This master´s thesis describes the concept of Bin-picking technology, image recognition and the posibility of grasping parts of various shapes. It deals with the interaction between industrial robot, end-effector and recognition cell system in the industrial cell in process of random collection of parts from the box. The practical part is concerned with construction of end effector for a given part of a specific shape in a random selection/collection of parts from industrial pallets. For this operation is used the KUKA KR16 industrial robot and for safety reasons senzor FTC/collision OPS. Further work is designed working cell which deals with the design and layout of the working elements including security.

The rise of the new industrial era has brought about the need for adopting new technologies, digitization, automation, and improving the industrial internet of things. With the introduction of Industry 4.0, there have been a lot of changes that transformed the way of understanding how technologies have evolved and helped to improve productivity in various sectors. Through this thesis, we try to discuss how Augmented Reality (AR), which is one the main pillar of Industry 4.0 plays a vital role in industrial innovation and development. It is important to simplify the execution of logistics operations and make them more reliable where human resources are involved to decrease the error rate and decision-making time. The report provides information about the technologies that are currently used in the logistic industries such as barcode and RFID. A brief description of AR components, barriers, and its applications are discussed in the theoretical background. It follows a case study to understand common problem areas in the production system and find out how AR can improve these conditions by comparing them with data gathered from literature and interviews conducted. The thesis was performed in collaboration with one of the main logistic firms particularly focusing on the topic “Investigating the Implementation of Augmented Reality in Logistics”. This report will help to find out the critical problems that are present in the current processes and how augmented reality can help the industries to improve their system.

Ingeniero Civil Industrial / Arco Alimentos es una empresa fundada 1998 como filial de Arco Prime, la cual pertenece al Holding de Empresas Copec. Se encuentra ubicada en la comuna de Quilicura donde produce alimentos de consumo inmediato tales como sándwiches, burritos, bollería y pasteles, los cuales comercializa de Arica a Puerto Montt. Sus ventas en el año 2016 alcanzaron $5.548 MM y se estima que en los próximos 3 años crezcan un 20% anualmente, sin embargo, a pesar de este escenario de crecimiento, la empresa presenta pérdidas acumuladas desde su creación. Una de las áreas que más contribuye en el gasto de la empresa es logística con un 15% del total. Dentro de los problemas del área de logística a abarcar en el presente informe es posible detectar dos grupos: uno relacionado con eficiencia del sistema actual y otro relacionado con una adecuación física ante un aumento de demanda. En el primer grupo se hallan debilidades relacionadas al aumento de tiempos de picking, costos logísticos de despacho adicionales y horas extras y espera de vehículos por revisión de cajas. Por su parte, en el segundo se encuentra el hecho de que la bodega de productos terminados se está haciendo pequeña para el negocio, lo cual trae un costo de oportunidad asociado. El monto anual aproximado asociado a la totalidad de estas problemáticas se estima en $11 MM actualmente, mientras que en el tercer año sería de cercano a los $176 MM, por lo que el mayor valor del trabajo se encuentra en el mediano plazo. En base lo anterior se plantea como objetivo rediseñar los procesos de picking y despacho a través de la evaluación de los recursos del área logística, de manera de aumentar la eficiencia del sistema actual y adecuar físicamente la bodega de productos terminados de la empresa ante un escenario de aumento de demanda en el mediano plazo. La metodología utilizada para abordar las problemáticas mencionadas se basó, en primera instancia, en un levantamiento de datos en terreno con el fin de acercarse más a la realidad. Posteriormente, mediante el uso de teoría de cola y simulaciones se procedió a estimar los tiempos de los procesos involucrados. Una vez definida la situación actual se recurrió al uso de pronósticos de demandas basados en método de Winter y modelo de juicio para estimar las ventas en el mediano plazo, datos necesarios para poder proyectar la situación futura del área y comportamiento de las mejoras propuestas mediante simulaciones nuevamente. Por su parte, para comprobar la factibilidad económica del conjunto de propuestas se realizó un flujo de caja del proyecto, calculándose su VAN y TIR correspondiente. Finalmente, al evaluar todas las propuestas de manera conjunta se estima que a partir de una inversión inicial de $11 MM y de $17 MM a finales de 2018 es posible obtener un VAN de $105 MM, por lo que se concluye que, mediante una baja inversión, pero con medidas potentes y oportunas, se pueden lograr grandes resultados en un caso práctico real. / 07/09/2022

