Mechatronics development requires the close collaboration of various specialist teams and engineering disciplines. Developers from the different disciplines use domain-specific tools to specify and analyse the system of interest. This leads to different views of the system, each targeting a specific audience, using that audience’s familiar language, and concentrating on that audience’s concerns. Successful system development requires that the views of all developers produced by the different tools are well integrated into a whole, reducing any risks of inconsistencies and conflicts in the design information specified. This thesis discusses techniques of managing and integrating the views from various disciplines, taking better advantage of multidisciplinary, model-based, development. A Model Data Management (MDM) platform that generically manages models from the various domain-specific tools used in development is presented. The platform is viewed as a unification of the management functionalities typically provided by the discipline-specific PDM and SCM systems. The unification is achieved by unifying the kind of objects it manages – models. View integration is considered as an integral functionality of this platform. In demonstrating the platform’s feasibility, a generic version management functionality of models is implemented. In addition, model integration is investigated for the allocation of system functions onto the implementing hardware architecture. The proposed approach promotes the independent development of the views, allowing developers from each discipline to work concurrently, yet ensuring the completeness, correctness and analysis of any inter-view design decisions made. The prototype MDM platform builds on existing technologies from each of the mechanical and software disciplines. The proposed MDM system is built based on a configurable PDM system, given its maturity and ability to manage model contents appropriately. At the same time, the version control functionality borrows ideas from the fine-grained version control algorithms in the software discipline. The platform is argued to be feasible given the move towards model-based development in software engineering, bringing the discipline’s needs closer to those of the hardware discipline. This leads the way for an easier and more effective integrated management platform satisfying the needs of both disciplines using a common set of mechanisms. / QC 20110124

The royal warship Vasa sank on its maiden voyage outside Stockholm and was salvaged more than 300 years later in 1961. Nowadays the vessel lies in its eponymous museum in Stockholm on a dry dock. However, it was determined that the ship cannot handle its own weight in a satisfactory manner with the current support system. Measurements during the past ten years have ascertained that the upper structure components of the hull are slowly deforming, mostly due to creep behavior.   A new support system for the ship needs to be designed in the near future and therefore, the mechanical behavior of its structural members and the stresses they are subjected to have to be determined. Factors that complicate a stress analysis include both inhomogeneity of the oak’s mechanical properties and limited opportunities for experimental testing. Furthermore, contamination, microbial degradation and preservation agents have significantly changed the integrity of the oak.   In this project a section of the Vasa’s bottom structure is studied through Finite Element Analysis in order to determine the stresses and deformations originated by the support system and to have a better understanding of these effects on the ship’s structure. Due to the considerable deterioration of the oak, especially on the external structural members, several assumptions are considered in order to perform analytical calculations to determine appropriate material properties for the FE-Models.    After performing the computational simulations, the obtained results indicate that the bottom structure exhibits sufficient mechanical integrity to endure the stresses generated by the support system. Even by assuming the possibility of several damaged structural connections, only a minor difference of the effects of the reaction forces on the structure members was determined.   The thesis work ends with further conclusions from the performed analysis and suggested future work.

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<p>Mechatronics development requires the close collaboration of various specialist teams and engineering disciplines. Developers from the different disciplines use domain-specific tools to specify and analyse the system of interest. This leads to different views of the system, each targeting a specific audience, using that audience’s familiar language, and concentrating on that audience’s concerns. Successful system development requires that the views of all developers produced by the different tools are well integrated into a whole, reducing any risks of inconsistencies and conflicts in the design information specified.</p><p>This thesis discusses techniques of managing and integrating the views from various disciplines, taking better advantage of multidisciplinary, model-based, development. A Model Data Management (MDM) platform that generically manages models from the various domain-specific tools used in development is presented. The platform is viewed as a unification of the management functionalities typically provided by the discipline-specific PDM and SCM systems. The unification is achieved by unifying the kind of objects it manages – models. View integration is considered as an integral functionality of this platform.</p><p>In demonstrating the platform’s feasibility, a generic version management functionality of models is implemented. In addition, model integration is investigated for the allocation of system functions onto the implementing hardware architecture. The proposed approach promotes the independent development of the views, allowing developers from each discipline to work concurrently, yet ensuring the completeness, correctness and analysis of any inter-view design decisions made.</p><p>The prototype MDM platform builds on existing technologies from each of the mechanical and software disciplines. The proposed MDM system is built based on a configurable PDM system, given its maturity and ability to manage model contents appropriately. At the same time, the version control functionality borrows ideas from the fine-grained version control algorithms in the software discipline.</p><p>The platform is argued to be feasible given the move towards model-based development in software engineering, bringing the discipline’s needs closer to those of the hardware discipline. This leads the way for an easier and more effective integrated management platform satisfying the needs of both disciplines using a common set of mechanisms.</p>

