Housing is one of the most critical design challenges of the 21st century. Sparked by increased urbanization, issues around affordability, density, development, and displacement create stress on people and the urban environment. In Washington D.C., an inadequate supply of housing for families forces them to leave the city in search of more comfortable and affordable options. However, families are essential dwellers in a healthy urban fabric. This thesis explores how architecture and empathic design-thinking can begin to address these issues and contribute to the health of the family unit and a healthy community. My thesis begs the question… what lifestyles are we encouraging by the way we design? Dwelling is a more appropriate, personal, and empathic term for housing. Dwelling should meet the needs of its inhabitants and support three vital organs of urban life: social activity, peaceful refuge, and theatrical celebrations. A healthy city and a healthy dwelling should include all three. My goal is to re-imagine urban dwelling for families living in the city and how architecture can create intentional moments of connection between people and the city they are a part of – especially how ideas of transparency and movement or air, light and people can be agents of a healthier urban dwelling. A new mid-rise multi-family dwelling in Adams Morgan, a colorful, diverse, artistic, and eclectic neighborhood in Washington D.C., creates a home that enhances the experience of dwelling for families. My thesis project supports the primary functions of dwelling and secondary functions of food creation through a kitchen incubator. The intention of the building is that it will serve as a space for growth, for individuals and for growing families, that it will be successful as both a well-designed home and a food lab that fosters collaboration and community for chefs and entrepreneurs who are growing their businesses and connections in the city. The building aims to incorporate living elements with nature integrated into the architecture in various ways. This home will be a space that understands the needs of its inhabitants, respects the context of the neighborhood, and supports a healthier framework of the larger city of Washington D.C. / Master of Architecture / Housing is one of the most critical challenges of the 21st century facing the architecture, engineering and construction industry. A lack of suitable housing is a result of increased urbanization and issues around affordability, density, development, and displacement. These challenges create stress on people and specifically the structures where they live. In Washington D.C., an inadequate supply of housing for families forces them to leave the city in search of more comfortable and affordable options. However, families are essential dwellers in the city - they should be supported in the modern urban environment. This thesis explores how architecture and empathic design-thinking, a deep understanding of the problems and realities of the people being designing for, can begin to address these issues and contribute to the health of the family unit and a healthy community. My thesis asks the question…what lifestyles are we encouraging by the way we design? Dwelling, the way and act of living, is a more appropriate, personal, and empathic term for housing. In the architect's mind, dwelling should meet the needs of its inhabitants and support three important facets of urban life: social activity, peaceful refuge, and theatrical celebrations. A healthy city and a healthy dwelling should include all three. The goal of this thesis is to re-imagine what urban dwelling feels and looks like for families living in the city and how architecture can be designed to create intentional moments of connection between people and the community they are a part of. A new mid-rise multi-family dwelling in Adams Morgan, a colorful, diverse, artistic, and eclectic neighborhood in Washington D.C., creates a home that enhances the experience of dwelling for families. My thesis project is foremost a dwelling, a space for living, but also a space for food creation through a community kitchen incubator. The intention of the building is that it will serve as a space for growth, for individuals and families, and that it will be successful as both a well-designed home and a food lab that fosters collaboration for chefs and entrepreneurs who are growing their businesses and connections in the city. This thesis seeks to discover how architecture can empower families and communities to have healthier, more inclusive and connected urban city lives.

Friction in hydrodynamic bearings are a major source of losses in car engines ([69]). The extreme loading conditions in those bearings lead to contact between the matching surfaces. In such conditions not only the overall geometry of the bearing is relevant, but also the small-scale topography of the surface determines the bearing performance. The possibility of shaping the surface of lubricated bearings down to the micrometer ([57]) opened the question of whether friction can be reduced by mean of micro-textures, with mixed results. This work focuses in the development of efficient numerical methods to solve thin film (lubrication) problems down to the roughness scale of measured surfaces. Due to the high velocities and the convergent-divergent geometries of hydrodynamic bearings, cavitation takes place. To treat cavitation in the lubrication problem the Elrod- Adams model is used, a mass-conserving model which has proven in careful numerical ([12]) and experimental ([119]) tests to be essential to obtain physically meaningful results. Another relevant aspect of the modeling is that the bearing inertial effects are considered, which is necessary to correctly simulate moving textures. As an application, the effects of micro-texturing the moving surface of the bearing were studied. Realistic values are assumed for the physical parameters defining the problems. Extensive fundamental studies were carried out in the hydrodynamic lubrication regime. Mesh-converged simulations considering the topography of real measured surfaces were also run, and the validity of the lubrication approximation was assessed for such rough surfaces. / O atrito em mancais hidrodinâmicos é uma fonte importante de perdas em motores de combustão ([69]). As condições extremas de carga induzem contato entre as superfícies dos mancais. Em tais condições não somente a macro-geometria do mancal é relevante, mas também são as escalas menores da superfície as que determinam o desempenho do mancal. A possibilidade de fabricar superfícies com detalhes na escala do micrometro ([57]) deixou em aberto a questão de se o atrito pode ser reduzido por meio de micro-texturas, até agora com resultados mistos. Este trabalho centra-se no desenvolvimento de métodos numéricos eficientes para resolver problemas de lubrificação na escala da rugosidade das superfícies. Devido às altas velocidades e a forma convergente-divergente dos mancais hidrodinâmicos o fluido cavita. Para tratar o fenômeno de cavitação empregamos o modelo de Elrod-Adams, um modelo conservativo que tem demonstrado em cuidadosos testes numéricos ([12]) e experimentais ([119]) ser essencial para obter resultados físicos significativos. Outro aspecto revelante do modelado é que os efeitos inerciais do mancal são considerados, o que é necessário para simular corretamente texturas em movimento. Como aplicação, os efeitos de micro-texturizar a superfície móvel do mancal foram estudados. Valores realistas são assumidos nos parâmetros físicos que definem o problema. Foram realizados extensivos estudos no regime de lubrificação hidrodinâmica. Também foram executadas simulações convergidas em malha, levando em conta a topografia real de superfícies medidas, e as hipóteses de lubrificação para superfícies rugosas foram avaliadas.

