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O objetivo dessa pesquisa foi avaliar aspectos genéticos que relacionados à produção in vitro de embriões na raça Guzerá. O primeiro estudo focou na estimação de (co) variâncias genéticas e fenotípicas em características relacionadas a produção de embriões e na detecção de possível associação com a idade ao primeiro parto (AFC). Foi detectada baixa e média herdabilidade para características relacionadas à produção de oócitos e embriões. Houve fraca associação genética entre características ligadas a reprodução artificial e a idade ao primeiro parto. O segundo estudo avaliou tendências genéticas e de endogamia em uma população Guzerá no Brasil. Doadoras e embriões produzidos in vitro foram considerados como duas subpopulações de forma a realizar comparações acerca das diferenças de variação anual genética e do coeficiente de endogamia. A tendência anual do coeficiente de endogamia (F) foi superior para a população geral, sendo detectado efeito quadrático. No entanto, a média de F para a sub- população de embriões foi maior do que na população geral e das doadoras. Foi observado ganho genético anual superior para a idade ao primeiro parto e para a produção de leite (305 dias) entre embriões produzidos in vitro do que entre doadoras ou entre a população geral. O terceiro estudo examinou os efeitos do coeficiente de endogamia da doadora, do reprodutor (usado na fertilização in vitro) e dos embriões sobre resultados de produção in vitro de embriões na raça Guzerá. Foi detectado efeito da endogamia da doadora e dos embriões sobre as características estudadas. O quarto (e último) estudo foi elaborado para comparar a adequação de modelos mistos lineares e generalizados sob método de Máxima Verossimilhança Restrita (REML) e sua adequação a variáveis discretas. Quatro modelos hierárquicos assumindo diferentes distribuições para dados de contagem encontrados no banco. Inferência foi realizada com base em diagnósticos de resíduo e comparação de razões entre componentes de variância para os modelos em cada variável. Modelos Poisson superaram tanto o modelo linear (com e sem transformação da variável) quanto binomial negativo à qualidade do ajuste e capacidade preditiva, apesar de claras diferenças observadas na distribuição das variáveis. Entre os modelos testados, a pior qualidade de ajuste foi obtida para o modelo linear mediante transformação logarítmica (Log10 X +1) da variável resposta. / The objective of this research was to evaluate genetic aspects permeating in vitro embryo production in Guzerá cattle. The first study aimed for estimating genetic and phenotypic (co)variances among embryo production traits and detecting possible genetic association with the age at first calving (AFC). Low and medium heritabilities were detected for oocyte and embryo production traits. A weak genetic association between artificial reproduction traits and AFC was identified. The second study evaluated genetic and inbreeding trends in the Brazilian Guzerá population. Female donors and in vitro produced embryos were considered as two subpopulations in order to perform comparisons and infer over differences in inbreeding and genetic annual variations. Embryos\' subpopulation showed higher genetic gains for age at first calving and milk production than donors\' subpopulation and the general population. Higher annual mean inbreeding values were also detected for the embryos\' subpopulation. The third study examined the effects of donor, sire (used for in vitro fertilization) and embryos\' inbreeding coefficient over in vitro embryo production traits in Guzerá cattle. Donors\' and embryos\' inbreeding effects over the analyzed traits were detected. Fourth and final study was designed to compare the performance of Linear and Generalized Linear Mixed Models under Restricted Maximum Likelihood method when fitting discrete variables. Four hierarchical models assuming different distributions for the response variable were fit to the (count) data. Inference was performed upon residual diagnostics and comparison of variance component ratios between models within each trait. Poisson models outperformed both linear (with and without variable transformation) and negative binomial models for goodness of fit and predictive ability despite clear differences in each trait\'s distribution. Logarithmic transformation (Log10 X +1) showed lowest goodness of fit among all models tested.

