Försvarets materielverk (FMV), som förser Svenska försvaret med materiel, har en del av sin organisation belägen i Karlsborg nämligen test och evaluering av markstridssystem. Fotogruppen på test och evaluering önskar realtidsstyra en robotiserad kameraplattform av märket Vinten med hjälp av diverse olika positionsgivande system i form av joystick, Doppler-positionsradar, deras självutvecklade system UNIPOS samt en predikterad bana för avlossade projektiler. Projektets huvudsakliga mål blev därför att skapa ett styrsystem för att kontrollera kameraplattformen med hjälp av nämnda indatakällor. Den teoretiska referensramen samt litteraturstudien gav projektets deltagare den kunskapsbas, inom seriell kommunikation och dataprotokoll, som krävdes för att genomföra projektet. De gav även förståelse för hur tidigare liknande arbeten sett ut och valde utifrån detta att följa systemutvecklingsmodellen Rational Unified process (RUP). FMV uttryckte önskemål om att den huvudsakliga styrenheten skulle vara en PC för att möjliggöra fjärrstyrning samt enkel vidareutveckling av systemet. RUP användes för att strukturera upp arbetet samt säkerställa kvalitén på slutprodukten. Utvecklingsprocessen består, enligt RUP’s struktur, av ett antal iterationer som alla tillför någon funktion till systemet. I samråd och nära samarbete med personal på FMV utvecklades systemet och testades succesivt för att säkerställa kvalitén. En enkel manual togs även fram för att förenkla användandet av systemet. Samtliga önskade indatakällor behandlades på något sätt i projektet och resultatet blev ett portabelt system som kan köras på vilken PC som helst. Tester med drönare, granatkastare samt ett stegsvar har utförts för att verifiera att systemets funktion uppfyller de krav som satts upp samt utvärdera systemets möjligheter och begränsningar. Testen visade att realtidsstyrning är möjlig till viss grad med samtliga system och att systemets begränsningar ligger i fördröjningarna som finns både i signalöverföring samt kameraplattformens inbyggda filter för mjuka rörelser. / The Swedish Defence Material Administration (FMV) that supplies materials to the Swedish military, has a part of its organization located in Karlsborg called test and evaluation of land combat systems. The photogroup of test and evaluation wishes to control a robotized camera platform, of the brand Vinten, in real time using a number of different positioning systems like joystick, Doppler-position radar, their self-constructed system UNIPOS and using a predicted trajectory of a launched projectile. The main goal of the project is therefore to create a control system to maneuver the camera platform with the assistance of mentioned data sources. The theoretical framework and literature review gave the members of the project the knowledge base, in serial communication and data protocols, needed to complete the project and gave understanding about earlier similar projects and choose to follow the structure of the systems development model Rational Unified Process (RUP). FMV wanted the main control unit to be a PC to be able to remotely control the system and to be able to make further developments. RUP was used to give the work structure and to make sure the quality of the end product was satisfactory. The development process consists, in accordance with the RUP structure, of a number of iterations that all add some function to the system. In close cooperation with the staff at FMV the system is developed and continuously tested to ensure the quality. A simple manual has been developed to make usage of the system easier. Every data source wanted by FMV has been handled in some way throughout the project and the result was a portable system that can be ran on any PC. Tests using drones, grenade launchers and a response-test was performed to verify that the functions of the system lives up to the goals that were set up and to evaluate the systems possibilities and limitations. The tests showed that real time control is possible to some extent with all systems and that the limitations lies in the delays that exists both in signal transfers and in the camera platforms built in filters for soft movements.