<p>In vehicles with electric transmission and independent wheel stations, it is possible to have a possibility to control propulsion, steering and suspension individually for each wheel. This makes it possible to improve mobility, performance and driving safety. The long term goal of this work is to develop a methodt hat can evaluate and improve the mobility of such vehicles in terrain. This contribution concerns how a six wheeled electric transmission vehicle should be modelled to enable evaluation of the dynamic behaviour in different type of terrain. This is made by combining modelling of vehicle, transmission and tire-terrain behaviour. </p><p>For wheeled vehicles an electric transmission with hub motors provides the ability to accurately control the torque on every wheel independently, giving a great ability to improve both mobility in terrain and vehicle behaviour on road. In this work the components of a diesel-electric powertrain for off-road vehicles are modelled and a control layout with the possibility to include functions for improved performance both while driving off- and on-road is proposed.</p><p> To handle driving on soft ground, a tire/terrain model is needed. The model should include lateral deformation in order to be able to steer. A tire/terrain model is derived based on the ideas of Wong and Reece. The terrain characteristics are chosen to be described by parameters according to the Bekker model, since this data are widely available in literature.</p><p> The developed tire/terrain model has been implemented together with a vehicle model. This terrain vehicle model is shown to be able to estimate sinkage, rolling resistance, traction force and steering characteristics, of a six wheeledterrain vehicle using electric transmission. </p><p>To conclude, models of a six-wheeled vehicle with electric transmission and tire models both for soft and rigid ground have been developed. These models form a simulation platform, which makes it possible to evaluate control strategies for the electric transmission with the purpose to improve mobility.</p>

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I en stor del av arbetsolyckor som anmäls är en truck inblandad. För att undvika att fotgängare blir påkörda av industrifordon används ofta påkörningsskydd. På Volvo Group Truck Operations i Skövde används idag påkörningsskydd i fabrikerna för att avgränsa fotgängare från fordonstrafiken. Volvos påkörningsskydd är en helsvetsad stålkonstruktion som är fäst i betonggolvet med expanderbultar. Dessa påkörningsskydd är byggda efter platsen de monteras på och är därför svåra att återanvända och reparera. Volvo har efterfrågat en principkonstruktion av ett moduluppbyggt påkörningsskydd för att underlätta framförallt återanvändning av dem. Hållfasthetsberäkningar utförs för att säkerställa att kravspecifikationen uppfylls. För att kunna utföra arbetet görs en litteraturstudie där befintliga lösningar, infästningsmetoder i betong, beräkningsmetoder, säkerhetskrav och en produktutvecklingsmetod studeras. Observationer och intervjuer genomförs för att ta fram en kravspecifikation. Observationer visade att vid en kollision lossnar infästningen till golvet för att det befintliga påkörningsskyddet är för robust. Med kravspecifikationen som bas utförs konceptgenerering. De framtagna koncepten utvärderas och vidareutvecklas i flera omgångar parallellt med att kravspecifikationen förfinas. En moduluppbyggd principkonstruktion med två olika infästningsalternativ presenteras. Tanken med princip­konstruktionen är att det skall dimensioneras för att ge vika vid infästningens maxlast. Hållfasthetsberäkningar, som utförts på de mest kritiska komponenterna, visar att det är svårt att dimensionera påkörningsskyddet för att säkerställa att rätt del går sönder vid en påkörning. En Failure Mode and Effects Analysis utförs för att identifiera eventuella brister på principkonstruktionen och ta fram förslag på hur dessa kan åtgärdas. Principkonstruktionen uppfyller de delar av kravspecifikationen som går att kontrollera i nuläget. Dessa krav är att principkonstruktionen är moduluppbyggd, lätt att demontera, reparera och återanvända, lätt att förvara och att den uppfyller säkerhetskraven. Vidare arbete med hållfasthetsberäkningar på och dimensionering av principkonstruktionen rekommenderas. För att säkerställa att kravspecifikationen är uppfylld och att påkörningsskyddet beter sig som önskat vid en påkörning bör prototyper tillverkas. / In a large part of the industrial accidents different kinds of forklifts are involved. Collision protection barriers are often used to prevent pedestrians from coming into direct contact with industrial vehicles. The Volvo Group Truck Operations facility in Skövde uses such collision protection barriers to separate pedestrians from industrial traffic. Volvo’s welded steel collision protection barriers are constructed in place, depending on need, and are fastened to the concrete floor with expander bolts. The barriers are, therefore, difficult to disassemble and reuse in other locations. Volvo has requested the development of a conceptual design of a reusable and repairable modular collision protection barrier. To ensure that the specifications for the product are fulfilled strength calculations are performed. In order to complete the work a literature survey is carried out where current collision protection barriers, fastening methods for concrete, methods of calculations, safety demands and a product developing process are examined. Interviews are conducted and on-site observations are made to identify the necessary specifications. Observations showed that in a collision the expander bolts often tear loose from the concrete floor due to the robustness of the current collision barriers. The specifications are used to generate concepts. The developed concepts are evaluated and evolved in an iterative process where the specifications are refined at each step. The result, a modular conceptual design with two different alternatives to fasten it to the concrete floor, is presented. The idea is that the conceptual design shall be sized to give way at the maximum load of the fastening alternative. Strength calculations, performed on the most critical components, shows that it is difficult to size the collision protection barrier to guarantee that the intended component breaks in a collision. A Failure Mode and Effects Analysis is conducted to identify any flaws in the conceptual design and suggestions to address the flaws are made. The conceptual design fulfils the specifications that are currently possible to evaluate. These specifications are that the design is modular, easy to disassemble, repair and reuse, easy to store and meets the safety demands. Further work with strength calculations and sizing of the collision protection barrier is required. To ensure that the specifications are fulfilled and that the collision protection barrier behaves as desired in a collision it is recommended that prototypes be manufactured and tested.