[EN] The Compact Linear Collider (CLIC) is an electron-positron collider conceived for the study of High-Energy Physics in the TeV center of mass energy region, is based on a two-beam operation principle: instead of using active elements (klystrons), the necessary RF power to accelerate the Main Beam (MB) is obtained from the deceleration of a high-current, moderate energy Drive Beam (DB) in the so-called Power Extraction and Transfer Structures (PETS). These structures emit an RF signal of about 130 MW power at 12 GHz. As this frequency is above the cut-o ff frequency of the fundamental mode for the specified beam pipe dimensions (7.6 GHz), the inference propagates from the PETS to the neighboring devices, including the Beam Position Monitors (BPM). According to the CLIC Conceptual Design Report (CDR), an ef ficient beam position monitoring system for the CLIC DB decelerator needs to meet the following requirements: - It should be as simple and economic as possible, as 41580 units are required, amounting to 75% of all CLIC BPMs. - The signal processing scheme should not be a ffected by the PETS interference. This rules out processing the signals at the beam bunching frequency (12 GHz). - The resulting position signal should detect changes in the beam position whose duration is 10 ns or longer. - The required spatial resolution is 2 um for a 23 mm diameter vacuum pipe. - Wide dynamic range: the electronic acquisition system must be able to process signals with extreme levels, induced by either very high (100 A) or very low (3 A) current beams. This PhD thesis describes the electromagnetic and mechanical design of the first prototype BPM developed for the CLIC Drive Beam and its characterization tests in laboratory and with beam. The first two chapters introduce the CLIC project and review the state-of-the-art beam position monitoring techniques. Chapter 3 presents the design of the BPM. The stripline technology has been selected, as it is the only one among the most commonly used BPM techniques to present a suitable frequency response to filter out the RF interference caused by the PETS. Choosing an appropriate length for the electrodes, it is possible to tune one the periodic notches in the stripline frequency response to 12 GHz. The influence of di erent electromagnetic and geometrical aspects is also studied, such as beam coupling impedance or the ratio between longitudinal and transverse dimensions. The design of the electronic acquisition system is presented in Chapter 4, considering the project requirements in terms of resolution (2 u m), accuracy (20 um) and time resolution (10 ns). Due to the high amount of units required, the number of electronics components has been minimized. As the designed signal processing scheme is based on charge integration, it can be adapted to di erent stripline pick-ups by simply modifying the attenuator settings according to the required output signal levels. The laboratory characterization tests of the prototype stripline BPM, in the low and the high frequency ranges, performed with a thin wire and a coaxial waveguide, respectively, are described in Chapter 5. The measurement results are compared with the theoretical estimation and the electromagnetic field simulations. In addition, the high-frequency test reveals that the first prototype stripline BPM does not provide su cient suppression of the 12 GHz PETS RF interference. An additional study proposed several modifications and guidelines for a second prototype stripline BPM. Finally, Chapter 6 presents the beam tests of the prototype stripline BPM at the CLIC Test Facility 3 (CTF3) in the Test Beam Line (TBL), a scaled version of the CLIC Drive Beam decelerator. Two types of tests were performed: linearity/sensivity and resolution. These results are compared to the ones in the laboratory characterization tests. An upper bound of the resolution is estimated performing a Singular Value Decomposition (SVD) analysis. / [ES] El Colisionador Lineal Compacto (Compact Linear Collider, CLIC), un colisionador de electrones y positrones concebido en el CERN para el estudio de la Física de Altas Energías en la región de los TeV, se basa en un principio de funcionamiento de doble haz: en lugar de emplear elementos activos (klystrons) para proporcionar la potencia RF requerida para acelerar el haz principal (Main Beam, MB), ésta se obtiene de la deceleración de un haz secundario (Drive Beam, DB), de alta corriente y energía moderada, en las llamadas estructuras de extracción y transferencia de potencia (Power Extraction and Transfer Structures, PETS). Estas estructuras emiten una señal interferente RF de más de 130 MW de potencia a 12 GHz, que, por estar localizada en una frecuencia superior a la de corte del modo fundamental en el tubo de vacío del haz (7.6 GHz), se propaga por éste hacia los dispositivos adyacentes, entre los cuales se encuentran los sistemas de monitorización de la posición (Beam Position Monitor, BPM). De acuerdo con el informe conceptual de diseño de CLIC (Conceptual Design Report, CDR) , un