining the optimal control signal. To solve an optimization problem can be a complex task, and it is difficult to determine beforehand how long time it will take. For a high-speed application with limited computational power, it is necessary to have an efficient algorithm to solve the optimization problem and an accurate estimation of the longest solution time. Recent research has given methods both to solve quadratic programs efficiently and to find an upper limit on the solution times. These methods are in this thesis applied to a control system based on linear MPC for the Crazyflie 2.0 nano quadcopter. The implementation is made completely online on the processor of the quadcopter, with limited computational power. A problem with the size of 36 optimization variables and 60 constraints is solved at a frequency of 100 Hz on the quadcopter. Apart from implementing MPC, a framework for computing an upper limit to the solution time has been tested. This gives a possibility to certify the formulation for real-time applications up to a well-defined maximum frequency. An implementation is shown where the framework has been used in practice to control a quadcopter flying with a real-time certified implementation of MPC. / Det finns en ständig efterfrågan för mer avancerade metoder för reglering. Modellprediktiv reglering (MPC) är en sådan avancerad metod som kräver att ett optimeringsproblem löses varje gång en ny styrsignal ska beräknas. Att lösa optimeringsproblem kan vara en komplicerad uppgift, och det är svårt att på förhand veta hur lång beräkningstid som krävs. För att MPC ska kunna användas i tillämpningar i hög hastighet och med begränsad beräkningskraft är det nödvändigt att ha en effektiv lösningsalgoritm, och även en korrekt uppskattning av den längsta lösningstiden som behövs. Aktuell forskning har gett metoder både för att effektivt lösa kvadratiska optimeringsproblem, samt för att kunna hitta en övre gräns på beräkningstiden. I den här rapporten appliceras dessa metoder på ett styrsystem baserat på MPC i en Crazyflie 2.0, vilket är en nanodrönare. Styrsystemet är implementerat helt och hållet på drönarens processor, med den begränsade datorkraft som det innebär. Ett problem med en storlek på 36 optimeringsvariabler och 60 bivillkor lösesmed en frekvens på 100 Hz. Förutom att implementera MPC har även en metod för att bestämma en övre gräns på beräkningstiden testats. Det ger en möjlighet att certifiera styrstytemetför att garanterat kunna beräkna en ny styrsignal inom den övre tiden, vilket i sin tur innebär att styrsytemet kan certificeras för realtidsanvändning i långsammare frekvenser än den övre gränsen. I rapporten visas en certifierad implementation, och data från flygning med en certifierad regulator finns med i resultatet.

This paper describes a procedure to find the transfer function for the Lego Mindstorms Ev3. Lego Mindstorms Ev3 can serve as the platform for a system modeling and a controller design course. It is economical and accessible. It is also very compatible with Matlab and Simulink. This platform can be used for concepts of modeling, feedback, and controller design. The main approach in this work focuses on the closed loop instead of open loop. Although this approach turns the problem into a more complicated puzzle, it reveals more details. In this work, different techniques have been used, such as time domain, root locus, and least square estimation. Different tools have also been utilized such as Matlab SISO tool, the Matlab System Identification tool, and Simulink. These methods and implementations assisted to acquire different types of transfer functions for the system. By simulating the transfer functions and comparing them with experimental studies, the matching scores were calculated to decide on the best transfer function. Finding the finest transfer function for this gadget enables us to prepare diverse practical undergraduate and graduate curricula.

This research aims to discuss the influences of strategy choices on the management control systems. There is no absolute definition, range and classification of management control system which mainly includes management accounting and other controls. Moreover, management strategy is produced by the business after a series of evaluation and analysis of the internal and external environment. It is the business choice while proceeding resource operation and distribution and also the guidelines of business management activities. Management strategy makes the business achieve the goals, create competitive advantages and get more markets and chances in the intensely competitive environment. This research is explorative and uses business strategy as the variable and chooses the synthetic resin industry as the interview object. With Porter¡¦s general business strategy as the strategy classification standard, we differentiate the interviewed businesses into variation strategy and low-cost strategy and interview the outstanding persons separately. This research analyzes and induces the interview results as the following, 1. The group of cost-leading strategy emphasizes standards and is partial to centralization. In the application of management control system, they emphasize formal control and traditional cost control. However, the variation strategy emphasizes conformability and effective business strategy control. 2. The management control system of variation strategy company is partial to interactive control system and the management control system of low-cost strategy company prefers the diagnostic control system. 3. The degree of budget participation in variation strategy company is higher and it is lower in low-cost strategy company. 4. The degree of formalization in variation strategy company is higher and it is lower in low-cost strategy company. 5. The degree of participation and communication of interactive control system in variation strategy company is higher, and it is lower in low-cost strategy company. 6. Complete management control system helps the strategy performance.