There is a rapid development within the unmanned aerial systems (UAS) technologies and the logistics industry leads the research, motivated by potential future profits when used for last-mile deliveries. The military have used unmanned aerial vehicles (UAV) for many decades, but the military usage of UAVs for deliveries is almost unheard of.  The main purpose of the study is to theoretically evaluate if existing payload carrying UAVs could increase the Swedish defence-logistics organizations capabilities. This study is delimited to tactical deliveries and UAVs with a maximal takeoff weight of less than 250 kg.  This study begins by investigating the Swedish Armed Forces logistical needs and the capabilities of the existing UAVs. It then performs a research overview in the subject to be updated on the latest insights which are complemented by discussions with expertise in the subject. The theory utilized are Systems Science, Systems Engineering and Military Capability which lay ground to the Military Utility concept which is developed to evaluate the value of military systems to support decision-makers when acquiring new complex systems. To evaluate the military logistics performance, Mosh Kress book Operational logistics was used.  The research is split into three phases, phase one utilizes the insights from the background research to select UAVs to evaluate and to develop three potential scenarios. In phase two the Military Utility evaluation models are developed for each scenario. Phase three evaluates the concept systems performance for the scenarios. The conclusion is that there is circumstantial Military Utility with UAS within the Swedish logistics organization. The potential exists when used for their strengths such as low response time in hard-to-reach areas, and where there is a desire to remove the operators from danger during the transport. Further there is a potential to save operative costs in terms of man-hours, but UAVs are quite vulnerable to electronic disturbances and the cold and windy Swedish climate. The civil airspace regulation is also a major hinder for UAS effective use as well as their limited payload capacity. / Den teknologiska utvecklingen inom obemannade flygande system (UAS) går snabbt framåt. Det är logistikindustrin som leder forskningen motiverade av framtida vinster när tekniken används för sista kilometern-transporter. Militären har använt obemannade flygande fordon (UAV) i flera decennier, men inte för materielleveranser i någon betydande utsträckning. Det huvudsakliga syftet med den här studien är att teoretiskt utvärdera om befintliga transport UAV:er kan öka den svenska försvarslogistiska förmågan. Studien är avgränsad till taktiska leveranser med UAV:er som har en maximal startvikt på 250 kg. Studien börjar med att undersöka de svenska försvarslogistiska behoven samt förmågorna av existerande UAV:er. Den genomför sedan en forskningsöversikt i ämnet för att uppdateras om de senaste insikterna som även kompletteras av diskussioner med experter i ämnet. Teorin som används är Systemteori, Systemteknik och Militär förmåga som lägger grunden för det Militär Nytta-konceptet. Konceptet är utvecklat för att utvärdera värdet av militära system och förse beslutstagare med stöd vid anskaffande av nya komplexa system. För att utvärdera den militära logistikprestandan används Mosh Kress bok Operational Logistics. Genomförandet delas upp i tre faser. I fas ett används insikterna från initiala undersökningen för att välja ut UAV:er att utvärdera samt utvecklas tre potentiella scenarier. I fas två utvecklas Militära Nytta utvärderingsmodellerna för vartdera scenario. I fas tre utvärderas systemkonceptens prestanda i scenarierna. Slutsatsen är att Militär Nytta med UAS finns till varierande grad beroende på omständigheterna. Potentialen för tekniken finns främst när den används för sina styrkor till exempel vid behov av snabba leveranser till svåråtkomliga platser, samt när det finns ett behov att få bort förare från farliga platser. Vidare så finns det potential att spara operativa kostnader genom reducering av man-timmar, men UAV:er är ganska sårbara till elektroniska störningar och det svenska klimatet. Även luftrumsregelverken är ett hinder för effektiv användning samt dess begränsade lastkapacitet.

The transport sector accounts for a third of Sweden’s total greenhouse gas emissions where cars and heavy trucks dominate the use of fossil fuels. The Swedish government is now intensifying the work for an electrified transport sector where electric roads could be an important part. Electric roads enable heavy vehicles to charge their batteries while driving, which is expected to contribute to environmentally friendly and time-efficient freight transports. To implement electric roads, availability of electric power along the electric roads will be required. This study presents a plan for connecting an electric road to the electricity grid in the electricity network area of Vattenfall Eldistribution. From the results, the idea was to present general conclusions from the experiences of the study, that could contribute in further implementation of electric roads.  The road that has been selected for the study was the E4 between Gävle and Stockholm. A model for calculating the power demand along the electric road has been modeled and connection possibilities to transformer stations has been investigated. The analysis was based on three scenarios where different degrees of strengthening of the existing electricity network were assumed. In addition, a forecast for 2030 and a cost estimation for each scenario has been carried out. The result of the study indicates that for road sections close to larger cities, there are a larger number of connection options in comparison to rural areas. Furthermore, the designed solution in the study required strengthening of the electricity grid and the investment cost was 362 million Swedish crowns.