Para avaliação da sincope neurocardiogênica, testes ativos e passivos de mudança postural são utilizados, e verificar o comportamento da musculatura e da oscilação do corpo pode auxiliar no melhor entendimento das respostas cardiovasculares e biomecânicas. O objetivo do presente estudo foi comparar protocolos ativo e passivo de mudança postural, padronizado de 15 minutos, associado a três manobras de Valsalva intervaladas, para os testes de mudança postural ativa, Acive Standing test (AS) e passiva, Head-Up Tilt test (HUT), utilizados no diagnóstico da síncope neurocardiogênica (SNC), em relação às mudanças nos valores de frequência cardíaca, pressão arterial sistólica e diastólica, atividade eletromiográfica dos músculos reto abdominal (RA), eretores da espinha (EE), tibial anterior (TA) e gastrocnêmio porção medial (GM) bilateral, em 23 mulheres saudáveis, além de analisar o deslocamento e velocidade média do centro de pressão do corpo sobre uma plataforma de força. Verificamos alterações com relevância estatística para todas variáveis ao longo dos testes, principalmente durante o período onde as manobras de Valsalva eram realizadas, sendo estas alterações maiores durante o teste ativo, além do centro de pressão do corpo demonstrar um maior deslocamento e velocidade de movimento durante o mesmo período. Concluímos que este protocolo proposto para os dois testes causa mudanças tanto cardiovasculares quanto biomecânicas, mas que foram mais evidentes no teste de mudança postural ativa. / To evaluate the neurocardiogenic syncope (NCS), active and passive postural change tests are used and verify the muscles and body oscilation behavior´s can be helpful to better understand the cardiovascular and biomechanics responses. The aim of the present study was compare a standard 15 minute tilt test protocol associated with three Valsalva maneuver during both Active Standing (AS) and passive Head-Up tilt test (HUT). These tests are used to diagnosis of neurocardiogenic syncope (NCS). We analysed the effects of orthostatic position in relation to changes in the values of heart rate, systolic and diastolic blood pressure, electromyographic activity of the rectus abdominis (RA), erector of spinae (ES), tibialis anterior (TA) and medial gastrocnemius (MG) bilateral in 23 healthy women, and analyze the displacement and average velocity of the body\'s center of pressure on a force platform. We found changes with statistical significance for all variables during the tests, especially around the period where the Valsalva maneuvers were performed, and these major changes occurred during the active test, beyond the center of body pressure what indicates a greater movement and speed of movement during the same period. We conclude that the proposed protocol for the two tests produce both cardiovascular and biomechanical changes and these alterations were more evident in active postural test.

No description available.

In telecom networks adjusting the tilt of antennas in an optimal manner, the so called remote electrical tilt (RET) optimization, is a method to ensure quality of service (QoS) for network users. Tilt adjustments made during operations in real-world networks are usually executed through a suboptimal policy, and a significant amount of data is collected during the execution of such policy. The policy collecting the data is known as the behavior policy and can be used to learn improved tilt update policies in an offline manner. In this thesis the RET optimization problem is formulated in a offline Reinforcement Learning (RL) setting, where the objective is to learn an optimal policy from batches of data collected by the logging policy. Offline RL is a challenging problem where traditional RL algorithms can fail to learn policies that will perform well when evaluated online.In this thesis Conservative Q-learning (CQL) is applied to tackle the challenges of offline RL, with the purpose of learning improved policies for tilt adjustment from data in a simulated environment. Experiments are made with different types of function approximators to model the Q-function. Specifically, an Artificial Neural Network (ANN) and a linear model are employed in the experiments. With linear function approximation, two novel algorithms which combine the properties of CQL and the classic Least Squares Policy Iteration (LSPI) algorithm are proposed. They are also used for learning RET adjustment policies. In online evaluation in the simulator one of the proposed algorithms with simple linear function approximation achieves similar results to CQL with the more complex artificial neural network function approximator. These versions of CQL outperform both the behavior policy and the naive Deep Q-Networks (DQN) method. / I telekomnätverk är justering av lutningen av antenner, kallat Remote Electrical Tilt (RET) optimering en metod för att säkerställa servicekvalitet för användare av nätverket. Justeringar under drift är gjorda med ickeoptimala riktlinjer men gjort på ett säkert sätt och data samlas in under driften. Denna datan kan potentiellt användas för att skaffa fram bättre riktlinjer för att justera antennlutningen.Antennlutningsproblemet kan formuleras som ett offline-förstärkandeinlärningsproblem, där målet är att ta fram optimala riktlinjer från ett dataset. Offline-förstärkningsinlärning är ett utmanande problem där naiva implementationer av traditionella förstärkningsinlärnings-algoritmer kan fallera.I denna masteruppsats används metoden konservativ Q-inlärning (CQL) för att tackla utmaningarna hos offline-förstärkningsinlärning och för att hitta förbättrade riktlinjer för antennlutningsjusteringar i en simulerad miljö. Problem-uppställningens egenskaper gör att Q-inlärningsmetoder som CQL behöver funktions-approximatorer för modellera Q-funktionen. I denna masteruppsats görs experiment med både expressiva artificiella neurala nätverk och linjära kombinationer av simpla basfunktioner som funktions-approximatorer.I fallet med linjära funktions-approximatorer så föreslås två nya algoritmer som kombinerar egenskaperna hos CQL med den klassiska förstäkningsinlärningsalgoritmen minsta-kvadrat policyiteration (LSPI) som sedan också används för att skapa riktlinjer för antennlutningsjustering.Resultaten visar att CQL med artificiella neurala nätverk och en av dom föreslagna algoritmerna kan lära sig riktlinjer med bättre resultat en både riktlinjerna som samlade in träningsdatan och den klassiska metoden djupt Q-nätverk applicerad offline.