This thesis deals with the development of experimental techniques for the study of complex flows inspired to a large extent by the papermaking process. In particular one part of this thesis is devoted to the development of laboratory experiments based on index-of-refraction matching and imaging techniques to study the behavior of dilute and concentrated suspension of elongated particles. Another part is aimed at exploring the potential of the synergy between experiments and numerical simulations to access quantities otherwise not-measurable in complex flows. Highspeedimaging experiments have been specifically designed for this purpose. The first of the Refractive IndexMatching (RIM) experiment was aimed at studying the flow generated during the filtration of a fiber suspension using Particle Image Velocimetry (PIV) and pressure drop measurements. The experiments were performed in a vertical laboratory filtration device. Index of refraction matching of fibers and fluids allowed measurements to be performed in the proximity and, to some extent, in the forming network during filtration. The area over which the forming network induces velocity gradients has been measured and have been found to be independent of the Reynolds number but dependent on the fiber length and the structure of the network. Analysis of the flow scales in the proximity of the network showed that the signature of the mesh used to filter the suspension is never completely suppressed as the network thickness increases. Also, pressure drop measurements over a static fiber network have been performed. A linear dependence of the pressure drop with the basis weight (mass of fibers in the network per unit area) and a non-dimensional filtration resistance independent of filtration velocity and network thickness (if network compressibility is accounted for) was found. These findings can help explain characteristics that are observed on paper sheets and help improvede watering efficiency. The second RIM experiment was aimed at measuring the interactions of Taylorscale elongated particles with turbulence. RIM particles with embedded tracers and Stereoscopic PIV were combined to simultaneously measure fluid phase and particle velocity. The novelty of this technique is that it allows to measure the three-dimensional angular velocity vector of arbitrarily shaped particles. This technique was applied to study the interaction of neutrally buoyant ellipsoidal particles with stationary homogeneous isotropic turbulence. The results were compared to the case of spherical particles. The main result is that both spherical and ellipsoidal particles provide enhancement of the small scales and reduction of the large scales at volume concentrations as low as 0.1%. However, the reduction of the large scales was much more evident for spherical particles. These results highlight the fact that particle elongation introduces different mechanisms of turbulent modulation as compared to the spherical particles. The first of the high-speed imaging experiments was to provide a database for test and validation of a CFD-based flow observer for complex flows. For this purpose time resolved measurements of a turbulent confined jet have been performed with high-speed PIV. The measurements have been used both as a feedback signal and as a reference for the evaluation of a CFD-based estimator for complex flows. Furthermore, based on the measurements Kalman filters have been designed and implemented in the observer. The experimental data have also been used to compare two modal decompositions, namely Proper Orthogonal Decomposition and Dynamical Modal Decomposition and evaluate their ability to describe the global behavior of complex flow. The second of the high-speed imaging experiment was applied to study spreading of a droplet on a solid surface. These experiments have been performed with extremely high time-resolution (140000 fps), over a range of parameters (in terms of droplet viscosity, equilibrium contact angle and droplet size) larger than any other experiment reported in the literature in a single work. By combining the experiments and direct numerical simulations a dissipative mechanisms arising from the contact line movement has been identified and the corresponding macroscopic coefficient has been measured.i / QC 20110519