The transport sector accounts for a third of Sweden’s total greenhouse gas emissions where cars and heavy trucks dominate the use of fossil fuels. The Swedish government is now intensifying the work for an electrified transport sector where electric roads could be an important part. Electric roads enable heavy vehicles to charge their batteries while driving, which is expected to contribute to environmentally friendly and time-efficient freight transports. To implement electric roads, availability of electric power along the electric roads will be required. This study presents a plan for connecting an electric road to the electricity grid in the electricity network area of Vattenfall Eldistribution. From the results, the idea was to present general conclusions from the experiences of the study, that could contribute in further implementation of electric roads. The road that has been selected for the study was the E4 between Gävle and Stockholm. A model for calculating the power demand along the electric road has been modeled and connection possibilities to transformer stations has been investigated. The analysis was based on three scenarios where different degrees of strengthening of the existing electricity network were assumed. In addition, a forecast for 2030 and a cost estimation for each scenario has been carried out. The result of the study indicates that for road sections close to larger cities, there are a larger number of connection options in comparison to rural areas. Furthermore, the designed solution in the study required strengthening of the electricity grid and the investment cost was 362 million Swedish crowns.

Artificiella neurala nätverk (ANN) har ett brett tillämpningsområde och blir allt relevantare på flera håll, inte minst för självkörande fordon. För att träna nätverken användsmeta-algoritmer. Nätverken kan styra fordonen med hjälp av olika typer av indata. I detta projekt har vi undersökt två meta-algoritmer: genetisk algoritm (GA) och gradient descent tillsammans med bakåtpropagering (GD & BP). Vi har även undersökt två typer av indata: avståndssensorer och linjedetektering. Vi redogör för teorin bakom de metoder vi har försökt implementera. Vi lyckades inte använda GD & BP för att träna nätverk att köra fordon, men vi redogör för hur vi försökte. I resultatdelen redovisar vi hur det med GA gick att träna ANN som använder avståndssensorer och linjedetektering som indata. Sammanfattningsvis lyckades vi implementera självkörande fordon med två olika typer av indata. / Artificial Neural Networks (ANN) have a broad area of application and are growing increasingly relevant, not least in the field of autonomous vehicles. Meta algorithms are used to train networks, which can control a vehicle using several kinds of input data. In this project we have looked at two meta algorithms: genetic algorithm (GA), and gradient descent with backpropagation (GD & BP). We have looked at two types of input to the ANN: distance sensors and line detection. We explain the theory behind the methods we have tried to implement. We did not succeed in using GD & BP to train ANNs to control vehicles, but we describe our attemps. We did however succeeded in using GA to train ANNs using a combination of distance sensors and line detection as input. In summary we managed to train ANNs to control vehicles using two methods of input, and we encountered interesting problems along the way.

Purpose: This study aims to produce a design proposal of standard parkings for future environmentally friendly vehicles that can be used everywhere. It also submits a proposal for a part within Västerås city zone 1 where curbside car park can be replaced. Method: An external analysis containing a questionnaire study, interviews with experts in municipalities in 4 other selected cities, Örebro, Uppsala, Gent and Copenhagen combined with a literature study and a case study of the city of Västerås parkingzone 1 was performed. All material were collected to analyze how to design and were to place parkings for ecological environmentally friendly vehicles. Results: The results shows that a lot can be done in Västerås in terms of parking. The design and layout must include more types of vehicles as well as better amenities and security. This study gives suggestions and example of how to design and plan parkingspace for the future. Conclusions: The conclusion is that there are factors that slows the process down. The knowledge is great with the planners department but the information and knowledge in the population is lacking as well as the will and determination at the municipal politicians. There is also an architectural aspect on the shaping of parkings that don’t follow the user ́s needs. Another conclusion is that a wider variety of parking is needed in the future.

