A design process developed by Joann Boles was used to develop a therapy garment for three four-year-old boys with sensory integrative dysfunction who participated in occupational therapy using sensory integrative methods. The design process framework has four stages: (a) problem development, (b) needs assessment, (c) prototype development, and (d) evaluation. The problem was developed by observing children with sensory impairments; interviewing parents and professionals involved with sensory impairments; experiencing sensory integrative methods; and reviewing the literature.The needs were assessed for the wearers, the activity, and the environment through four weeks of observations, interviews with the child and significant others, and document reviews. The research design was multiple case studies. The data collection and analyses followed the grounded theory procedures of open and axial coding outlined by Strauss and Corbin (1990).The resulting needs of the wearers, the activities, and the environment were translated into garment specifications and criteria. The four garment specification categories were (a) movement, (b) sensory integration, (c) motor development, and (d) play.Prototypes were generated to meet garment specifications in terms of structure, materials, and assembly. The process included writing ideas, coding and combining ideas, sketching ideas, constructing samples, and constructing a prototype solution. The resulting prototype consisted of a sleeveless pullover top, cape, and weights, and featured a bug superhero theme.The prototype was evaluated against garment specification criteria through observations, interviews, and an evaluation form. The prototype allowed full body movement and provided safety features for full interaction in the environment. The prototype provided proprioceptive input and gross motor opportunities through the elastic band loops and bug weights, and promoted the use of vestibular integrating equipment with the cape. Tactile opportunities were provided through the variety of materials. Fine and perceptual motor skills were promoted by the manipulatives on the cape and the opportunity to store fine motor activities in the cape pockets. Storing activities in the cape promoted smooth transitions, motor planning, organization, follow through, management, and self discipline. The bug theme appealed to the wearers' play interests and promoted imaginative scenarios during therapy, thus aiding in self organization and attention to task. / Ph. D.

This thesis presents a novel design paradigm of mobile robots: the Hybrid Mobile Robot system. It consists of a combination of parallel and serially connected links resulting in a hybrid mechanism that includes a mobile robot platform for locomotion and a manipulator arm for manipulation, both interchangeable functionally. All state-of-the-art mobile robots have a separate manipulator arm module attached on top of the mobile platform. The platform provides mobility and the arm provides manipulation. Unlike them, the new design has the ability to interchangeably provide locomotion and manipulation capability, both simultaneously. This was accomplished by integrating the locomotion platform and the manipulator arm as one entity rather than two separate and attached modules. The manipulator arm can be used as part of the locomotion platform and vice versa. This paradigm significantly enhances functionality. The new mechanical design was analyzed with a virtual prototype that was developed with MSC Adams Software. Simulations were used to study the robot’s enhanced mobility through animations of challenging tasks. Moreover, the simulations were used to select nominal robot parameters that would maximize the arm’s payload capacity, and provide for locomotion over unstructured terrains and obstacles, such as stairs, ditches and ramps. The hybrid mobile robot also includes a new control architecture based on embedded on-board wireless communication network between the robot’s links and modules such as the actuators and sensors. This results in a modular control architecture since no cable connections are used between the actuators and sensors in each of the robot links. This approach increases the functionality of the mobile robot also by providing continuous rotation of each link constituting the robot. The hybrid mobile robot’s novel locomotion and manipulation capabilities were successfully experimented using a complete physical prototype. The experiments provided test results that support the hypothesis on the qualitative and quantitative performance of the mobile robot in terms of its superior mobility, manipulation, dexterity, and ability to perform very challenging tasks. The robot was tested on an obstacle course consisting of various test rigs including man–made and natural obstructions that represent the natural environments the robot is expected to operate on.

This thesis presents a novel design paradigm of mobile robots: the Hybrid Mobile Robot system. It consists of a combination of parallel and serially connected links resulting in a hybrid mechanism that includes a mobile robot platform for locomotion and a manipulator arm for manipulation, both interchangeable functionally. All state-of-the-art mobile robots have a separate manipulator arm module attached on top of the mobile platform. The platform provides mobility and the arm provides manipulation. Unlike them, the new design has the ability to interchangeably provide locomotion and manipulation capability, both simultaneously. This was accomplished by integrating the locomotion platform and the manipulator arm as one entity rather than two separate and attached modules. The manipulator arm can be used as part of the locomotion platform and vice versa. This paradigm significantly enhances functionality. The new mechanical design was analyzed with a virtual prototype that was developed with MSC Adams Software. Simulations were used to study the robot’s enhanced mobility through animations of challenging tasks. Moreover, the simulations were used to select nominal robot parameters that would maximize the arm’s payload capacity, and provide for locomotion over unstructured terrains and obstacles, such as stairs, ditches and ramps. The hybrid mobile robot also includes a new control architecture based on embedded on-board wireless communication network between the robot’s links and modules such as the actuators and sensors. This results in a modular control architecture since no cable connections are used between the actuators and sensors in each of the robot links. This approach increases the functionality of the mobile robot also by providing continuous rotation of each link constituting the robot. The hybrid mobile robot’s novel locomotion and manipulation capabilities were successfully experimented using a complete physical prototype. The experiments provided test results that support the hypothesis on the qualitative and quantitative performance of the mobile robot in terms of its superior mobility, manipulation, dexterity, and ability to perform very challenging tasks. The robot was tested on an obstacle course consisting of various test rigs including man–made and natural obstructions that represent the natural environments the robot is expected to operate on.