sistema eficiente de monitorización de la posición del haz en el decelerador del haz secundario deberá cumplir los siguientes requisitos: - Debe ser lo más sencillo y económico posible, ya que se precisan 41580 unidades: el 75% de todos los BPMs de CLIC. - El procesado de señal en el sistema de adquisición deberá ser inmune a la interferencia generada en las PETS. Esto excluye la solución habitual de procesar las señales del BPM a la frecuencia de pulsado del haz (12 GHz). - La señal de posición resultante del procesado debe ser capaz de detectar cambios en la posición del haz de duración igual o mayor a 10 ns (resolución temporal). - La resolución espacial requerida es de 2 um para un tubo de vacío de 23 mm de diámetro, con una calibración precisa. - Amplio rango dinámico: el sistema electrónico de adquisición del BPM debe poder resistir los altos valores de señal provocados por los casos de desviación extrema del haz nominal (se contempla una desviación máxima de la mitad del radio del tubo), así como detectar las señales inducidas por las configuraciones de haz con menor carga de todas las previstas, cuyos niveles serán muy débiles. / [CAT] El Col·lisionador Lineal Compacte (Compact Linear Collider, CLIC), un col·lisionador d'electrons i positrons concebut per l'estudi de la Física d'Altes Energies a la regió dels TeV (energía del centre de massa), es basa en un principi de funcionament de doble feix:en lloc de fer servir elements actius (klystrons) per proporcionar la potència RF requerida per accelerar el feix principal (Main Beam, MB), aquesta s'obtè de la desacceleració d'un feix secundari (Drive Beam, DB), d'alt corrent i energia moderada, a les anomenades estructures d'extracció i transferència de potència (Power Extraction and Transfer Structures, PETS). Aquestes estructures emeten una senyal interferent RF de més de 130 MW de potència a 12 GHz, que, pel fet d'estar localitzada a una freqüència superior a la de tall del mode fonamental al tub de buit del feix (7.6 GHz), es propaga a través d'aquest fins els dispositius adjacents, entre els quals trobem els sistemes de monitorització de la posició (Beam Position Monitor, BPM). D'acord amb l'informe conceptual de disseny de CLIC (Conceptual Design Report, CDR), un sistema eficient de monitorització de la posició del feix al desaccelerador del feix secundari haurà de complir els següents requisits: ¿ - Ha de ser el més senzill i econòmic possible, ja que es necessiten 41580 unitats: el 75% de tots els BPMs de CLIC. ¿ - El processat de la senyal al sistema d'adquisició haurà de ser inmune a la interferència generada als PETS. Això exclou la solució habitual de processar les senyals del BPM a la freqüència de pulsacions del feix (12 GHz). ¿- La senyal de posició resultant del processat ha de ser capaç de detectar canvis a la posició del feix de durada igual o més gran que 10 ns (resolució temporal). ¿- La resolució espaial necessària és de 2 um per a un tub de buit de 23 mm de diàmetre. ¿- Ampli rang dinàmic: el sistema electrònic d'adquisició del BPM ha de poder processar senyals amb nivells extrems, induïdes per feixos de molt alt (100 A) i molt baix (3 A) corrent. / Benot Morell, A. (2016). Beam position monitoring in the clic drive beam decelerator using stripline technology [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/64067 / TESIS

The work for this thesis is in line with the field of Instrumentation for Particle Accelerators, so called Beam Diagnostics. It is presented the development of a series of electro-mechanical devices called Inductive Pick-Ups (IPU) for Beam Position Monitoring (BPM). A full set of 17 BPM units (16 + 1 spare), named BPS units, were built and installed into the Test Beam Line (TBL), an electron beam decelerator, of the 3rd CLIC Test Facility (CTF3) at CERN ¿European Organization for the Nuclear Research¿. The CTF3, built at CERN by an international collaboration, was meant to demonstrate the technical feasibility of the key concepts for CLIC ¿Compact Linear Collider¿ as a future linear collider based on the novel two-beam acceleration scheme, and in order to achieve the next energy frontier for a lepton collider in theMulti-TeV scale. Modern particle accelerators and in particular future colliders like CLIC requires an extreme alignment and stabilization of the beam in order to enhance its quality, which rely heavily on a beam based alignment techniques. Here the BPMs, like the BPS-IPU, play an important role providing the beam position with precision and high resolution, besides a beam current measurement in the case of the BPS, along the beam lines. The BPS project carried out at IFIC was mainly developed in two phases: prototyping and series production and test for the TBL. In the first project phase two fully functional BPS prototypes were constructed, focusing in this thesis work on the electronic design of the BPS on-board PCBs (Printed Circuit Boards) which are based on transformers for the current sensing and beam position measurement. Furthermore, it is described the