Antenna tilt is the angle subtended by the radiation beam and horizontal plane. This angle plays a vital role in determining the coverage and the interference of the network with neighbouring cells and adjacent base stations. Traditional methods for network optimization rely on rule-based heuristics to do decision making for antenna tilt optimization to achieve desired network characteristics. However, these methods are quite brittle and are incapable of capturing the dynamics of communication traffic. Recent advancements in reinforcement learning have made it a viable solution to overcome this problem but even this learning approach is either limited to its simulation environment or is limited to off-policy offline learning. So far, there has not been any effort to overcome the previously mentioned limitations, so as to make it applicable in the real world. This work proposes a method that consists of transferring reinforcement learning policies from a simulated environment to a real environment i.e. sim-to-real transfer through the use of offline learning. The approach makes use of a simulated environment and a fixed dataset to compensate for the underlined limitations. The proposed sim-to-real transfer technique utilizes a hybrid policy model, which is composed of a portion trained in simulation and a portion trained on the offline real-world data from the cellular networks. This enables to merge samples from the real-world data to the simulated environment consequently modifying the standard reinforcement learning training procedures through knowledge sharing between the two environment’s representations. On the one hand, simulation enables to achieve better generalization performance with respect to conventional offline learning as it complements offline learning with learning through unseen simulated trajectories. On the other hand, the offline learning procedure enables to close the sim-to-real gap by exposing the agent to real-world data samples. Consequently, this transfer learning regime enable us to establish optimal antenna tilt control which in turn results in improved coverage and reduced interference with neighbouring cells in the cellular network. / Antennlutning är den vinkel som dämpas av strålningsstrålen och det horisontella planet. Denna vinkel spelar en viktig roll för att bestämma täckningen och störningen av nätverket med angränsande celler och intilliggande basstationer. Traditionella metoder för nätverksoptimering förlitar sig på regelbaserad heuristik för att göra beslutsfattande för antennlutningsoptimering för att uppnå önskade nätverksegenskaper. Dessa metoder är dock ganska styva och är oförmögna att fånga dynamiken i kommunikationstrafiken. De senaste framstegen inom förstärkningsinlärning har gjort det till en lönsam lösning att lösa detta problem, men även denna inlärningsmetod är antingen begränsad till dess simuleringsmiljö eller är begränsad till off-policy offline inlärning. Hittills har inga ansträngningar gjorts för att övervinna de tidigare nämnda begränsningarna för att göra det tillämpligt i den verkliga världen. Detta arbete föreslår en metod som består i att överföra förstärkningsinlärningspolicyer från en simulerad miljö till en verklig miljö, dvs. sim-till-verklig överföring genom användning av offline-lärande. Metoden använder en simulerad miljö och en fast dataset för att kompensera för de understrukna begränsningarna. Den föreslagna sim-till-verkliga överföringstekniken använder en hybridpolicymodell, som består av en del utbildad i simulering och en del utbildad på offline-verkliga data från mobilnätverk. Detta gör det möjligt att slå samman prover från verklig data till den simulerade miljön och därmed modifiera standardutbildningsförfarandena för förstärkning genom kunskapsdelning mellan de två miljöernas representationer. Å ena sidan möjliggör simulering att uppnå bättre generaliseringsprestanda med avseende på konventionellt offlineinlärning eftersom det kompletterar offlineinlärning med inlärning genom osynliga simulerade banor. Å andra sidan möjliggör offline-inlärningsförfarandet att stänga sim-till-real-klyftan genom att exponera agenten för verkliga dataprov. Följaktligen möjliggör detta överföringsinlärningsregime att upprätta optimal antennlutningskontroll som i sin tur resulterar i förbättrad täckning och minskad störning med angränsande celler i mobilnätet.

No description available.

Master of Science / Department of Architectural Engineering and Construction Science / Kimberly W. Kramer / This report uses and references (Analysis of Vertical Reinforcement in Slender Reinforced Concrete (Tilt-up) Panels with Openings & Subject to Varying Wind Pressures) (Bartels, 2010) to investigate the design philosophy and assumptions used in Section 14.8 of the ACI 318-08 (ACI Committee 318, 2008). The design philosophy and assumptions are analyzed to determine the applicability and accuracy of Section 14.8 of the ACI 318-08 (ACI Committee 318, 2008) to the design and analysis of slender concrete panels with openings. Special emphasis is placed on identifying and quantifying the degree of effect that each assumption has on the final design of the panel. These topics include stress distribution around openings, the effect of varying stiffness of the member on the P-delta effect, stiffness variations due to workmanship and tolerances, and the effect of axial load on the stiffness of the member. This is accomplished through the use of specially designed computer analyses that isolate an assumption or effect to determine its impact on the final design. This study shows that two-way effects are almost non-existant, the portion of the panel above the opening has very little effect on the P-delta effects, the code specified reduction in bending stiffness due to workmanship and tolerances appear to be appropriate, and the effective area of reinforcement overestimates the stiffness of the panel.

