<p>Uppsatsen redovisar en utvärdering av AT läkarnas introduktion på akutmottagningen på Medicinkliniken i Jönköping. AT läkarna erbjuds en frivillig introduktion på akutmottagningens akutrum bestående av ett rollspel och en genomgång av maskiner och hjälpmedel och viktiga delar av akutmottagningen. Utvärderingen är gjord som en anonym nätbaserad enkät. Grundtanken med rollspelet och maskingenomgången är att möjliggöra för AT läkarna att få en positiv bild av arbetet på akutmottagningen och deras egna kunskaper och svaren i enkäten kan tolkas som att detta syfte med introduktionen uppfyllts. De svarande AT läkarna är genomgående positiva till rollspelet och endast två av fjorton svarande är negativa till maskingenomgången. I enkäten finns även en fråga om deras inställning till eventuella observatörer. Både negativa och positiva svar angående observatörer återfinns. I litteraturgenomgången redovisas också en upptäckt av att olika forskningsfält inom rollspel och simuleringar inte verkar ha full kännedom om varandra.</p>

<p>Projektet ProFlexA syftar till att automatisera gjutgodsrensning av stålgjutgods vid lågavolymer genom att använda ny adaptiv teknik såsom flexibla fixturer och gripdon samtkraftstyrning. Projektet bedrivs av Linköpings Tekniska Högskola och Lunds TekniskaHögskola med stöd av tre gjuterier i Mellansverige samt systemintegratörer och leverantörer.Automatisering av gjutgodsresning har länge varit föremål för både forskning ochkommersiellt intresse. Det finns idag fungerande lösningar främst riktat mot aluminiumgodsoch högre produktvolymer.Syftet med examensarbetet var att undersöka huruvida Robotstudio, och mer specifikt desstilläggsmodul Machining, var lämpligt för användning vid gjutgodsrensing. För att detta skallvara möjligt på hårdare material krävs kraftstyrning, vilket finns som tillval i den tidigarenämnda tilläggsmodulen.För att ha möjlighet att testa machiningmodulen och få en uppfattning om vad Robotstudio ärkapabelt till genomfördes först en självstudie av programmet. Som delmål för instuderingengenererades en visuell robotcell enligt ett av ProFlexA:s tidigare koncept förgjutgodsrensning. Denna process innefattade både den rent geometrihanterandeprogramdelen och den robotprogrammerande, vilken är den som senare kom att ha störstbetydelse under testerna. Därefter kopplades Robotstudio till befintligt robotstyrsystem ochde fysiska testerna planerades och förbereddes. Efter detta utfördes testerna för att undersökamachiningmodulens användarvänlighet och exakthet.</p><p><strong>Slutsatser</strong></p><p>• Robotstudio är lätthanterligt för en ny användare med tidigare erfarenhet inomrobotstyrning och RAPID-programmering.</p><p>• Generering av banor sker generellt med stor tidsvinst i machiningmodulen.</p><p>• Vidare tester med inriktning mot kraftstyrning borde utföras då möjlighet till dettafinns.</p> / <p>The project ProFlexA aims towards automating the cleaning of die-casted steel goods at lowvolumes by using new adaptive technology such as flexible fixtures and grippers and forcefeedback. The project is run by Linköpings Tekniska Högskola and Lunds TekniskaHögskola, with support from three foundries from the middle of Sweden together with systemintegrators and suppliers.Automation of the cleaning of die-casted goods has been a subject of both scientific andcommersial interest for a long time. There are working solutions today, but these are mostlyaimed towards aluminum goods and larger volumes.The purpose of this thesis was to examine if Robotstudio, and more specifically its add-inmodule Machining, was suitable for usage in the cleaning of die-cated goods. To make thispossible when using harder materials force feedback is required, which is possible to use inthis earlier mentioned module.To be able to test the machining module and get an understanding of what Robotstudio iscapable of, a self-study of the program was conducted. As a partial goal of the self-study avisual robot cell was generated according to one of ProFlexA:s earlier concepts for cleaningof die-casted goods. This process involved both the part of Robotstudio that handles thegeometry and the part that handles the robot programming, which is the one that was going tobe the most important during the tests later on. After this, Robotstudio was connected to theexisting robot system and the physical tests were planned and prepared. The tests were thenconducted to examine the user friendliness and exactness of the machining module.</p><p><strong>Conclusion</strong></p><p>• Robotstudio is easy to use for a new user with previous experience in robot controland RAPID programming.</p><p>• Generating robot paths in the machining module usually takes less time.</p><p>• Further tests aimed at force feedback should be conducted when possible.</p>