monitor mechanical design with emphasis on all the parts directly involved in its electromagnetic functioning, as a result of the coupling of the EM fields generated by the beam with those parts. For that, it was studied its operational parameters, according the TBL specifications, and it was also simulated a new circuital model reproducing the BPS monitor frequency response for its operational bandwidth (1kHz-100MHz). These prototypes were initially tested in the laboratories of the BI-PI section¿Beam Instrumentation - Position and Intensity¿ at CERN. In the second project phase the BPS monitor series, which were built based on the experience acquired during the prototyping phase, the work was focused on the realization of the characterization tests to measure the main operational parameters of each series monitor, for which it was designed and constructed two test benches with different purposes and frequency regions. The first one is designed to work in the low frequency region, between 1kHz-100MHz, in the time scale of the electron beam pulse with a repetition period of 1s and an approximate duration of 140ns. This kind of test setups called Wire Test-bench are commonly used in the accelerators instrumentation field in order to determine the characteristic parameters of a BPM (or pick-up) like its linearity and precision in the position measurement, and also its frequency response (bandwidth). This is done by emulating a low current intensity beam with a stretched wire carrying a current signals which can be precisely positioned with respect the device under test. This test bench was specifically made for the BPS monitor and conceived to perform the measurement data acquisition in an automated way, managing the measurement equipment and the wire positioning motors controller from a PC workstation. Each one of the BPS monitors series were characterized by using this system at the IFIC labs, and the test results and analysis are presented in this work. On the other hand, the high frequency tests, above the X band in the microwave spectrum and at the time scale of the micro-bunch pulses with a bunching period of 83ps (12GHz) inside a long 140ns pulse, were performed in order to measure the longitudinal impedance of the BPS monitor. This must be low enough in order to minimize the perturbations on the beam produced at crossing the monitor, which affects to its stability during the propagation along the line. For that, it was built the high frequency test bench as a coaxial waveguide structure of 24mm diameter matched at 50¿ and with a bandwidth from 18MHz to 30GHz, which was previously simulated, and having room in the middle to place the BPS as the device under test. This high frequency test bench is able to reproduce the TEM (Transversal Electro-Magnetic) propagative modes corresponding to an ultra-relativistic electron beam of 12GHz bunching frequency, so that the Scattering parameters can be measured to obtain the longitudinal impedance of the BPS in the frequency range of interest. Finally, it is also presented the results of the beam test made in the TBL line, with beam currents from 3.5A to 13A (max. available at the moment of the test). In order to determine the minimum resolution attainable by a BPS monitor in the measurement of the beam position, being the device figure of merit, with a resolution goal of 5¿m at maximum beam current of 28A according to the TBL specifications. / García Garrigós, JJ. (2013). Development of the Beam Position Monitors for the Diagnostics of the Test Beam Line in the CTF3 at CERN [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/34327 / TESIS

[EN] The primary handling of food with robots calls for the development of new manipulation devices, especially when products are easily damaged and have a wide range of shapes and textures. These difficulties are even greater in the agricultural industry because the quality of the products is also checked during the manual handling process. This PhD dissertation provides solutions to these issues and helps to further introduce robotics into the handling of food. Several methods for handling food are included and analyzed, and specific solutions are proposed and then validated with prototypes. The research focuses on devices capable of adapting themselves to the shapes of the products without increasing the complexity of the mechanism. After analyzing several different solutions, the method chosen involves the use of under-actuated mechanisms, compliant mechanisms and fingers with pads filled with granular fluids. These fluids can behave as quasi-liquids or quasi-solids due to the jamming transition, which provides a soft initial grasp and can support high stresses during fast movements performed by the robot. The additive manufacturing process provides an opportunity to develop robot grippers that are lighter, simpler, more flexible and cheaper. By using this process elastic mechanisms are manufactured in a single part, which are equivalent to mechanisms with several rigid parts connected by joints. Laser