Nuclear magnetic resonance (NMR) is one of the main approaches for protein struc- ture determination. The biggest advantage of this approach is that it can determine the three-dimensional structure of the protein in the solution phase. Thus, the natural dynamics of the protein can be studied. However, NMR protein structure determina- tion is an expertise intensive and time-consuming process. If the structure determi- nation process can be accelerated or even automated by computational methods, that will significantly advance the structural biology field. Our goal in this dissertation is to propose highly efficient and error tolerant methods that can work well on real and noisy data sets of NMR. Our first contribution in this dissertation is the development of a novel peak pick- ing method (WaVPeak). First, WaVPeak denoises the NMR spectra using wavelet smoothing. A brute force method is then used to identify all the candidate peaks. Af- ter that, the volume of each candidate peak is estimated. Finally, the peaks are sorted according to their volumes. WaVPeak is tested on the same benchmark data set that was used to test the state-of-the-art method, PICKY. WaVPeak shows significantly better performance than PICKY in terms of recall and precision. Our second contribution is to propose an automatic method to select peaks pro- duced by peak picking methods. This automatic method is used to overcome the limitations of fixed number-based methods. Our method is based on the Benjamini- Hochberg (B-H) algorithm. The method is used with both WaVPeak and PICKY to automatically select the number of peaks to return from out of hundreds of candidate peaks. The volume (in WaVPeak) and the intensity (in PICKY) are converted into p-values. Peaks that have p-values below some certain threshold are selected. Ex- perimental results show that the new method is better than the fixed number-based method in terms of recall. To improve precision, we tried to eliminate false peaks using consensus of the B-H selected peaks from both PICKY and WaVPeak. On average, the consensus method is able to identify more than 88% of the expected true peaks, whereas less than 17% of the selected peaks are false ones. Our third contribution is to propose for the first time, the 3D extension of the Median-Modified-Wiener-Filter (MMWF), and its novel variation named MMWF*. These spatial filters have only one parameter to tune: the window-size. Unlike wavelet denoising, the higher dimensional extension of the newly proposed filters is relatively easy. Thus, they can be applied to denoise multi-dimensional NMR-spectra. We tested the proposed filters and the Wiener-filter, an adaptive variant of the mean-filter, on a benchmark set that contains 16 two-dimensional and three-dimensional NMR- spectra extracted from eight proteins. Our results demonstrate that the adaptive spatial filters significantly outperform their non-adaptive versions. The performance of the new MMWF* on 2D/3D-spectra is even better than wavelet-denoising. Finally, we propose a novel framework that simultaneously conducts slice picking and spin system forming, an essential step in resonance assignment. Our framework then employs a genetic algorithm, directed by both connectivity information and amino acid typing information from the spin systems to assign the spin systems to residues. The inputs to our framework can be as few as two commonly used spectra, i.e., CBCA(CO)NH and HNCACB. Different from existing peak picking and resonance assignment methods that treat peaks as the units, our method is based on slices, which are one-dimensional vectors in three-dimensional spectra that correspond to certain (N, H) values. Experimental results on both benchmark simulated data sets and four real protein data sets demonstrate that our method significantly outperforms the state-of-the-art methods especially on the more challenging real protein data sets, while using a less number of spectra than those methods. Furthermore, we show that using the chemical shift assignments predicted by our method for the four real proteins can lead to accurate calculation of their final three-dimensional structures by using CS-ROSETTA server.