<p>Typically, when Faurecia in Torsås are planning a new assembly line, one of the steps is to build a full-scale model of the line in card board, a form of mock-up planning. Faurecia has shown interest in finding an alternative methodology. The purpose was to explore the possibility of replacing today's cardboard based mock-up planning with models in a digital simulation environment.</p><p>The purpose of the thesis has been to answer some of these complex questions; What are the benefits of using a simulation tool? In what way can we use it? If we choose to use a simulation tool, in what way does it affect our way of planning an assembly line? What are the advantages and disadvantages? Are there any economical and social aspects?</p><p>Our results made us realize that a digital simulation tool does not replace the card board. On the other hand simulation could be used as a complement. Card board exercises and simulations play two different roles in the development of an assembly line. The use of card board is an excellent example of how you can generate a wide range of creative solutions at an early stage of the design process. This offers the possibility to create and evaluate several different concepts during a short period of time.</p><p>We believe that the benefits of a simulation tool come in handy at a later stage of the design process, when a conceptual solution is selected. The simulation tool will be able to evaluate the solution and identify where problems may occur. The output of the simulation tool may also be used as a communication tool, internally as well as externally.</p>

<p>Syftet med den här rapporten är att göra en undersökning av möjligheterna för användning av långtidsvärmelager för drift i kraftvärmesystem. Projektet han initierats av adj. professor Heimo Zinko, IKP Energisystem i form av bidrag till ett projekt inom IEA, Annex VIII. Projektet utförs i samarbete med Svensk Fjärrvärme, Tekniska Verken AB i Linköping, ENA Energi AB i Enköping och ZW Energiteknik i Nyköping. Projektet har genomförts av två examensarbetare vid Linköpings Tekniska Högskola under höstterminen 2006.</p><p>Projektet har delats in i två studier där ENA Energi AB i Enköping och Tekniska Verken AB i Linköping har varit de två studieobjekttiven. Modeller för värme- och elproduktion har konstruerats i Microsoft Excell och sedan har manuella simuleringar genomförts. Dels för grundfallen och för investeringsalternativ med olika lagerstorlekar. Det har även gjorts en simulering på Tekniska Verken AB: s data för värmebehov där grundproduktionen skett med en gaskombianläggning.</p><p>Resultaten visar att en investering av ett värmelager är lönsamt då värmeproduktionen för topplaster sker med olja som den gör för Tekniska Verken AB. Om däremot värmeproduktionen för topplaster sker med biobränslen eller andra billiga bränslen är det inte längre lika lönsamt att göra en investering av ett värmelager. Projektet visar även att en investering av ett lager kan minska utsläppen av koldioxid eftersom värmeproduktionen från olja kan minimeras.</p><p>En investering av ett värmelager med storleken 200 000 m3 för Tekniska Verken AB är den mest lönsamma. Den ger ett investeringsutrymme på 11,1 miljoner SEK per år samtidigt som utsläppen av koldioxid minskar med 8 300 ton. För ENA Energi AB är endast en investering av ett lager med storlek à 100 000 m3 lönsam. Den ger ett investeringsutrymme på 3,2 miljoner SEK per år. För det tredje fallet med gaskombianläggningen visade det sig att alla investeringar skulle vara lönsamma.</p>

<p>Soot and radiation play an important role when designing practical combustion devices, and great efforts have been put into developing models which describe soot formation and oxidation. The Eddy Dissipation Concept (EDC) has proven to describe turbulent combustion well, and has the flexibility to describe chemical kinetics in a detailed manner. The aim of this work is to study how the EDC handles soot models based on a detailed representation of the gas-phase chemical kinetics.</p><p>Two versions of a semi-empirical soot model is used in conjunction with the EDC. Concentrations of various intermediate species are used as input to the soot models.</p><p>The implementation of the new soot models is discussed in relation to the previous implementation of a less detailed soot model. To assure that the interaction between soot and the gas-phase species is represented correctly, the soot models are implemented with a two-way coupling of soot and gas-phase kinetics.</p><p>Soot is a good radiator. In a sooting flame a substantial amount of energy will be transferred to the surroundings by thermal radiation. This transfer of energy will alter the temperature field of the flame and the change in temperature will affect the kinetics of soot and gas-phase chemistry. To simulate sooting flames correctly, it was therefore necessary to include a radiation model.</p><p>To validate the coupled models of turbulence, combustion, soot, and radiation two different turbulent flames were simulated. One turbulent jet flame of methane and one turbulent jet flame of ethylene. For both flames the computed results were compared with measured values.</p><p>Several aspects of the simulations are studied and discussed, such as the effect of the two-way coupling of soot and gas-phase kinetics on both soot yield and gas-phase composition, and the importance of a suitable radiation model.</p><p>The two-way coupling of soot and gas phase kinetics is shown to have a positive effect on the computed soot volume fractions, and the results are considered to be encouraging. The work has demonstrated that the EDC has the capacity to handle different types of chemical reaction mechanisms, such as mechanisms for gas-phase combustion and soot kinetics, without modification.</p>