The purpose of this thesis was to come to a better understanding of the American mind at the time of the Revolution through biography. Through the use of primary and secondary sources, John and Samuel Adams were used as case studies. John represented the faction in favor of a rigid hierarchy and a natural aristocracy. Samuel represented the artisans and farmers who were fighting for democracy and equality in government. The thesis also discussed the differences between the Adams chapter two, the cousins' backgrounds and respective involvement in the Revolution were discussed. Chapter three was a discussion of the similarities between the Adams cousins. In chapter four, the fundamental differences between John and Samuel were discussed, differences that became apparent during the revolution. cousins and the men they represented. Ultimately by 1800, the new nation had left the cousins behind. The thesis concluded that the Adamses made massive contributions to the revolution, reflecting the eighteenth century American mind and contributing to the establishment of our ultimate form of government. / Department of History

Friction in hydrodynamic bearings are a major source of losses in car engines ([69]). The extreme loading conditions in those bearings lead to contact between the matching surfaces. In such conditions not only the overall geometry of the bearing is relevant, but also the small-scale topography of the surface determines the bearing performance. The possibility of shaping the surface of lubricated bearings down to the micrometer ([57]) opened the question of whether friction can be reduced by mean of micro-textures, with mixed results. This work focuses in the development of efficient numerical methods to solve thin film (lubrication) problems down to the roughness scale of measured surfaces. Due to the high velocities and the convergent-divergent geometries of hydrodynamic bearings, cavitation takes place. To treat cavitation in the lubrication problem the Elrod- Adams model is used, a mass-conserving model which has proven in careful numerical ([12]) and experimental ([119]) tests to be essential to obtain physically meaningful results. Another relevant aspect of the modeling is that the bearing inertial effects are considered, which is necessary to correctly simulate moving textures. As an application, the effects of micro-texturing the moving surface of the bearing were studied. Realistic values are assumed for the physical parameters defining the problems. Extensive fundamental studies were carried out in the hydrodynamic lubrication regime. Mesh-converged simulations considering the topography of real measured surfaces were also run, and the validity of the lubrication approximation was assessed for such rough surfaces. / O atrito em mancais hidrodinâmicos é uma fonte importante de perdas em motores de combustão ([69]). As condições extremas de carga induzem contato entre as superfícies dos mancais. Em tais condições não somente a macro-geometria do mancal é relevante, mas também são as escalas menores da superfície as que determinam o desempenho do mancal. A possibilidade de fabricar superfícies com detalhes na escala do micrometro ([57]) deixou em aberto a questão de se o atrito pode ser reduzido por meio de micro-texturas, até agora com resultados mistos. Este trabalho centra-se no desenvolvimento de métodos numéricos eficientes para resolver problemas de lubrificação na escala da rugosidade das superfícies. Devido às altas velocidades e a forma convergente-divergente dos mancais hidrodinâmicos o fluido cavita. Para tratar o fenômeno de cavitação empregamos o modelo de Elrod-Adams, um modelo conservativo que tem demonstrado em cuidadosos testes numéricos ([12]) e experimentais ([119]) ser essencial para obter resultados físicos significativos. Outro aspecto revelante do modelado é que os efeitos inerciais do mancal são considerados, o que é necessário para simular corretamente texturas em movimento. Como aplicação, os efeitos de micro-texturizar a superfície móvel do mancal foram estudados. Valores realistas são assumidos nos parâmetros físicos que definem o problema. Foram realizados extensivos estudos no regime de lubrificação hidrodinâmica. Também foram executadas simulações convergidas em malha, levando em conta a topografia real de superfícies medidas, e as hipóteses de lubrificação para superfícies rugosas foram avaliadas.