sintering is employed to produce pneumatic actuators, with different types of motions, based on the elastic properties of the materials used in this manufacturing process. As a result, the systems can be simplified to achieve grippers, with several fingers, that are produced as a single part. In order to estimate the freshness and quality of agricultural products while they are being grasped, accelerometers are added to the fingers of several grippers. Accelerometers are economical and act as intrinsic tactile sensors. They can be easily embedded, thereby reducing the risk of getting damaged due to contact with the product, and allow each of the grasping phases to be identified. To achieve good performance of the accelerometers, a specific process is defined for the robot gripper, which touches the products a few times. In addition, several gripper prototypes are manufactured with diverse under-actuated mechanisms, jamming systems, and a new program that processes the signals from the accelerometers using different procedures in order to obtain parameters that can be used to estimate the quality of products. These parameters are correlated with data from destructive tests that are commonly used as a reference. The best performance of the accelerometers is achieved when the finger employs a granular fluid, a correlation coefficient of 0.937 being accomplished for the ripeness of mangoes and 0.872 for the firmness of eggplants. / [ES] La manipulación primaria de alimentos con robots precisa del desarrollo de nuevos sistemas de manipulación especialmente cuando los productos son sensibles al daño y presentan una amplia variabilidad de formas y texturas. En el sector agroalimentario las dificultades son aún mayores ya que la manipulación manual sirve además para inspeccionar los productos durante el proceso. Está tesis aporta soluciones a estos problemas facilitando la incorporación de la robótica. En la tesis se recopilan y analizan diversas soluciones para poder manipular alimentos proponiendo soluciones concretas que luego son validadas con prototipos. La investigación se centra en aquellos sistemas que son capaces de auto adaptarse a las formas de los productos sin incrementar la complejidad del mecanismo. Tras analizar diversas técnicas se propone el uso de mecanismos infra-actuados, mecanismos flexibles y dedos con fluidos granulares que, al estar encerrados dentro de una membrana, se comportan como cuasi-líquidos o cuasi-sólidos gracias a la transición jamming, permitiendo un agarre inicial suave y la posibilidad de transmitir esfuerzos elevados durante los movimientos del robot. En la búsqueda de garras más ligeras, sencillas, flexibles y económicas se aprovecha la oportunidad que brinda la tecnología de fabricación aditiva de material. Gracias a este proceso se fabrican mecanismos flexibles realizados en una única pieza y que equivalen a mecanismos de garras realizados con varias piezas rígidas unidos por articulaciones. Mediante el sinterizado por láser, se fabrican actuadores neumáticos, con diversos tipos de movimiento, basados en la flexibilidad del material empleado en su fabricación. En conjunto se simplifican los sistemas llegando a realizar garras flexibles de varios dedos fabricadas en una única pieza. Para evaluar la calidad y frescura de los productos agroalimentarios durante el agarre se emplean acelerómetros localizados en los dedos de varias garras. Los acelerómetros son económicos y se comportan como sensores táctiles intrínsecos, están fuera del contacto directo con el producto evitando desgastes por contacto y permiten identificar las distintas fases de agarre. Para lograr esto se desarrolla un proceso específico del robot con la garra, que palpa varias veces el producto. Se fabrican diversos tipos de garra con distintas tecnologías de mecanismos infra-actuados y sistemas jamming y se programa un algoritmo original de procesado de señal que con diversas técnicas es capaz de extraer parámetros de los acelerómetros que sirven para evaluar la calidad de los productos. Estos parámetros son correlacionados con los datos de ensayos destructivos que son habitualmente empleados como referencia. Las mejores capacidades se consiguen empleando garras con jamming lográndose coeficientes de correlación de 0.937 en índices de madurez con mangos y 0.872 en firmeza de berenjenas. / [CAT] La manipulació primària d'aliments amb robots precisa del desenvolupament de nous sistemes de manipulació especialment quan els productes són sensibles al dany i presenten una àmplia variabilitat de formes i textures. En el sector agroalimentari les dificultats són encara més grans ja que la manipulació manual serveix a més per a inspeccionar els productes durant el procés. Aquesta tesi aporta solucions a aquests problemes facilitant la incorporació de la robòtica. En la tesi es recopilen i analitzen diverses solucions per a poder manipular aliments proposant solucions concretes que després són validades amb prototips. La investigació es centra en aquells sistemes que són capaços d'auto