<p></p><p>Injurious pecking is one of the major welfare concerns for poultry and other captive birds. Injurious pecking behavior can result in welfare problems including feather and skin damage, pain, substantial heat loss because of feather loss, and even death of the recipient bird. Injurious pecking can also cause economic losses because of reduced production efficiency, increased mortality and reduced feed conversion ratio. Injurious pecking behavior includes feather pecking, feather picking, cannibalism and aggressive pecking. Feather pecking, when a bird uses its beak or bill to peck at the feathers of another bird, can be categorized as either gentle feather pecking (repeated and light pecks) or severe feather pecking (singular and hard pecks). Feather picking is described as a self-damaging behavior that occurs in psittacine species such as parrots and also in ducks. Cannibalism is classified as either tissue pecking (persistently forceful pecks directed at exposed skin) or vent pecking (pecks directed at the top of cloaca or below the cloaca). Unlike feather pecking, feather picking and cannibalism, which are not associated with aggression, aggressive pecking establishes and maintains the dominance hierarchy. Limited studies have examined injurious pecking of Pekin ducks, but results from previous research examining duck picking behavior and feather quality suggested that ducks pick mostly at themselves and that the development of picking is related to feather growth and worsens with age. Scant information is available regarding the prevalence of injurious pecking behavior and characteristics of the behavior. </p> <p> </p> <p>To address some of the gaps in the knowledge regarding injurious pecking behavior of ducks, this study examined 1) age-related changes in frequencies and durations of preening behavior and injurious pecking behavior of Pekin ducks, including self-picking and feather pecking; 2) the body locations most frequently affected, and whether feather removal and feather eating occurred concurrently with injurious pecking; 3) the prevalence of injurious pecking behavior; and 4) age-related changes in duck welfare that may be associated with injurious pecking. Information about preening behavior was recorded because injurious pecking and preening behavior may have similar age-related patterns, as previous studies have suggested that increased levels of preening behavior are related to feather growth.</p> <p>Data were collected on 5 commercial duck flocks on 5 farms. Welfare data were collected from all 5 flocks and behavior data were collected from 2 of the 5 flocks. For the two flocks, duck behavior was video-recorded over two consecutive days at 20-22d (Period 1), 27-29 d (Period 2), and 34-36 d (Period 3). Scan sampling and focal animal sampling were used to analyze the video recordings and determine the frequencies and durations of injurious pecking behavior (gentle feather pecking, severe feather pecking, self-picking and aggressive pecking). For scan sampling, the percentage of ducks performing injurious pecking behavior were recorded every 30 min from 0900h to 1500h. For both scan and focal animal sampling, the viewing area of each camera installed in the barn was divided into eight equal squares (observation areas), of which four were randomly selected for analysis. For focal animal sampling, one duck was randomly selected from each observation area and observed for 30 min from 0945h to 1015h and 1345h to 1415h ((n=8 ducks per camera (4 ducks in the morning and 4 ducks in the afternoon) and n=24 ducks per barn)) to determine the duration and frequency of injurious pecking behavior and preening behavior. For all five flocks, duck welfare (feather quality, feather cleanliness, nostril cleanliness, eye condition, footpad condition and gait) was assessed in 100 ducks from each flock between 17-18 d (Period 1), 29-30 d (Period 2), and 36-37 d (Period 3). Welfare data and frequencies of behaviors from focal animal sampling were analyzed using the GLIMMIX procedure (SAS 9.4). Scan animal sampling data and behavioral durations from focal animal sampling data were analyzed using the MIXED procedure (SAS 9.4). </p> <p> </p> <p>The most frequently observed form of injurious pecking behavior was gentle feather pecking, which increased from Period 1 to Period 2 (P < 0.001), then declined from Period 2 to Period 3 (P < 0.001). Gentle feather pecking was most frequently directed at the tail, wings and back. Removal of feathers was observed 13 times, and feathers were eaten 7 times in the 6 days of video observation. Ducks’ eye condition, feather cleanliness under the tail, and feather quality on all the assessed body locations, except for the neck, worsened with age. Age was a major factor affecting the development of injurious pecking behavior including the proportion of ducks performing gentle feather pecking behavior (P < 0.001), frequency and duration of gentle feather pecking behavior (frequency: P < 0.001; duration: P < 0.001), and other injurious pecking behavior (frequency: P = 0.038; duration: P = 0.036). From scan sampling, 1.85% of the ducks were observed performing severe feather pecking behavior, 6.84% of the ducks were observed performing aggressive pecking behavior, and no duck was observed performing self-picking behavior in the total of 1082 ducks performing injurious pecking behavior across the 3 periods. From focal sampling, 83.33% of the ducks were observed performing gentle feather pecking behavior, 13.89% of the ducks were observed performing severe feather pecking behavior, 16.67% of the ducks were observed performing aggressive pecking behavior, and only 1.39% of the ducks were observed performing self-picking behavior of the total of 288 ducks observed. Frequency and duration of preening behavior increased from Period 1 to Period 2 (frequency: P = 0.004; duration: P < 0.001), then declined from Period 2 to Period 3 (frequency: P < 0.001; duration: P < 0.001). </p> <p> </p> <p>In conclusion, feather pecking between conspecifics was the most frequently performed pecking behavior of commercial Pekin ducks. Age was a major factor affecting the development of pecking behavior, which peaked at 27-29 d. The body locations that injurious pecking behaviors were most frequently directed at were the tail, wings and back, consistent with the welfare condition results that indicated a worsening tail, wing and back feather quality with age. Feather removal and feather eating were infrequently observed, which might indicate that injurious pecking behavior in Pekin ducks is not for the purpose of pulling out and eating the feathers. The frequency and duration of gentle feather pecking and preening behavior followed a similar pattern with age; however, further research is needed to evaluate whether these behaviors are associated. This study provided more details about age-related changes in injurious pecking behavior and welfare of commercial Pekin ducks. However, further work is needed to investigate specific causes of and methods to reduce injurious pecking behavior of Pekin ducks.</p> <p> </p><br><p></p>

The gradual deterioration and failure of old buildings, bridges and other civil engineering structures invoked the need for Structural Health Monitoring (SHM) systems to develop a means to monitor the health of structures. Dozens of sensing, processing and monitoring mechanisms have been implemented and widely deployed with wired sensors. Wireless sensor networks (WSNs), on the other hand, are networks of large numbers of low cost wireless sensor nodes that communicate through a wireless media. The complexity nature and high cost demand of the highly used wired traditional SHM systems have posed the need for replacement with WSNs. However, the major fact that wireless sensor nodes have memory and power supply limitations has been an issue and many efficient options have been proposed to solve this problem and preserve the long life of the network. This is the reason why data processing algorithms in WSNs focus mainly on the accomplishment of efficient utilization of these scarce resources. In this thesis, we design a low-power and memory efficient data processing algorithm using in-place radix-2 integer Fast Fourier Transform (FFT). This algorithm requires inputs with integer values; hence, increases the memory efficiency by more than 40% and highly saves processor power consumption over the traditional floating-point implementation. A standard-deviation-based peak picking algorithm is next applied to measure the natural frequency of the structure. The algorithms together with Contiki, a lightweight open source operating system for networked embedded systems, are loaded on Z1 Zolertia sensor node. Analogue Device’s ADXL345 digital accelerometer on board is used to collect vibration data. The bridge model used to test the target algorithm is a simply supported beam in the lab.

The aim of this study was to compare and present differences between two methods of self-reporting data in the use-case of litter picking, how they affect the potential of engagement in the activity of picking- and reporting litter and if they can be beneficial for behaviour change. The first being a virtual button in the user interface of a mobile phone application and the other being a physical Bluetooth button called Flic connected to the application. By recruiting ten students, the participants used the application along with both methods to report litter picks over two weeks. Using semi-structured interviews with the participants and collecting data on their picking behaviour, with the help of a thematic analysis, resulted in a few themes that were recurring experiences expressed by the users: Benefits and weaknesses, Preference, Engagement, Future usage and Social aspect. Subjective- and objective measures of engagement are also presented based on the responses from the interviews and data regarding specific picking behaviour. The results indicate a preference for Flic and it was also perceived as the method that could provide the highest engagement. The biggest reported differences between them were the aspect of tangibility and simplicity of Flic and the accessibility with using UI-reporting. Even if Flic was the preferred method, weaknesses regarding losing it or obtaining one indicates it would not work as a stand-alone solution in the case of litter picking. A combination would therefore be the optimal solution. / Målet med studien var att jämföra och presentera skillnader av självrapportering av data mellan två metoder i en skräpplocknings applikation, dess potential för att skapa engagemang och rapportera, samt om de kan vara lämpliga för beteendeförändring inom skräpplockning. Den första metoden är genom en virtuell knapp i applikationens användargränssnitt och den andra är genom en fysisk Bluetooth-knapp som heter Flic som är kopplad till applikationen. Tio studenter rekryterades för att använda applikationen och rapportera skräpplockning med hjälp av metoderna under två veckor. Användning av semistrukturerade intervjuer och insamling av deltagarnas data, med hjälp av en tematisk analys, resulterade i ett antal teman som var återkommande mellan användarna för båda metoderna: Fördelar och nackdelar, Preferens, Engagemang, Framtida användning samt Social aspekt. Subjektiva- och objektiva mått av engagemang presenteras också baserat på svaren från intervjuerna och den insamlade datan. Resultatet indikerar en preferens för rapportering med Flic och den uppfattades även som den metod som skulle kunna leda till högst engagemang till att plocka och rapportera skräpplock. Även om Flic var den föredragna metoden så antyder nackdelarna att exempelvis få tag i en samt rädsla att tappa bort den, att metoden troligtvis inte skulle fungera som en självständig lösning. En kombination skulle därav vara den bästa lösningen i fallet av självrapportering av skräpplockning.