<p>The contributions of this thesis fall naturally into two main categories: Part I: Feedback control of fluid flows, and; Part II: Modelling and control of marine structures.</p><p><b>Main Con tributions of Part I</b></p><p>Part I presents new results on stabilization (for the purpose of drag reduction or vortex shedding suppression) and destabilization (for the purpose of mixing) of channel, pipe and cylinder flows. In order to provide a stand-alone reference on this topic, the thesis also contains a comprehensive review of the research carried out in this field over the last decade or so, along with introductory chapters on fluid mechanics and control theory. The review also serves the purpose of placing the contributions by the author into the wider context of the field. The contributions by the author are the following:</p><p><b>Section 4.3.1:</b> A new boundary feedback control law for stabilization of the parabolic equilibrium flow in 2D channel flow is derived using Lyapunov stability theory. The controller uses pressure measurements taken on the channel wall, and applies actuation in the form of wall transpiration, that is, suction and blowing of fluid across the wall. Although the analysis is valid for small Reynolds numbers, only, simulations indicate that the control is very effcient in stabilizing the flow at Reynolds numbers several orders of magnitude higher. The pressure-based control law performed much better than other Lyapunov-based control laws studied.</p><p><b>Section 4.3.3: </b>The simple pressure-based control law derived in Section 4.3.1 is generalized to the 3D pipe flow. As for the 2D channel flow, the analysis is valid for small Reynolds numbers, only.</p><p><b>Section 4.3.4: </b>The pressure-based feedback control law derived in Section 4.3.1 for the 2D channel flow results in flow transients with instantaneous drag far lower than that of the corresponding laminar flow. In fact, for the first time, instantaneous total drag in a constant-mass- flow 2D channel flow is driven to negative levels. The physical mechanisms by which this phenomenon occur is explained, and the possibility of achieving sustained drag reductions to below the laminar level by initiating such low-drag transients on a periodic basis is explored. The results add to the evidence that the laminar ow represents a fundamental limit to the drag reduction achievable by wall transpiration.</p><p><b>Section 4.4:</b> A state feedback controller that achieves global asymptotic stabilization of a nonlinear Ginzburg-Landau model of vortex shedding from bluff bodies is designed using backstepping. Stabilization is obtained in two steps. First, the upstream and downstream parts of the system are shown to exhibit the inputto- state stability property with respect to certain boundary input terms governed by the core flow in the vicinity of the bluff body. Second, a finite difference approximation of arbitrary order of the core flow is stabilized using the backstepping method. Consequently, all the states in the core flow are driven to zero, including the boundary input terms of the upstream and downstream subsystems. The control design is valid for any Reynolds number, and simulations demonstrate its performance.</p><p><b>Section 5.2:</b> For thefirst time, active feedback control is used to enhance mixing by exploiting the natural tendency in the flow to mix. By applying the pressurebased feedback control law derived for stabilizing the 2D channel flow in Section 4.3.1, with the sign of the input reversed, enhanced instability of the parabolic equilibrium flow is obtained, which leads rapidly to highly complex flow patterns. The mixing enhancement is quantified using various diagnostic tools.</p><p><b>Section 5.3: </b>A Lyapunov based boundary feedback controller for achieving mixing in a 3D pipe flow governed by the Navier-Stokes equation is designed. It is shown that the control law maximizes a measure of mixing that incorporates stretching and folding of material elemen ts, while at the same time minim izing the control effort and the sensing effort. The penalty on sensing results in a static output- feedback control law (rather than full-state feedback). A lower bound on the gain from the control effort to the mixing measure is also deriv ed. For the openloop system, input/output-to-state stability properties are established, which show a form of detectability of mixing in the interior of the pipe from the chosen outputs on the wall. The effectiveness of the optimal control in achieving mixing enhancement is demonstrated in numerical sim ulations. Simulation results also show that the spatial changes in the control velocity are smooth and small, promising that a low number of actuators will suffice in practice.</p><p><b>Section 5.4: </b>Motivated by the mixing results for channels and pipes in Sections 5.2 and 5.3, a simulation study that investigates the feasibility of enhancing particle dispersion in the wake of a circular cylinder is carried out. For a subcritical case, vortex shedding is successfully provoked using feedback.</p><p><b>Main Contributions of Part II</b></p><p>Part II deals with modelling and control of slender marine structures and marine vessels.</p><p><b>Chapter 8:</b> A new finite element model for a cable suspended in water is developed. Global existence and uniqueness of solutions of the truncated system is shown for a slightly simplified equation describing the motion of a cable with negligible added mass and supported by fixed end-points. Based on this, along with well known results on local existence and uniqueness of solutions for symmetrizable hyperbolic systems, a global result for the initial-boundary value problem is conjectured. The FEM model for the cable is assembled to give a model of a multi-cable mooring system, whic h, in turn, is coupled to a rigid body model of the floating vessel. The result is a coupled dynamical model of a moored v essel, which can be applied to applications such as turret-based moored ships, or tension leg platforms. As a simple application of the sim ulator, controlling the line tensions dynamically as an additional means of station keeping is explored.</p><p><b>Chapter 9: </b>Output feedback tracking control laws for a class of Euler-Lagrange systems subject to nonlinear dissipative loads are designed. By imposing a monotone damping condition on the nonlinearities of the unmeasured states, the common restriction that the nonlinearities be globally Lipschitz is removed. The proposed observer-controller scheme renders the origin of the error dynamics uniformly globally asymptotically stable, in the general case. Under certain additional assumptions, the result continue to hold for a simplified control law that is less sensitive to noise and unmodeled phenomena.</p>