adaptar-se a la forma dels productes sense incrementar la complexitat del mecanisme. Després d'analitzar diverses tècniques es proposa l'ús de mecanismes infra-actuats, mecanismes flexibles i dits amb fluids granulars que, tancats dins d'una membrana, es comporten com quasi-líquids o quasi-sòlids gràcies a la transició jamming, permetent una prensió inicial suau i la possibilitat de transmetre esforços elevats durant els moviments del robot. En la recerca d'urpes més lleugeres, senzilles, flexibles i econòmiques s'aprofita l'oportunitat que brinda la tecnologia de fabricació additiva de material. Gràcies a aquest procés es fabriquen mecanismes flexibles realitzats en una única peça i que equivalen a mecanismes d'urpes realitzats amb diverses peces rígides unides per articulacions. Mitjançant el sinteritzat per làser, es fabriquen actuadors pneumàtics, amb diversos tipus de moviment, basats en la flexibilitat del material emprat en la seva fabricació. En conjunt es simplifiquen els sistemes arribant a realitzar urpes flexibles de diversos dits fabricades en una única peça. Per a avaluar la qualitat i frescor dels productes agroalimentaris durant la manipulació s'empren acceleròmetres localitzats en els dits de diverses urpes. Els acceleròmetres són econòmics i es comporten com a sensors tàctils intrínsecs, sense estar en contacte directe amb el producte evitant desgastos per aquest motiu, i permeten identificar les diferents fases d'prensió. Per aconseguir això es desenvolupa un procés específic del robot amb l'urpa, que palpa diverses vegades el producte. Es fabriquen diversos tipus d'urpa amb diferents tecnologies de mecanismes infra-actuats i sistemes jamming i es programa un algoritme original de processat de senyal que, amb diverses tècniques, és capaç d'extreure paràmetres dels acceleròmetres que serveixen per a avaluar la qualitat dels productes. Aquests paràmetres són correlacionats amb les dades d'assajos destructius que són habitualment emprats com a referència. Les millors capacitats s'aconsegueixen emprant urpes amb jamming assolint-se coeficients de correlació de 0,937 en índexs de maduresa amb mangos i 0,872 en fermesa d'albergínies. / Blanes Campos, C. (2016). Garras con sensores táctiles intrínsecos para manipular alimentos con robots [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/68481 / TESIS

The objective of this master thesis is to design a robotic work cell for automated insertion of thermostatic heads. The proposed design was based on the comprehensive analysis of the current workplace. By taking the demands of the company and customer into consideration, several possibilities of the robotic work cell design were proposed, from which the most suitable one was chosen and carefully elaborated. During the process of designing, several safety standards had to be taken into consideration in order to mitigate risks. For that purpose, a risk analysis was conducted as well. Using the Siemens Process Simulate software, the proposed robotic work cell concept was verified, including cycle time analysis. The last part of the thesis is an assessment of the initial expenditures of the robotic work cell equipment, as well as the return of the investment calculation. Drawing of the robotic work cell layout is attached to the thesis.

This thesis focuses on matrix generalizations of Hurwitz polynomials. A real polynomial with all its roots in the open left half plane of the complex plane is called a Hurwitz polynomial. The study of these Hurwitz polynomials has a long and abundant history, which is associated with the names of Hermite, Routh, Hurwitz, Liénard, Chipart, Wall, Gantmacher et al. The direct matricial generalization of Hurwitz polynomials is naturally defined as follows: A p by p matrix polynomial F is called a Hurwitz matrix polynomial if the determinant of F is a Hurwitz polynomial. Recently, Choque Rivero followed another line of matricial extensions of the classical Hurwitz polynomial, called matrix Hurwitz type polynomials. However, the notion “matrix Hurwitz type polynomial” is still irrelative to “Hurwitz matrix polynomial” due to the totally unclear zero location of the former notion. So the main goal of this thesis is to discover the relation between the two notions “matrix Hurwitz-type polynomials” and “Hurwitz matrix polynomials' and provide some criteria to identify Hurwitz matrix polynomials. The central idea is to determine the inertia triple of matrix polynomials in terms of some related matrix sequences. Suppose that F is a p by p matrix-valued polynomial of degree n. We split F into the odd part and the even part, which allow us to introduce an essential rational matrix function of right type G. From the matrix coefficients of the Laurent series of G we construct the (n-1)-th extended sequence of right Markov parameters (SRMP) of F. Then we show that the inertia triple of F can be characterized by a combination of the inertia triples of two block Hankel matrices generated by the (n-1)-th SRMP of F and the number of zeros (counting for