I en tid kännetecknat av en strävan efter ett mer hållbart samhälle, med utformade långsiktiga klimatmål för förnyelsebara energikällor och minskade utsläpp, arbetar fordonsutvecklare med att ta fram alternativ till förbränningsmotorer. För att nå satta klimatmål och samtidigt förbättra arbetsmiljön med minskat buller anses en elektrisk drivlina som ett troligt alternativ. För tunga fordon såsom lastbilar som ofta utrustas med tillsatsutrustning som kranar, tippbara flak eller cementroterare är beroende av ett kraftuttag för att driva hydraulpumpar och generatorer. Vid en omställning till elektrisk drivlina är det inte längre säkert att möjligheten kvarstår att ta kraft från drivlinan. Detta har lett till en efterfrågan på elektriskt separat drivna kraftuttag uppstått på marknaden. Syftet med denna studie är att undersöka och få en förståelse för inom vilket effektområde och vilken typ av elektrisk motor som är bäst lämpad för att separat driva ett kraftuttag. Målet är att med denna kunskap utveckla en modell som förenklar valet av lämplig elektrisk motor för ett givet fall av kraftuttag. Modellen testas med en effekt på 60 kW vilket resulterade i att en lågvarvig axial flux BLDC-motor anses bäst lämpad. Detta då en lågvarvig elektrisk motor kräver lägre utväxling för att uppfylla krävt vridmoment, vilket ger en lägre totalvikt. Totalvikt för testad effekt hamnar på 78,6 kg, vilket är tre gånger det funktionella kravet. Studien ger en indikation på att det med givna krav enbart är försvarbart att driva kraftuttag med separata elektriska motorer vid låga effekter, runt 10 kW. / In a time characterized by an endeavor for a more sustainable society. With formulated long-term climate targets for renewable energy sources and reduced emissions, vehicle developers are working to develop alternatives to internal combustion engines. In order to achieve set climate targets and at the same time improve the working environment with reduced noise, an electric driveline is considered a likely alternative. For heavy vehicles such as trucks that are often equipped with auxiliary accessories such as cranes, tipper trucks or cement rotators are dependent on a power take-off to drive hydraulic pumps and generators. When switching to an electric driveline, it is no longer certain that the possibility remains to take power from the driveline. This has led to a demand for electrically driven power take-offs on the market. The purpose of this study is to investigate and gain an understanding of the power range and type of electric motor that is best suited to drive a power take-off separately. The goal is to use this knowledge to develop a model that simplifies the choice of a suitable electric motor for a given case of power take-off. The model is tested with an output of 60 kW, which resulted in a low-speed axial flux BLDC-motor being considered best suited. This is because a low-speed electrical motor requires a lower gear ratio to meet the required torque, which gives a lower total weight. The total weight for the tested effect ends up at 78,8 kg, which is three times the functional requirement. The study gives an indication that with given requirements it is only justified to operate power take-offs with separate electric motors at low powers, around 10 kW.

Several manufacturers of road vehicles today are working on developing autonomous vehicles. One subject that is often up for discussion when it comes to integrating autonomous road vehicles into the infrastructure is the safety aspect. There is in the context no common view of how safety should be quantified. As a contribution to this discussion we propose describing each potential hazardous event of a vehicle as a Semi-Markov Process (SMP). A reliability-based method for using the semi-Markov representation to calculate the probability of a hazardous event to occur is presented. The method simplifies the expression for the reliability using the Laplace-Stieltjes transform and calculates the transform of the reliability exactly. Numerical inversion algorithms are then applied to approximate the reliability up to a desired error tolerance. The method is validated using alternative techniques and is thereafter applied to a system for automated steering based on a real example from the industry. A desired evolution of the method is to involve a framework for how to represent each hazardous event as a SMP. / Flertalet tillverkare av vägfordon jobbar idag på att utveckla autonoma fordon. Ett ämne ofta på agendan i diskussionen om att integrera autonoma fordon på vägarna är säkerhet. Det finns i sammanhanget ingen klar bild över hur säkerhet ska kvantifieras. Som ett bidrag till denna diskussion föreslås här att beskriva varje potentiellt farlig situation av ett fordon som en Semi-Markov process (SMP). En metod presenteras för att via beräkning av funktionssäkerheten nyttja semi-Markov representationen för att beräkna sannolikheten för att en farlig situation ska uppstå. Metoden nyttjar Laplace-Stieltjes transformen för att förenkla uttrycket för funktionssäkerheten och beräknar transformen av funktionssäkerheten exakt. Numeriska algoritmer för den inversa transformen appliceras sedan för att beräkna funktionssäkerheten upp till en viss feltolerans. Metoden valideras genom alternativa tekniker och appliceras sedan på ett system för autonom styrning baserat på ett riktigt exempel från industrin. En fördelaktig utveckling av metoden som presenteras här skulle vara att involvera ett ramverk för hur varje potentiellt farlig situation ska representeras som en SMP.

