Published Article / An immense amount of research is currently, being done on the development and use of Automatic Guided Vehicles (AGVs) in industry. An important component of this research often involves navigation and route-optimization of such AGVs. In this paper the design and control of an AGV, using a stationary control system and a GPS-like navigational system, is discussed. Substantial provision has also been made for the display of operational characteristics of the AGV on the stationary control unit.

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This thesis extends previous work on navigational aidingof groups of aircraft, primarily intended for the fighter SAAB JAS 39 Gripen,as long as an aircraft gets GPS signals, it is easy to estimate position, but theGPS is relatively easy to jam, rendering alternative methods of positioning necessary.To use internal sensors measuring accelerations and angular velocities is agood replacement on short terms, but gives a drift in positioning over longer timeperiods. To resolve these issues, we review different possibilities to improve navigation performance bycombining measurement data from different aircraft using a consensus filter.We show that the performance canbe improved by using measurements of distance and angles to other aircraft withinthe group in a distributed filter.The filter is implemented in Matlab and evaluated in different scenarios, and this Extended Kalman-Consensus Filter (EKCF) is compared to a previously proposed solution using an Extended Kalman Filter (EKF). / Det här examensarbetet vidareutvecklar en befintlig algorithm för navigeringsstöttningav grupper av flygplan, främst inriktat på SAAB JAS 39 Gripen. Genomatt kombinera mätdata från olika flygplan kommer vi gå igenom hur man kanförbättra prestanda genom applicering av consensusfilter. Så länge ett plan harGPS-signal är positionering enkelt. Dock är den relativt lätt att störa ut, vilketgör alternativa lösningar för positionering nödvändiga. Att använda interna sensorersom mäter accelerationer och vinkelhastigheter fungerar utmärkt på kortsikt, men ger en drift över en längre tidsperiod.För att lösa de här problemen utvärderar vi olika möjligheter att förbättra navigationsprestandangenom att kombinera mätdata från olika flygplan med hjälpav ett consensusfilter. Vi visar att prestandan kan förbättras genom att användadistans- och vinkelmätningar inom gruppen med distribuerade filter. Filtret ärimplementerat i Matlab med olika scenarier och jämför Extended Kalman-ConsensusFilter (EKCF) med den föregående lösningen med ett Extended Kalman Filter (EKF).

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<p>In this paper we examine the need of navigational aids when designing interfaces for e-newspapers </p><p>– newspapers presented on a digital paper built on E-Ink technology. By reviewing literature on </p><p>navigation, and by handling input from both newspaper designers and potential e-newspaper </p><p>adopters, we have suggested a number of navigational aids for the future e-newspaper. Our </p><p>suggestions have been tested through a prototype using a modification of the Cooperative </p><p>Usability Testing model (CUT) on a total of fifteen potential users. The results show that most </p><p>users prefer a linear organization of the e-newspaper. To render a sense of depth in this flat </p><p>medium, page-numbering is essential. Several different interaction possibilities will also be </p><p>needed to ease the navigation and our suggestions include a blend of page-turning and hyper </p><p>linking, combined with an index to give the user a better overview of the content.</p>

In this paper we examine the need of navigational aids when designing interfaces for e-newspapers – newspapers presented on a digital paper built on E-Ink technology. By reviewing literature on navigation, and by handling input from both newspaper designers and potential e-newspaper adopters, we have suggested a number of navigational aids for the future e-newspaper. Our suggestions have been tested through a prototype using a modification of the Cooperative Usability Testing model (CUT) on a total of fifteen potential users. The results show that most users prefer a linear organization of the e-newspaper. To render a sense of depth in this flat medium, page-numbering is essential. Several different interaction possibilities will also be needed to ease the navigation and our suggestions include a blend of page-turning and hyper linking, combined with an index to give the user a better overview of the content.

Bridge Navigational Watch Alarm System (BNWAS) blev implementerat i the International Convention for the Safety Of Life At Sea (SOLAS) år 2009. Sedan dess har olika typer av fartyg haft längre eller kortare tid på sig att installera systemet ombord. Navigatörer har utryckt både positiva och negativa synpunkter på systemet. Syftet med studien var att få en uppfattning om hur implementeringen av BNWAS har utvecklats praktiskt inom sjöfarten. För att undersöka detta har haverirapporter granskats innan samt efter implementeringen. Resultatet från detta har jämförts med tidigare implementeringar inom samma område. Data har sedan kvantitativt och kvalitativt analyserats. Resultaten tyder på att implementeringen av BNWAS har stött på samma problem som liknande implementeringar gjort tidigare. De slutsatser som dragits utifrån dessa resultat var att implementeringen av BNWAS kunde ha gjorts på ett bättre sätt om lärdomar från tidigare implementeringar tagits med i utvecklingen av implementeringen. Studien visade att grundstötningar har minskat i den undersökta haverikommissionens utredningar. / BNWAS was implemented in SOLAS, chapter V in 2009. Since that year, different types of ships have had different time schedules to install the system onboard. Navigational watch keepers have expressed both positive and negative attitudes towards the system and the operation of it. The purpose was to shed light upon how the implementetion of BNWAS has developed practically at the end users. The purpose of the study has been fulfilled through both qualitative and quantitative methods. Accident investigation reports both before and after the implementation were examined togheter with examinations and reviews of earlier studies regarding questions about implementation. This work was done to reach the goal of the study with a reliable result. These results implied that the implementation had encountered the same problems as earlier implementations (in the same area) had. They also showed that groundings of ships occured in the same way both before and after the implementation. The conclusions was that the implementation of BNWAS could have been developed more smoothly if the problems from earlier implementations had been accounted for. The groundings have however been reduced significantly since the implementation, whether it is due to the implementation or something else is still to be found out with a more comprehensive study.