multiplicities) of greatest right common divisors of the even part and the odd part of F lying on the left half of the real axis. By an analogous approach we also obtain the dual results for the inertia triple of F in terms of the SLMP of F. Then we demonstrate that F is a Hurwitz matrix polynomial of degree n if and only if the (n − 1)-th SRMP (resp. SLMP) of F is a Stieltjes positive definite sequence. On this account, the two notions “Hurwitz matrix polynomials” and “matrix Hurwitz type polynomials” are equivalent. In addition, we investigate quasi-stable matrix polynomials appearing in the theory of stability, which contain Hurwitz matrix polynomials as a special case. We seek a correspondence between quasi-stable matrix polynomials, Stieltjes moment problems and multiple Nevanlinna-Pick interpolation in the Stieltjes class. Accordingly, we prove that F is a quasi-stable matrix polynomial if and only if the (n − 1)-th SRMP (resp. SLMP) of F is a Stieltjes non-negative definite extendable sequence and the zeros of right (resp. left) greatest common divisors of the even part and the odd part of F are located on the left half of the real axis.:1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 2 Matrix polynomials and greatest common divisors. . . . . . . . . . . . . . . . . . . . . . . 7 2.1 Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2 Greatest common divisors of matrix polynomials . . . . . . . . . . . . . . . . . . . . . 8 3 Matrix sequences and their connection to truncated matricial moment problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 4 Matrix fraction description and some related topics . . . . . . . . . . . . . . . . . . 19 4.1 Realization of Matrix fraction description from Markov parameters . . . . . . . 19 4.2 The interrelation between Hermitian transfer function matrices and monic orthogonal system of matrix polynomials . . . . . . . . . . . . . . . . . . . . . . . .27 5 The Bezoutian of matrix polynomials and the inertia problem of matrix polynomials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 5.1 Preliminaries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33 5.2 The Anderson-Jury Bezoutian matrices in connection to special transfer function matrices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38 6 Para-Hermitian strictly proper transfer function matrices and their related monic Hurwitz matrix polynomials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7 Solution of matricial Routh-Hurwitz problems in terms of the Markov pa- rameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 8 Matrix Hurwitz type polynomials and some related topics . . . . . . . . . . . . . . 67 9 Hurwitz matrix polynomials and some related topics . . . . . . . . . . . . . . . . . . 77 9.1 Hurwitz matrix polynomials, Stieltjes positive definite sequences and matrix Hurwitz type polynomials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 9.2 S -system of Hurwitz matrix polynomials . . . . . . . . . . . . . . . . . . . . . . . . . . 82 10 Quasi-stable matrix polynomials and some related topics . . . . . . . . . . . . 95 10.1 Particular monic quasi-stable matrix polynomials and Stieltjes moment problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95 10.2 Particular monic quasi-stable matrix polynomials and multiple Nevanlinna- Pick interpolation in the Stieltjes class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .101 10.3 General description of monic quasi-stable matrix polynomials . . . . . . . . .104 List of terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 List of notations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Selbständigkeitserklärung . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

El presente proyecto busca atender la necesidad de los estudiantes de últimos ciclos, egresados y usuarios del mercado laboral en general por conocer su desempeño y oportunidades de mejora en los procesos de selección al postular a diversas empresas del país. Para ello, se desarrolló una plataforma virtual de preparación donde los usuarios pueden aprender más sobre cómo afrontar las etapas de un proceso típico de selección con éxito (CV efectivo, perfil de LinkedIn de alto impacto, video de presentación, entrevista de selección, entre otros). La plataforma contará con el soporte de profesionales de recursos humanos capacitados para retroalimentar al usuario sobre su desempeño en las simulaciones de revisión de CV, perfil de LinkedIn, entrevistas y videos de presentación. Para desarrollar la plataforma, hemos validado previamente la relevancia del problema a resolver, la falta de orientación y retroalimentación sobre el desempeño en procesos de selección, a través de entrevistas con alumnos de últimos ciclos; asimismo, validamos la plataforma mediante la elaboración de un prototipo, recibiendo feedback de nuestro público objetivo y de expertos en el desarrollo web; y también validamos nuestro modelo de negocio y los diferentes aspectos del Business Model Canvas, a través de la ejecución de Landing Page y Concierge, evaluando la