La presente investigación se basó en el análisis del proceso productivo de embolsado de arroz en la empresa Induamerica Chiclayo S.A.C. que actualmente presenta una baja productividad. El proceso de producción no cuenta con una correcta metodología de trabajo, por lo que el análisis consiste en diagnosticar la situación actual calculando indicadores de productividad que permitan medir cuantitativamente el proceso. Para ello se identificó las etapas que conforman el proceso, luego se registró los tiempos que toma ejecutar cada una de estas, los datos muestran que el principal limitante o cuello de botella es la etapa del picking debido a la forma como están distribuidos las áreas de almacenamiento y por la forma como se almacenan los productos terminados han ocasionado que la empresa deje de percibir ingresos por un valor de S/ 848 491,01 soles en un periodo de tres meses. Luego de identificarse el problema se desarrolló una propuesta de mejora siguiendo el método de (Errasti et al), en seguida se realizó los cálculos que permiten comparar indicadores los cuales demuestran que se optimizó el tiempo del picking para el cliente H. Tottus S.A y para Supermercados Peruanos S.A (SPSA) en un 28% y 31 %; el tiempo ahorrado permiten aumentar la capacidad de producción en un 17% lo cual pasa de producir 196 sacos por hora a 219 sacos por hora; con ello se logra aumentar la productividad de la mano de obra en un 14,9%; además el porcentaje de uso de espacio y la capacidad de almacenamiento aumenta en un 25% y 17% respectivamente; el costo por unidad almacenada disminuye en un 8% y el costo del picking para SPSA disminuye en un 28%. Finamente el indicador de productividad del proceso de embolsado aumenta en 0.81%. Lo que representa ingresos mensuales por un valor de S/ 1 060 534.8 soles. De evaluación económica se obtiene que la tasa interna de retorno es del 34,69% asimismo por cada S/ 1,00 invertido se obtendrá S/ 1,0140 además el tiempo de recuperación de la inversión será de 2 años 4 meses aproximadamente. En conclusión indica que la propuesta es viable.

I examine mutual fund performance using three different perspectives. I begin with Mutual Fund Holdings Batting Average, in which I analyze mutual fund performance through the creation of a new variable using funds’ stock holdings information. My results show that this new variable, Holdings Batting Average, is related to the future performance of managers. My next chapter, Quarterly Mutual Fund Holdings Information and Window Dressing examines two different approaches of using holdings information. I recommend that fund holdings reported at the beginning of the quarter are more related to actual mutual fund performance than holdings disclosed at the end of the quarter. In my last chapter, Morningstar’s Upside and Downside Capture Ratios¸ I test these two ratios that are being reported by Morningstar. I find that these measures do not predict outperformance, but appear to be related to future fund flows.