Master of Science / Department of Architectural Engineering and Construction Science / Kimberly W. Kramer / Soils conditions vary throughout the United States and effect the behavior of the foundation system for building structures. The structural engineer needs to design a foundation system for a superstructure that is compatible with the soil conditions present at the site. Foundation systems can be classified as shallow and deep, and behave differently with different soils. Shallow foundation systems are typically used on sites with stiff soils, such as compacted sands or firm silts. Deep foundation systems are typically used on sites with soft soils, such as loose sands and expansive clays. A parametric study is performed within this report analyzing tilt-up concrete structures in Dallas, Texas, Denver, Colorado, and Kansas City, Missouri to determine the most economical tilt-up wall panel and foundation support system. These three locations represent a broad region within the Midwest of low-seismic activity, enabling the use of Ordinary Precast Wall Panels for the lateral force resisting system. Tilt-up wall panels are slender load-bearing walls constructed of reinforced concrete, cast on site, and lifted into their final position. Both a 32 ft (9.75 m) and 40 ft (12 m) tilt-up wall panel height are designed on three foundation systems: spread footings, continuous footings, and drilled piers. These two wall heights are typical for single-story or two-story structures and industrial warehouse projects. Spread footings and continuous footings are shallow foundation systems and drilled piers are a deep foundation system. Dallas and Denver both have vast presence of expansive soils while Kansas City has more abundant stiff soils. The analysis procedure used for the design of the tilt-up wall panels is the Alternative Design of Slender Walls in the American Concrete Institute standard ACI 318-05 Building Code and Commentary Section 14.8. Tilt-up wall panel design is typically controlled by lateral instability as a result from lateral loads combining with the axial loads to produce secondary moments. The provisions in the Alternative Design of Slender Walls consider progressive collapse of the wall panel from the increased deflection resulting from the secondary moments. Each tilt-up wall panel type studied is designed in each of the three locations on each foundation system type and the most economical section is recommended.

The aim of this report is to investigate the ductile performance of concrete tilt-up panels reinforced with cold-drawn mesh to improve the current seismic assessment procedure. The commercial impact of the project was also investigated. Engineering Advisory Group (EAG) guidelines state that a crack in a panel under face loading may be sufficient to fracture the mesh. The comments made by EAG regarding the performance of cold-drawn mesh may be interpreted as suggesting that assessment of such panels be conducted with a ductility of 1.0. Observations of tilt-up panel performance following the Christchurch earthquakes suggest that a ductility higher than μ=1.0 is likely to be appropriate for the response of panels to out-of-plane loading. An experimental test frame was designed to subject ten tilt-panel specimens to a cyclic quasi-static loading protocol. Rotation ductility, calculated from the force-displacement response from the test specimens, was found to range between 2.9 and 5.8. Correlation between tensile tests on 663L mesh, and data collected from instrumentation during testing confirmed that the mesh behaves as un-bonded over the pitch length of 150mm. Recommendation: Based on a moment-rotation assessment approach with an un-bonded length equal to the pitch of the mesh, a rotation ductility of μ=2.5 appears to be appropriate for the seismic assessment of panels reinforced with cold-drawn mesh.

The purpose of this study was to explore the efficacy of two existing pulse contour analysis (PCA) models for estimating cardiac stroke volume from the arterial pressure waveform during kicking ergometer exercise and head-up tilt manoeuvres. Secondly, one of the existing models was modified in an attempt to enhance its performance. In part I, seven healthy young adults repeated two submaximal exercise sessions on a kicking ergometer, each with three different sets of steady-state cardiac output comparisons (pulsed Doppler vs. pulse contour). Across all exercise trials regression results were found to be PCA = 1. 23 x Doppler-1. 38 with an r2 = 0. 51. In part II, eight young and eight older male healthy subjects participated in a head-up tilt experiment. Cardiac output comparisons were again performed during the supine and tilt conditions using pulsed Doppler and pulse contour cardiac output. Regression results revealed that PCA performed best during supine conditions and preferentially on the older subjects. In all instances, impedance-calibrated pulse contour analysis will provide reasonable beat-by-beat cardiac output within very narrow confines and will result in a progressively more significant bias as cardiovascular dynamics change. In addition, it appears that heart rate variability negatively influences beat-by-beat pulse contour cardiac output results, further limiting application of existing models.