Stress är något som finns ibland oss oavsett om vi blir påverkade eller inte, det finns både i vårt vardagliga liv och på arbetsplatser. Vissa människor påverkas mer än andra och hanterar stressen som finns runt omkring på olika sätt. Syftet med denna undersökning var att ta reda på hur nautiska befäl ombord på svenskflaggade ro-pax fartyg hanterar stress och om den upplevda stressen påverkar arbetet. Undersökningen genomfördes ombord på fartyg där intervjupersonerna tjänstgjorde. Studien utfördes med hjälp av kvalitativmetod och semi-strukturerad intervjumetod. Studiens resultat är från sju intervjuer med sjöbefäl och visade att det finns en hög stressnivå ombord som påverkar personalen och deras arbeten negativt, speciellt vid lastning och lossning. Studien visade också att sjöbefälen är beroende av det sociala stödet och tar hjälp av koffein för att hantera den upplevda stressen ombord. / Stress is something that exists among us whether we are affected or not, it is both in our everyday life and in the workplace. Some people are affected more than others and handle the stress that are available around in different ways. The purpose of this study was to find out how the nautical officers on board the Swedish flagged ro-pax ships handle stress and if the perceived stress affect the work. The survey was carried out on board ships where the respondents are served. The study was carried out with the help of qualitative method and semi-structured interview methods. The results of the study from the seven interviews with the ship's officers and showed that there is a high level of stress on board that affect staff and their work negatively, especially when loading and unloading. The study also showed that marine officer is dependent on the social support and take the help of caffeine to deal with the perceived stress on board.

Um novo modelo para a especificação de hiperdocumentos denominado HMBS - Hyperdocument Model Based on Statecharts - é proposto. O HMBS adota como modelo formal subjacente a técnica Statecharts, cuja estrutura e semântica operacional são utilizadas para especificar a estrutura organizacional e a semântica de navegação de hiperdocumentos grandes e complexos. A definição do HMBS, bem como a semântica de navegação adotada, são apresentadas. Na definição apresenta-se como o modelo permite separar as informações referentes a estrutura organizacional e navegacional das representações físicas do hiperdocumento. Também são discutidas características do modelo que possibilitam ao autor analisar a estrutura do hiperdocumento, encorajando a especificação de hiperdocumentos estruturados. Para provar e validar a viabilidade prática do uso do HMBS num contexto real foi desenvolvido um ambiente de autoria e navegação de hiperdocumentos denominado HySCharts - Hyperdocumenf System based on Statecharts. Esse ambiente fornece facilidades de prototipação rápida e simulação interativa de hiperdocumentos. Para ilustrar como o modelo HMBS e o HySCharts podem ser utilizados no contexto de uma abordagem de projeto sistemática é utilizada como estudo de caso a especificação de um hiperdocumento que apresenta o Parque Ecológico de São Carlos / A new model for hyperdocument specification called HMBS - Hyperdocument Model Based on Statecharts - is proposed. HMBS uses the Statechart formalism as its underlying model. Statecharts structure and operational semantics are used to specify the organizational structure and the browsing semantics of large and complex hyperdocuments. The definition of HMBS is presented and its browsing semantics is described. It is shown how the model allows the separation of information related to the organizational and navigational structure from the hyperdocument\'s physical representation. Model features that allow authors to analyze the hyperdocument structure, encouraging the specification of structured hyperdocuments are also discussed. As a proof of concept and also to evaluate the feasibility of using HMBS in real-life applications a system called HySCharts - Hyperdocument System based on StateCharts - was developed. HySCharts is composed by an authoring and a browsing environments, supporting rapid prototyping and interactive simulation of hyperdocuments. A case study is presented that uses the specification of a hyperdocument introducing the Ecological Park of São Carlos to illustrate the use of HMBS and of the HySCharts environment integrated into a systematic design approach

Growth and development over the past one hundred years has resulted in the construction of causeways and navigational channels in Tampa Bay. Urbanization has lead to bathymetric alterations of the bay, and thus has effectively changed the residual salinity, flow fields, and transport time in Tampa Bay. In this study a numerical ocean model of Tampa Bay was first used to simulate the circulation for 2001-2003 using present day bathymetry. Then, an identical simulation was performed using the bathymetry generated from 1879 depth soundings. The residual (30-day time average) circulation fields and salinity, along with transport times was intercompared for different freshwater inflow conditions to investigate the impacts of these physical alteration. The salinity for the "present" simulation is about 3 psu higher than the "1879" simulation in the areas of upper Middle Tampa Bay, Lower Hillsborough Bay and Old Tampa Bay, a result of a stronger axial pressure gradient associated with the deeper more extensive channels. Velocities are up to 10 cm/s higher in the "present" run than in the "1879" simulation in the areas where water must converge and diverge through the narrow openings of the bridges/causeways. Transport time is short (~10 days) during strong residual circulation, and long (~90 days) during weak residual circulation. Bridges and causeways are associated with longer transport times (~90 days), except in the area North of the Courtney Campbell Causeway. The navigational channel is associated with long transport times during dry periods and short transport time during wet periods.