No description available.

The contributions of this thesis fall naturally into two main categories: Part I: Feedback control of fluid flows, and; Part II: Modelling and control of marine structures. <b>Main Con tributions of Part I</b> Part I presents new results on stabilization (for the purpose of drag reduction or vortex shedding suppression) and destabilization (for the purpose of mixing) of channel, pipe and cylinder flows. In order to provide a stand-alone reference on this topic, the thesis also contains a comprehensive review of the research carried out in this field over the last decade or so, along with introductory chapters on fluid mechanics and control theory. The review also serves the purpose of placing the contributions by the author into the wider context of the field. The contributions by the author are the following: <b>Section 4.3.1:</b> A new boundary feedback control law for stabilization of the parabolic equilibrium flow in 2D channel flow is derived using Lyapunov stability theory. The controller uses pressure measurements taken on the channel wall, and applies actuation in the form of wall transpiration, that is, suction and blowing of fluid across the wall. Although the analysis is valid for small Reynolds numbers, only, simulations indicate that the control is very effcient in stabilizing the flow at Reynolds numbers several orders of magnitude higher. The pressure-based control law performed much better than other Lyapunov-based control laws studied. <b>Section 4.3.3: </b>The simple pressure-based control law derived in Section 4.3.1 is generalized to the 3D pipe flow. As for the 2D channel flow, the analysis is valid for small Reynolds numbers, only. <b>Section 4.3.4: </b>The pressure-based feedback control law derived in Section 4.3.1 for the 2D channel flow results in flow transients with instantaneous drag far lower than that of the corresponding laminar flow. In fact, for the first time, instantaneous total drag in a constant-mass- flow 2D channel flow is driven to negative levels. The physical mechanisms by which this phenomenon occur is explained, and the possibility of achieving sustained drag reductions to below the laminar level by initiating such low-drag transients on a periodic basis is explored. The results add to the evidence that the laminar ow represents a fundamental limit to the drag reduction achievable by wall transpiration. <b>Section 4.4:</b> A state feedback controller that achieves global asymptotic stabilization of a nonlinear Ginzburg-Landau model of vortex shedding from bluff bodies is designed using backstepping. Stabilization is obtained in two steps. First, the upstream and downstream parts of the system are shown to exhibit the inputto- state stability property with respect to certain boundary input terms governed by the core flow in the vicinity of the bluff body. Second, a finite difference approximation of arbitrary order of the core flow is stabilized using the backstepping method. Consequently, all the states in the core flow are driven to zero, including the boundary input terms of the upstream and downstream subsystems. The control design is valid for any Reynolds number, and simulations demonstrate its performance. <b>Section 5.2:</b> For thefirst time, active feedback control is used to enhance mixing by exploiting the natural tendency in the flow to mix. By applying the pressurebased feedback control law derived for stabilizing the 2D channel flow in Section 4.3.1, with the sign of the input reversed, enhanced instability of the parabolic equilibrium flow is obtained, which leads rapidly to highly complex flow patterns. The mixing enhancement is quantified using various diagnostic tools. <b>Section 5.3: </b>A Lyapunov based boundary feedback controller for achieving mixing in a 3D pipe flow governed by the Navier-Stokes equation is designed. It is shown that the control law maximizes a measure of mixing that incorporates stretching and folding of material elemen ts, while at the same time minim izing the control effort and the sensing effort. The penalty on sensing results in a static output- feedback control law (rather than full-state feedback). A lower bound on the gain from the control effort to the mixing measure is also deriv ed. For the openloop system, input/output-to-state stability properties are established, which show a form of detectability of mixing in the interior of the pipe from the chosen outputs on the wall. The effectiveness of the optimal control