Park "Pepper" Adams, III (1930-1986) is one of the most influential baritone saxophonists in the history of modern jazz. In addition to his time feel, his timbre, and other conceptual techniques, a great deal of Adams's improvisational style and vocabulary can be illustrated by his use of three motivic devices. These three motivic devices are: (1) his utilization of the sixth degree of the major scale as an important melodic pitch; (2) his use of a paraphrased portion of the melody of the popular song "Cry Me a River;" and (3) his use of the half-whole octatonic scale when the rhythm section sounds a dominant chord. This dissertation traces the way in which Adams applies these three motivic devices through four of his original compositions, "Enchilada Baby," "Bossallegro," "Lovers of Their Time," and "Rue Serpente." All four of these compositions were recorded by Adams on his 1980 album, The Master. In addition to the motivic analysis, a biography of Adams is included. Complete transcriptions by the author of Adams's improvised solos on the four compositions are included in the appendices.

This thesis deals with the design of the cross table. That is, designing a linear guide, a ball screw and a motor. In addition, dynamic simulations are used in the MSC Adams for machining cycle and the positioning cycle of the semi-product at rapid traverse. As a simulation output are the „real“ load patterns of the bearings in the placing of the ball screws and the durability of these bearings.

The forwarder acts as an important role in mechanized Cut-to-Length timber harvesting system. But the majority of forwarder products on the market are not suspended or simply suspended by bogies which limit the riding quality of forwarder and result in soil damage due to large tireground interaction force. The Forestry Research Institute of Sweden is developing an active controlled pendulum arm suspension system actuated by hydraulic cylinders on the forwarder prototype named XT28. The aim of this active suspension system is to compensate the inherent shortcomings of the current suspension solutions. The thesis project focuses on implementing a heterogeneous simulation methodology which integrates the Multi-Body System model of XT28 built in MSC ADAMS/View with active suspension control model developed in MATLAB/Simulink. Thus, the co-simulation process is visualized in ADAMS/View. The results show that the active controlled pendulum arm suspension could improve the riding quality in a large extend and reduce the force between tire and ground at the same time. The cosimulation between ADAMS and Simulink is proved as a feasible and efficient approach to study the active control system for pendulum arm suspension on XT28 forwarder. / Skotaren har tillsammans med skördaren en central roll i den fullt mekaniserade kortvirkesmetoden för skogsavverkning. Majoriteten av dagens skotare på marknaden har sex eller åtta hjul, som är monterade parvis på boggilådor. Det innebär att de saknar chassidämpning, vilket begränsar operatörens komfort och orsakar även stora markskador på mjuk mark. Skogforsk koordinerar realiseringen av en fullskaleprototyp, som går under arbetsnamnet XT28, med sex hjul monterade på varsin pendelarm. Pendelarmarna har varsin hydraulcylinder som möjliggör aktiv helmaskinsdämpning. Detta examensarbete är inriktat på att skapa, demonstrera och verifiera en heterogen simuleringsmetodik, som integrerar och möjliggör samsimulering av en dynamisk mekanikmodell utvecklad i MSC Adams/View med en reglermodell för aktiv styrning av pendelarmarna. Reglermodellen har utvecklats i MATLAB / Simulink. Simuleringsresultaten, som visualiseras i Adams-miljön, visar att den aktiva pendelarmregleringen skulle kunna förbättra åkkomforten signifikant, och också kraftigt markkontaktkrafterna. Det visas att samsimulering mellan ADAMS och Simulink är en effektiv metod för att verifiera prestandan hos aktiva reglersystem för pendelarmsfjädring på prototypskotaren XT28.