disposición de compra de los usuarios de diferentes bolsas de trabajo y seguidores de nuestra página de Facebook. Finalmente, se elaboró un plan financiero para evaluar la viabilidad de la propuesta y estimar la rentabilidad del negocio en el corto y largo plazo. / This project seeks to meet the need of senior college students, graduates and users of the labor market in general to know their performance and opportunities for improvement in the selection processes when applying to a company. Therefore, a virtual preparation platform was developed where users can learn more about how to ace the stages of a typical hiring process (high-impact CV, LinkedIn profile, self-introduction video, job interview, etc.). The platform will be supported by skilled human resources professionals to provide feedback to the user on their performance in our platform. To develop the platform, we have previously validated the relevance of the problem to be solved, the lack of guidance and feedback on performance in hiring processes, through interviews with senior college students; likewise, we validated the platform by making a prototype, receiving feedback from our target audience and experts in web development; and we also validated our Business Model Canvas, through the execution of a Landing Page and Concierges, evaluating the willingness to purchase of the users of different job boards and followers of our Facebook page. Finally, a financial plan was drawn up to evaluate the viability of the proposal and estimate the profitability of the platform in the short and long term. / Trabajo de investigación

Denna fallstudie har syftet att undersöka om befintliga metoder kananvändas för prototyptillverkande företag för att reducera ställtiderna. Detta utförs genom att först samla in data via intervjuer, observationer och dokumentinsamling. Därefter analyseras ställprocessen genom relevanta metoder och sammanställer förbättringsförslag för att undersöka vilka metoder som är lämpliga att använda. Studien visar tydligt att innan arbetet med ställtidsreducering kan påbörjas, måste arbetsplatsen och processerna standardiseras. Checklista och funktionskontroll bör utföras innan ett ställ påbörjas, vilket reducerar ställtiden. Maskinens inställning bör standardiseras enligt dokumentation från tidigare prototyper. Slutsatsen är att standardisering är viktig, trots den höga variationen i prototyptillverkning. Långa ställtider bör analyseras med SMED och förbättringar sammanställs i PICK-diagram för att sedan utföras en i taget genom PDCA-cykeln. Sådana förbättringar bör utföras tillsammans med den avdelning de berör för att alla skall kunna vara delaktiga i arbetet, samt att implementationen kan ske lättare. / This case study aims to investigate whether existing methods can be used within industrial companies that produce prototypes to reduce their setup times. This was done by first collecting data through interviews, observations and document collection. The setup process is then analyzed using relevant methods and improvement proposals are compiled to investigate which methods are suitable to use.The research clearly shows that before any work can be done with the setup reduction, the facility and its processes need to be standardized. A check list and function control can be prepared before the setup has begun, thus reducing the setup time. The settings of the machine should be standardized based on previously documented prototypes. In conclusion, standardization is vital, despite the high variation in prototype manufacturing. Long setup times should be analyzed with SMED and improvements are to be presented in a PICK-diagram and further implemented using a PDCA-cycle. These improvements should be done together with the department they are for, so everyone can be involved in the work and the implementation seamless.

With the increasingly prevalent use of robots, this paper presents the design and evaluation of a multifunctional Unmanned Ground Vehicle (UGV) with an adjustable suspension system, overmolding omni-wheels, and a unique tool head pick-up mechanism. The UGV addresses current adaptability, performance, and versatility limitations across various industries, including agriculture, construction, and surveillance. The adjustable suspension system enhances the UGV's stability and adaptability on diverse terrains, and the overmolding omni-wheels improve maneuverability and durability in off-road conditions. The tool head pick-up mechanism allows for the seamless integration of various tools, enabling the UGV to perform multiple tasks without manual intervention. A comprehensive performance evaluation assessed the UGVs' versatility, load capacity, passability, and adaptability. The results indicate that the proposed UGV design successfully addresses current limitations and has the potential to revolutionize various applications in different industries. Further research and development are necessary to optimize the UGV's performance, safety, and cost-effectiveness. / Thesis / Master of Applied Science (MASc)