Numerische Methode zur Bestimmung der Fahrwerkskonfiguration aus Baukastenkomponenten

This degree work is a project that started out from weaving, which became the founding technique for how a modular textile took its shape, woven together as interlaced parts. Modularity was taken into this work in order to avoid a flat result and give the woven textile playful attributes and multiple functions. By using bold colours and layers in weaving, an investigation of the interactive and playful side of this textile technique was done. The method was based on workshops where geometrical forms were systematically woven into a repetitive pattern according to the plain weave binding. The result were three voluminous textiles with a given hierarchy of colours and material as they were placed at different levels. Practically, it is a textile that can be fitted to different spaces by being either diminished or built out, in order to be interactive. The quantity of elements within the textiles became the essence and the quality in the project and the advantage is that it is a textile that can be made from waste.

Electronic devices today are an integral part of human life thanks to state-of-the- art complementary metal oxide semiconductor (CMOS) technology. The progress in this area can be attributed to miniaturization driven by Moore’s Law. Further advancements in electronics are under threat from physical limits in dimensional scaling and hence new roadmaps for alternative materials and technologies are chased. Furthermore, the current era of Internet of things (IoT) and Internet of everything (IoE) has broaden the horizon to a plethora of unprecedented applications. The most prominent emerging fields are flexible and stretchable electronics. There has been significant progress in developments of flexible sensors, transistors, and alternative materials, etc. Nonetheless, there remains the unaddressed challenges of matching performance of the status-quo, packaging, interconnects, and lack of pragmatic integration schemes to readily complement existing state-of-the-art technology. In this thesis, a pragmatic heterogeneous integration strategy is presented to obtain high-performance 3D electronic systems using existing CMOS based integrated circuit (IC). Critical challenges addressed during the process are: reliable flexible interconnects, maximum area efficiency, soft-polymeric packaging, and heterogeneous integration compatible with current CMOS technology. First, a modular LEGO approach presents a novel method to obtain flexible electronics in a lock-and-key plug and play manner with reliable interconnects. A process of converting standard rigid IC into flexible LEGO without any performance degradation with a high-yield is shown. For the majority of healthcare and other monitoring applications in IoT, sensory array is used for continuous monitoring and spatiotemporal mapping activities. Here we present ultra-high-density sensory solution (1 million sensors) as an epitome of density and address each of the associated challenges. A generic heterogeneous integration scheme has been presented to obtain physically flexible standalone electronic system using 3D-coin architecture. This 3D-coin architecture hosts sensors on one side, readout circuit and data processing units embedded in the polymer, and the other side is reserved for antenna and energy harvester (photovoltaic). This thin platform (~ 300 μm) has achieved bending radius of 1 mm while maintaining reliable electrical interconnection using through-polymer-via (TPV) and soft-polymeric encapsulation. This coin integration scheme is compatible with existing CMOS technology and suitable for large scale manufacturing. Lastly, a featherlight non-invasive ‘Marine-Skin’ platform to monitor deep-ocean monitoring is presented using the heterogeneous integration scheme. Electrical and mechanical characterization has been done to establish reliability, integrity, robustness, and ruggedness of the processes, sensors, and multisensory flexible system.

Continuum manipulators which are robot limbs inspired by trunks, snakes, and tentacles, represent a promising field in robotic manipulation research. They are well known for their compliance, as they can conform to the shape of objects they interact with. Furthermore, they also benefit from improved dexterity and reduced weight compared to traditional rigid manipulators. The current state of the art continuum robots typically consists of a bulky pneumatic or tendon-driven actuation system at the base, hindering their scalability. Additionally, they tend to sag due to their own weight and are weak in the torsional direction, limiting their performance under external load. This work presents an origami-inspired cable-driven continuum manipulator module that offers low-cost, light-weight, and is inherently safe for human-robot interaction. This dissertation includes contributions in the design of the modular and torsionally strong continuum robot, the motion planning and control of the system, and finally the embedded sensing to close the loop providing robust feedback.

In this thesis, we define differential operators for Hermitian Jacobi forms and Hermitian modular forms over the Gaussian number field Q(i). In particular, we construct Rankin-Cohen brackets for such spaces of Hermitian Jacobi forms and Hermitian modular forms. As an application, we extend Rankin's method to the case of Hermitian Jacobi forms. Finally we compute Fourier series coefficients of Hermitian modular forms, which allow us to give an example of the first Rankin-Cohen bracket of two Hermitian modular forms. In the appendix, we provide tables of Fourier series coefficients of Hermitian modular forms and also the computer source code that we used to compute such Fourier coefficients.