In today’s competitive automotive industry, most companies are trying to make their new designs and features implemented in their products to be ahead of their competitors. However, in the preliminary design stage of CEVT vehicles, dynamic simulation consumes excessive amount of time depending on the complexity of the dynamic model and simulation settings. It is beneficial and possible to shorten the simulation time. This thesis focuses on reducing the dynamic simulation time in ADAMS/Car in engine suspensions’ early development stage. Five simulation time reducing methods, i.e., reducing end time in driver control maneuver, stopping similar simulations, converting specific flexible parts to rigid parts, properly increasing the step size and performing simulation for engine suspension subsystem instead of the full vehicle system, were proposed and investigated separately to study their effects on the simulation time and the accuracy of the fatigue damage results of the engine suspension. With the proper combination of the five methods, total dynamic simulation time was effectively reduced to 61% and the variation of fatigue damage results of each engine suspension component was controlled within 30%. Dynamic modelling of an exhaust system is also included in this thesis and it provides referential data for the packaging design of exhaust system. / I dagens konkurrensutsatta bilindustri försöker de flesta företag att göra sina nya mönster och funktioner implementerbara i sina produkter för att vara före sina konkurrenter. I det preliminära konstruktionsstadiet av CEVT-fordon förbrukar dynamisk simulering dock en stor tid beroende på komplexiteten hos den dynamiska modellen och simuleringsinställningarna. Det är fördelaktigt och möjligt att förkorta simuleringstiden. Denna avhandling fokuserar på att minska den dynamiska simuleringstiden i ADAMS / Car i motorupphängningens tidiga utvecklingsstadium. Med hjälp av bakgrundsstudier och erfarenheter från CEVT’s personal provades fem olika sätt att minska simuleringstiden, samtidigt som simuleringsresultatens noggrannhet kontrollerades. Varje metod användes separat i simuleringen för att studera effekten på resultatens noggrannhet. I slutet kombineras alla metoder i simuleringen för att få bästa möjliga simuleringstid utan att förlora noggrannhet. Genom att kombinera de fem metoderna reducerades den totala dynamiska simuleringstiden till 61% och variationen i utmattningsskadans resultat av varje motorupphängningskomponent kontrollerades inom 30%. Dynamisk modellering av ett avgassystem ingår också i denna avhandling, vilket ger referensdata för framtida förpackningsdesign av avgassysteme

Avhandlingen presenterar resultatet av ett examensarbete i maskindesign på KTH. Uppgiften utfördes för ABB AB, Corporate Research.ABB vill undersöka en ny drivlinjekonstruktion för lågkostnadsautomatisering. ABB Robotiks har begränsat utbud av produkter rörande mobila plattformar. Det finns en stor marknadspotential för samarbetsrobotar på mobila plattformar bland kunder med både låg och hög grad av automation.I denna rapport diskuteras en möjlig designlösning av drivlinan för en mobil robotplattform. Generellt är utformningen av en robust drivlina för mobilplattform en komplex uppgift eftersom inte alla arbetsförhållanden är lika i en industriell installation. Till exempel kan vissa industriområden för logistik och andra för tung teknik etc. Idag finns det mycket fa designer av mobila industriplattformar konstruerade för ojämn yta, ytor med sprickor, stötar och liknande ojämna egenskaper. Befintliga industriella lösningar är utformade för jämna ytor inom gränserna for golvdesignen och överensstämmer också med lasterna på plattformens drivlina. En robust lösning föreslås i denna rapport. Detta baseras på en litteraturöversikt med konstruktionsarbete inkluderande lättillgängliga billiga komponenter samt modellutvärdering för att klara specifikationen av grova golv ojämnheter. Studien för att implementera en stötdämpare baserad drivlinjemodul har också inkluderats för att undersöka möjligheten att ha ett sådant drivsystem. Andra funktioner inkluderar också en inbyggd styrenhet som gör den mer kompakt genom att minska ledningar runt plattformen. Prestanda utfördes i en simuleringsmiljö för att se stötdämparens beteende. Den slutliga konstruktionen versionen byggdes som prototyp för vidare utvärdering i test. / This thesis presents the result of a master thesis in Machine Design at KTH. The task was performed for ABB AB, Corporate Research.ABB wants to investigate in a new driveline designs for low cost automation. ABB robotics doesn’t have any products concerning mobility application. There is a huge market potential for collaborative robots on mobile platforms with customers with both low and high budget of automation.This report discusses one possible design solutions of the driveline for a mobile robot platform. Generally, designing a robust driveline for mobile platform is a complex task since not all working conditions are alike in an industrial setup. For instance, some industrial area might for logistics, some might be for heavy engineering, etc. Moreover, there aren’t industrial platforms designed for uneven surface, surfaces having cracks, bumps and similar uneven features. The ones which can cope unevenness are for extreme off-road military conditions. Existing industrial solutions are designed for even surfaces within limits and the floor design is also in accordance to the platform driveline. A robust solution is proposed here after conducting a literature review with solid evidence and evaluation for the same to sustain rough floor designs with readily available inexpensive components. Study for implementing a shock absorber-based driveline module has also been included within to look at a possibility to have such a drive system. Other features also include an on-board controller which reduces the hassle of wiring around the complete platform. The performance was conducted on a simulation environment to see the behaviour of the shock absorber. The final design was prototyped for further evaluation.

Mit Hilfe der Matlab/ADAMS-Co-Simulation wird ein ebenes Koppelgetriebe (5- Gelenk) untersucht und anschließend die Wirkpaarung mit einem Stückgut betrachtet. Dabei werden verschiedene Modellierungsstufen angewendet und die Simulationsergebnisse Messergebnissen vom Versuchsstand gegenübergestellt. Daneben wird die grundlegende Herangehensweise beim Einsatz dieser Simulationswerkzeuge erläutert.