Background Manufacturers have to adopt modern technologies to compete at the top of their field. However, adopting new technologies can be expensive and difficult to validate prior to implementation. One technology that has difficulties receiving a wider application is bin picking. Bin picking uses vision technology to communicate with an industrial robot. Consequently, the technology enables robots to pick randomly sorted objects. Research finds that the difficulty in assessing its performance can explain the lacklustre application of bin picking. In addition, research on bin picking is primarily focused on its technical difficulties and neglects information that can be valuable for potential adopters.  Objectives This thesis aims to aid decision-makers in assessing the implications and opportunities of bin picking. Furthermore, the thesis desire to inspire potential adopters by analysing the viability of bin picking through feasibility and the tangible and intangible benefits in a real-world setting. Methods A utility function is developed and assigned categories based on interviews with suppliers and adopters of the technology and literature review. The utility function highlights the feasibility and the intangible benefits of a bin picking solution and enables ranking among alternatives. The highest scoring article is used to conduct a feasibility study in collaboration with suppliers of bin picking technology. Based on the feasibility studies, a DES is created to highlight the implications that may arise in a real manufacturing environment. Finally, financial calculations through NPV, IRR, PP and DPP are created to evaluate the solution. Results All NPV calculations (excluding a 12.5 \% discount rate) are positive with enough years. The IRR is positive when the time span exceeds 11 years. The PP is 10-11 years while the DPP is 12-13, 14-15, 19-20, 32-33 years at a discount rate of 2.5 \%, 5 \%, 7.5 \% respectively 10 \%. However, the investment is never recoupable at a discount rate of 12.5 \%. The categories of the utility function have a clear impact on the feasibility and intangible benefits of the technology in a real-world setting. Bin picking relieves MMH tasks for operators, frees up facility space and reduces the collision risk. However, there are several risks with a bin picking solution. Conclusions Bin picking can become financially viable through automating MMH processes. However, how much capital is released depends on the man-hours spent in the previous process. The feasibility of bin picking implementation is dependent on the geometric complexity of the article, the sorting method inside the bin, the surrounding environment and the time margin. Decision-makers need to account for these factors prior to implementation. The intangible benefits can incentivise decision-makers to implement bin picking, even if the financial calculations show a net loss on the investment. / Bakgrund Tillverkare måste anta moderna tekniker för att kunna konkurrera vid toppen av sin bransch. Det kan dock vara både dyrt och svårt att validera ny teknologi före implementation. En teknologi som har haft det svårt att nå en bredare tillämpning är bin picking. Bin picking använder visionteknik för att kommunicera med industrirobotar. Teknologin gör det möjligt för robotar att plocka slumpmässigt sorterade objekt. Den låga tillämpningen av teknologin kan enligt forskare bero på svårigheterna med att bedöma dess prestanda. Forskning fokuserar dessutom främst på de tekniska problemen med bin picking och försummar information som är värdefull för potentiella användare. Syftet Syftet med denna studie är att tillhandahålla underlag för beslutsfattare att bedöma konsekvenserna och möjligheterna med bin picking. Vidare avser studien att inspirera potentiella användare genom att analysera lönsamheten av bin picking via dess genomförbarhet och dess materiella samt immateriella förmåner i en verklig miljö. Metod En nyttofunktion utvecklas och tilldelas kategorier baserat på intervjuer med leverantörer och antagare av teknologin samt från tidigare litteratur. Nyttofunktionen lyfter fram genomförbarheten samt de immateriella förmånerna i en bin  picking lösning, dessutom möjliggör den rangording mellan alternativ. Artikeln som rankas högst används för att genomföra en förstudie tillsammans med leverantörer av bin picking teknologi. En DES som baseras på förstudierna skapas för att lyfta fram de implikationer som kan uppstå i en verklig produktionsmiljö. Slutligen utvärderas lösningen genom finansiella medel, innefattande NPV, IRR, PP och DPP. Resultat Alla NPV-beräkningar (exklusive vid en diskonteringsränta på 12,5 \%) är positiva efter tillräckligt många år. IRR är positivt när tiden överstiger 11 år. PP är 10-11 år, medans DPP är 12-13, 14-15, 19-20, 32-33 år med en diskonteringsränta på 2,5 \%, 5 \%, 7,5 \% respektive 10 \%. Investeringen är dock aldrig återbetalningsbar vid en diskonteringsränta på 12,5 \%. Nyttofunktionens kategorier har en tydlig påverkan gällande teknologins genomförbarhet och immateriella fördelar i en verklig produktionsmiljö. Bin picking avlastar operatörer från MMH-uppgifter, frigör fabriksyta och minskar kollisionsrisken. Det finns dock flera risker med en bin picking lösning. Slutsats Bin picking kan vara ekonomiskt lönsamt genom att automatisera MMH processer. Hur mycket kapital som frigörs beror dock på det antal arbetstimmar som spenderas vid den manuella processen. Genomförbarheten vid implementeringen av bin picking är beroende av artikelns geometriska komplexitet, sorteringsmetod, omgivningen och tidsmarginal. Detta är faktorer som beslutsfattare måste ta hänsyn till före implementation. De immateriella fördelarna kan ge beslutsfattare incitament att införa bin picking, även om de finansiella beräkningar visar en förlust vid en investering.