As the automotive industry advances through technology integration, components are designed to operate at increasingly higher frequencies. Consequently, there will be an increasing demand for automotive electromagnetic compatibility (EMC) testing. Testing and certification institutes, such as RISE Research Institutes of Sweden AB, thus face an urgent need to develop innovative solutions that can effectively address this growing demand. This master thesis work concerns one EMC test method in particular - the On-board Transmitter (OBT). This is a test which mainly serves to test the immunity of vehicles to electromagnetic disturbances originating from hand-held devices. The conventional test is performed in an anechoic chamber and the methodology requires a substantial amount of time. The intent with this work is thus to evaluate the potential of a novel OBT method where the concept of a reverberating chamber is applied inside the vehicle compartment. Initially, the conventional method was examined from two mock-ups of idealized cases, and it was observed that the electromagnetic field in the near-field region of the transmitter is highly erratic. It was also concluded that the test setup is particularly sensitive to the polarization of the transmitter. With these findings in mind, the accuracy of the conventional method was deemed questionable. Evaluation of the proposed Reverberating On-board Transmitter (ROBT) method proved that the electromagnetic environment inside the vehicle did not resemble a perfect reverberation chamber. Which was expected as the absorbing material such as seating and upholstery likely prevents a field distribution similar to that in a reverberation chamber. Still, the intent of the project was to find a test method superior to the conventional method and it can be stated that the ROBT method is an adequate option due to its capacity to expose the electronics to isotropic radiation. This was found from two measures which this thesis introduces: expected isotropicity eiso, a relative measure of the electric field components and DDoF, a quantification of the spatial distribution inside a reverberation chamber. / EMC VERifiering av Autonoma fordon i modväxlad kammare (EMCVERA)

Autonomous driving technology has the potential to revolutionize the way we think about transportation and its impact on society. Perceiving the environment is a key aspect of autonomous driving, which involves multiple computer vision tasks. Multi-scale deep learning has dramatically improved the performance on many computer vision tasks, but its practical use in autonomous driving is limited by the available resources in embedded systems. Multi-task learning offers a solution to this problem by allowing more compact deep learning models that share parameters between tasks. However, not all tasks benefit from being learned together. One way of avoiding task interference during training is to learn tasks in sequence, with each task providing useful information for the next – a scheme which builds on transfer learning. Multi-task and transfer dynamics are both concerned with the relationships between tasks, but have previously only been studied separately. This Master’s thesis investigates how different computer vision tasks relate to each other in the context of multi-task and transfer learning, using a state-ofthe-art efficient multi-scale deep learning model. Through an experimental research methodology, the performance on semantic segmentation, depth estimation, and object detection were evaluated on the Virtual KITTI 2 dataset in a multi-task and transfer learning setting. In addition, transfer learning with a frozen encoder was compared to constrained encoder fine tuning, to uncover the effects of fine-tuning on task dynamics. The results suggest that findings from previous work regarding semantic segmentation and depth estimation in multi-task learning generalize to multi-scale learning on autonomous driving data. Further, no statistically significant correlation was found between multitask learning dynamics and transfer learning dynamics. An analysis of the results from transfer learning indicate that some tasks might be more sensitive to fine-tuning than others, suggesting that transferring with a frozen encoder only captures a subset of the complexities involved in transfer relationships. Regarding object detection, it is observed to negatively impact the performance on other tasks during multi-task learning, but might be a valuable task to transfer from due to lower annotation costs. Possible avenues for future work include applying the used methodology to real-world datasets and exploring ways of utilizing the presented findings for more efficient perception algorithms. / Självkörande teknik har potential att revolutionera transport och dess påverkan på samhället. Självkörning medför ett flertal uppgifter inom datorseende, som bäst löses med djupa neurala nätverk som lär sig att tolka bilder på flera olika skalor. Begränsningar i mobil hårdvara kräver dock att tekniker som multiuppgifts- och sekventiell inlärning används för att minska neurala nätverkets fotavtryck, där sekventiell inlärning bygger på överföringsinlärning. Dynamiken bakom både multiuppgiftsinlärning och överföringsinlärning kan till stor del krediteras relationen mellan olika uppdrag. Tidigare studier har dock bara undersökt dessa dynamiker var för sig. Detta examensarbete undersöker relationen mellan olika uppdrag inom datorseende från perspektivet av både multiuppgifts- och överföringsinlärning. En experimentell forskningsmetodik användes för att jämföra och undersöka tre uppgifter inom datorseende på datasetet Virtual KITTI 2. Resultaten stärker tidigare forskning och föreslår att tidigare fynd kan generaliseras till flerskaliga nätverk och data för självkörning. Resultaten visar inte på någon signifikant korrelation mellan multiuppgift- och överföringsdynamik. Slutligen antyder resultaten att vissa uppgiftspar ställer högre krav än andra på att nätverket anpassas efter överföring.