in achieving mixing enhancement is demonstrated in numerical sim ulations. Simulation results also show that the spatial changes in the control velocity are smooth and small, promising that a low number of actuators will suffice in practice. <b>Section 5.4: </b>Motivated by the mixing results for channels and pipes in Sections 5.2 and 5.3, a simulation study that investigates the feasibility of enhancing particle dispersion in the wake of a circular cylinder is carried out. For a subcritical case, vortex shedding is successfully provoked using feedback. <b>Main Contributions of Part II</b> Part II deals with modelling and control of slender marine structures and marine vessels. <b>Chapter 8:</b> A new finite element model for a cable suspended in water is developed. Global existence and uniqueness of solutions of the truncated system is shown for a slightly simplified equation describing the motion of a cable with negligible added mass and supported by fixed end-points. Based on this, along with well known results on local existence and uniqueness of solutions for symmetrizable hyperbolic systems, a global result for the initial-boundary value problem is conjectured. The FEM model for the cable is assembled to give a model of a multi-cable mooring system, whic h, in turn, is coupled to a rigid body model of the floating vessel. The result is a coupled dynamical model of a moored v essel, which can be applied to applications such as turret-based moored ships, or tension leg platforms. As a simple application of the sim ulator, controlling the line tensions dynamically as an additional means of station keeping is explored. <b>Chapter 9: </b>Output feedback tracking control laws for a class of Euler-Lagrange systems subject to nonlinear dissipative loads are designed. By imposing a monotone damping condition on the nonlinearities of the unmeasured states, the common restriction that the nonlinearities be globally Lipschitz is removed. The proposed observer-controller scheme renders the origin of the error dynamics uniformly globally asymptotically stable, in the general case. Under certain additional assumptions, the result continue to hold for a simplified control law that is less sensitive to noise and unmodeled phenomena.

Soot and radiation play an important role when designing practical combustion devices, and great efforts have been put into developing models which describe soot formation and oxidation. The Eddy Dissipation Concept (EDC) has proven to describe turbulent combustion well, and has the flexibility to describe chemical kinetics in a detailed manner. The aim of this work is to study how the EDC handles soot models based on a detailed representation of the gas-phase chemical kinetics. Two versions of a semi-empirical soot model is used in conjunction with the EDC. Concentrations of various intermediate species are used as input to the soot models. The implementation of the new soot models is discussed in relation to the previous implementation of a less detailed soot model. To assure that the interaction between soot and the gas-phase species is represented correctly, the soot models are implemented with a two-way coupling of soot and gas-phase kinetics. Soot is a good radiator. In a sooting flame a substantial amount of energy will be transferred to the surroundings by thermal radiation. This transfer of energy will alter the temperature field of the flame and the change in temperature will affect the kinetics of soot and gas-phase chemistry. To simulate sooting flames correctly, it was therefore necessary to include a radiation model. To validate the coupled models of turbulence, combustion, soot, and radiation two different turbulent flames were simulated. One turbulent jet flame of methane and one turbulent jet flame of ethylene. For both flames the computed results were compared with measured values. Several aspects of the simulations are studied and discussed, such as the effect of the two-way coupling of soot and gas-phase kinetics on both soot yield and gas-phase composition, and the importance of a suitable radiation model. The two-way coupling of soot and gas phase kinetics is shown to have a positive effect on the computed soot volume fractions, and the results are considered to be encouraging. The work has demonstrated that the EDC has the capacity to handle different types of chemical reaction mechanisms, such as mechanisms for gas-phase combustion and soot kinetics, without modification.

No description available.