This thesis presents a fully automated technique for procedure-modular verification of control flow temporal safety properties. Procedure-modular verification is a natural instantiation of modular verification where modularity is achieved at the level of procedures. Here it is used for the verification of software systems in the presence of code evolution, multiple method implementations (as arising from software product lines), or even unknown method implementations (as in mobile code for open platforms). The technique is built on top of a previously developed modular verification framework based on maximal model construction. In the framework, program data is abstracted away completely to achieve algorithmic verification. This restricts the class of properties that can be verified. The technique is supported by a fully automated tool called ProMoVer which is described and evaluated on a number of real-life case studies. ProMoVer is quipped with a number of features, such as automatic specification extraction, to facilitate easy usage. Moreover, it provides a proof storage and reuse mechanism for efficiency. An application area which can significantly benefit from modular verification is software product line (SPL) design. In SPL engineering, products are generated from a set of well-defined commonalities and variabilities. The products of an SPL can be described by means of a hierarchical variability model specifying the commonalities and variabilities between the individual products. The number of products generated from a hierarchical model is exponential in the size of the hierarchical model. Therefore, scalable and efficient verification for SPL is only possible by exploiting modular verification techniques. In this thesis, we propose a hierarchical variability model for modeling product families. Then the modular verification technique and ProMoVer are adapted for the SPLs described with this hierarchical model. A natural extension of the modular verification technique is to include program data in a conservative fashion, by encoding data from a finite domain through control. By this, a wider class of properties can be supported. As a first step towards including program data, Boolean values are added to the program model, specification languages, maximal model construction and modular verification principles. / QC 20120507

This study investigates product development of complex products in a modular environment at the paver manufacturer Dynapac. It is determined how the complexity of a modular product constrains product development.Product development in a modular enviornment is a popular research topic in previous literature. However there is limited literature regarding in what ways the complexity of a modular product constrains product development in form of new product variants demanded by the market. A more comprehensive research within this field is interesting for manufacturing companies producing complex products in a modular environment since it could ease and optimize their product development processes. An efficient product development process is crucial to stay competitive and to be able to serve the market rapidly with qualitative and desired products, which increases the importance of this study.With the aim to address the limitations of the existing literature on product development based from modular complex product systems a case study was conducted. The constraints of developing a new paver model demanded by the market caused by the complexity of the paver design were identified.The findings of the research have both theoretical and managerial implications. The theoretical contribution consists mainly of the identification of a new type of overall constraints in modular complex product systems which I call ‖architectural functional constraints‖. These constraints cause an unexpected chain reaction of affected modules in the product system when a change to one module is made, even if the change ostensibly only should affect the module in question. The results show that the effects of this type of constraints is a constraining factor on product development of new product variants in a modular environment. The effects of the architectural functional constraints constrain product development since they trigger time consuming activities in order to avoid a dysfunctional product, or a product that has a high level of commonality with other product offerings. Further the effects oppose a rapid and cost-efficient product development which is regarded to be two of the main benefits with modularity.The managerial implications include a decision process for new product development projects that can be used when architectural functional constraints are found in a product in order to ensure an economic sustainable development of new product variants. Hence managers can use the decision process as a tool to both make and communicate current and future decisions in a structured way.The study is a starting point for further studies investigating how the complexity of modular products might constrain product development efforts. It is expected that the results of the study can be used by other manufacturing companies operating in a similar context, producing complex product systems in a modular environment.

Due to a growing interest in communication in today’s society the demand for equipment that is used in communication networks increases while the competition between companies that produce this equipment grows. To meet the increasing demand and at the same time having a competitive product development many companies use some effective product design, such as the modular product design. When a modular product design is used it’s good to compare different module configurations for a certain product and to simplify these comparisons some tool can be used. This work examines the design and development of a tool that visualize information about different modular plans in a web interface. The focus of the work is on the storage and processing of data to be presented and also the software architecture, namely the back-end of the tool. The front-end consists of a web interface that is developed and described in another thesis. Different techniques to store data are examined and data models are developed. A multitier architecture, more precisely three tiers, is used in the tool where the three tiers are one tier for the data storage, one tier for the processing of data and one for the web interface. A relational database is used as data storage and to process data the programing language Java is used. To communicate between the web interface and the tier that process data a RESTful API is used.

Partial circuit replication is a soft error mitigation technique that uses redundant copies of a circuit to mask or detect the effects of soft errors. By masking or detecting the effect of soft errors on SRAM-based FPGAs, implemented circuits can be made more reliable. The technique is applied selectively, to only a portion of the components within a circuit. Partial application lowers the cost of implementation. The objective of partial circuit replication is to provide maximal benefit at limited or minimized cost. The greatest challenge of partial circuit replication is selecting which components within a circuit to replicate. This dissertation advances the state of the art in the effective use of partial circuit replication for masking and detecting soft errors in SRAM-based FPGAs. It provides a theoretical foundation in which the expected benefits and challenges of partial circuit replication can be understood. It proposes several new selection approaches for identifying the most beneficial areas of a circuit to replicate. These approaches are applied to two complex FPGA-based computer networking systems and another FPGA design. The effectiveness of the selection approaches are evaluated through fault injection and accelerated radiation testing. More benefit than expected is obtained through partial circuit replication when applied to critical components and sub-regions of the designs. In one example, in an open-source computer networking design, partial circuit replication masks and detects approximately 70% of failures while replicating only 5% of circuit components, a benefit-cost ratio of 14.0.

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