The increasing adoption of electric vehicles (EVs) brings forth the challenge of effectively managing the second-life and end-of-life cycles for lithium-ion batteries. Augmented Reality (AR) offers a promising solution to sustainably and efficiently dismantle these batteries. This thesis explores the development and evaluation of an AR mobile app specifically designed for guiding the dismantling process of a Volkswagen (VW) ID.4 lithium-ion EV battery. Subsequently, a detailed end-to-end development pipeline is presented, spanning from identifying the correct dismantling steps and building complete 3D reconstructions of the ID.4 battery using photogrammetry and CAD or 3D modelling, to creating an AR mobile application in Unity with the help of Vuforia allowing users to visualize the disassembly steps through an interactive guide. Tracking recognition testing results for each model indicates that simpler models exhibit a higher chance of producing false positives, while composite models have a greater minimum recognition distance compared to the faithfulto-real-life one-piece counterparts. User testing is conducted using a hybrid approach, combining a Figma prototype with video recordings to replicate the app’s behavior in a safe environment, without the physical presence of a high voltage battery. Results show positive user feedback, demonstrating the app’s usability and effectiveness in guiding the dismantling process. Furthermore, the thesis evaluates the app’s performance through the System Usability Scale (SUS) and the Technology Acceptance Model. The obtained SUS score of 80 (Grade B - Good) indicates favorable usability, while the Technology Acceptance Model provides insights into potential users’ perceptions. / Den ökande användningen av elektriska fordon (EV) frambringar utmaningen att effektivt hantera andra livscykler och slutlivscykler för litiumjonbatterier. För att hållbart och effektivt demontera dessa batterier erbjuder Augmented Reality (AR) en lovande lösning. Denna uppsats utforskar utvecklingen och utvärderingen av en AR-mobilapplikation som specifikt är utformad för att guida demonteringsprocessen av ett Volkswagen (VW) ID.4 litiumjon EVbatteri. Därefter presenteras en detaljerad genomgående utvecklingsprocess, som sträcker sig från att identifiera korrekta demonteringssteg och skapa kompletta 3D-rekonstruktioner av ID.4-batteriet med hjälp av fotogrammetri och CAD eller 3D-modellering, till att skapa en AR-mobilapplikation i Unity med hjälp av Vuforia, som tillåter användare att visualisera demonteringsstegen genom en interaktiv guide. Resultaten bättre identifieringstester för varje modell indikerar att enklare modeller har större chans att producera falska positiva resultat, medan komplexa modeller har större minsta igenkänningsavstånd jämfört med helhetsmodeller som är trogna verkligheten. Användartester genomförs med hjälp av en hybridmetod som kombinerar en Figma-prototyp med videoinspelningar för att återskapa appens beteende i en säker miljö, utan att behöva ha ett högspänningsbatteri fysiskt närvarande. Resultaten visar positivt användarfeedback och bekräftar appens användarvänlighet och effektivitet vid guidning av demonteringsprocessen. Uppsatsen utvärderar också appens prestanda genom System Usability Scale (SUS) och Technology Acceptance Model. Den erhållna SUS-poängen på 80 (Betyg B - Bra) indikerar en god användbarhet, medan Technology Acceptance Model ger insikter om potentiella användares uppfattningar.