The Aouda.X Space suit simulator, developed by The Austrian Space Forum( OeWF) currently consists of a system that weighs 48 kg of which nearly 57% is comprised of the Suit's HUT (Hard Upper Torso), PLSS (Portable Life Support System) and OBDH (On- board data handling). In addition to this, the current conguration requires 3 hours of assisted donning/doffing. To improve the ergonomics of the design, a relatively lighter HUT/PLSS design prototype with efficient donning capabilities, preferably self -donning, must be developed. This issue can be addressed by proposing a Rear - Entry Design that when implemented on the Aouda.X, can potentially ease these impediments.This study aims at identifying a suitable Rear entry closure design for the current conguration of Aouda.X based on planetary suit performance indicators and operational requirements. The Aouda.X rear entry design is also targeted to be compatible with the NDX -Suitport developed by the University of North Dakota's Human Space Flight Laboratory. The thesis work comprises of the development of a suitable methodology to distinguish a rear entry design for the HUT and PLSS of the spacesuit simulator with the identication of a self-sealing/locking mechanism based on these requirements. A full scale CAD model of the HUT and PLSS with optimal dimensions of compatibility for the Spacesuit with the suitport is designed as a result of this study. Static load bearing analysis is performed to validate the feasibility of the structure and make suitabe recommendations for choice of materials. Methods for further improvement for rear entry suit development are outlined.

M.Tech. (Industrial Design) / This study investigated the user’s perspective with reference to the regular use of the WonderbagTM retained-heat cooker in low-income communities in a South African context. This research addresses the limitations of the literature available to support the investigation of the design of a fabric retained-heat cooker from a user’s perspective. As with the WonderbagTM retained-heat cooker, products aimed at underserved low-income communities are often designed without the participation of the end-user. This research focuses on the user’s experience of the fabric retained-heat cooker and seeks to include the user in the process of improving the design of these products. Participatory action research and user-centred design were utilised as the chosen methodologies for this study. The history of retained-heat cookers has been reflected upon when considering the use of insulation materials and alternative fabric improvements. Methods of manufacture, material cost and usage have been considered as critical elements of the design process as well as the skill level of the existing users. Participants indicated their personal interest in the design and development of the prototype retained-heat cooker. They were intensively involved in the design process from the focus group discussion where their perceptions were elicited, right through to their testing of the final prototype. A final workshop concluded the last of three workshops where participants provided individual feedback in terms of their personal experiences of using the prototype retained-heat cooker. Participants were able to selectively customise their prototypes, which brought about a sense of ownership and pride that was not evident in their use of previous retained-heat cookers. Participants indicated personal interest in creating their own retained-heat cookers from the experience that they acquired during the research process. As a result of this experience, the participants believed that they could manufacture their own retained-heat cookers to sell within their community, which could provide income for themselves and other members of their community. The saving of energy in terms of the fuel required to complete the cooking process translated into a direct saving of money, which was highlighted as a recurring theme and identified benefit of retained-heat cooking. By encouraging the use of energy-efficient retained-heat cookers, low-income communities could directly benefit from spending less on fuel costs and more on other essentials.

Aus der Einleitung: "An zukünftige intralogistische Systeme werden hohe Anforderungen in Bezug auf Dynamik und Flexibilität gestellt. In Verbindung mit dem übergeordneten Ziel ressourceneffiziente und klimaschonende Prozesse zu entwickeln sind innovative Lösungsansätze gefordert. Die Entwicklung eines schnellen Regalbediengerätes auf Basis der Steward-Gough-Plattform soll u. a. durch die Minimierung der zu bewegenden Massen diesen Anforderungen gerecht werden. Hiervon profitieren vor allem Flexibilität und Prozesszeiten. Das Vorhaben ist eingegliedert in ein Förderprogramm unter der Leitung des EffizienzCluster Logistik Ruhr (ECLR), welches sich u. a. mit der Bedeutung und den Potentialen der Logistik im urbanen Umfeld beschäftigt."

Aus der Einleitung: "An zukünftige intralogistische Systeme werden hohe Anforderungen in Bezug auf Dynamik und Flexibilität gestellt. In Verbindung mit dem übergeordneten Ziel ressourceneffiziente und klimaschonende Prozesse zu entwickeln sind innovative Lösungsansätze gefordert. Die Entwicklung eines schnellen Regalbediengerätes auf Basis der Steward-Gough-Plattform soll u. a. durch die Minimierung der zu bewegenden Massen diesen Anforderungen gerecht werden. Hiervon profitieren vor allem Flexibilität und Prozesszeiten. Das Vorhaben ist eingegliedert in ein Förderprogramm unter der Leitung des EffizienzCluster Logistik Ruhr (ECLR), welches sich u. a. mit der Bedeutung und den Potentialen der Logistik im urbanen Umfeld beschäftigt."

Weda AB är ett svenskt miljöteknikföretag som utvecklar produkter avsedda för undervattensrengöring. B600 är en av Wedas undervattensrengöringsrobotar som används inom den offentliga sektorn. B600 består av en kraftfull pump och kombineras med två roterande valsborstar både bak och fram. Valsborstarna är avsedda för att bara föra in smuts i pumpen under städning, vilket gör att B600 saknar idag skrubbeffekt för effektivare städning. Detta examensarbete är en fortsättning på de tidigare projekten genomförda åt Weda AB utförda på Kungliga Tekniska Högskolan (KTH). Målet är att ta fram ett lösningsförslag samt en fungerande prototyp av en extern borstmodul, samt eventuellt vidareutveckla åtgärder mot de brister som dök upp i de tidigare projekten och effektivisera städning på B600. Projektet består av fyra faser vilka är problemdefinition, förundersökning, konceptutveckling och utvärdering. Problemdefinitionsfasen innehar problembeskrivning, målformulering och avgränsningar. För att komma fram till ett lösningsförslag utifrån kundkrav och kundbehov identifieras produktspecifikationer. Genom att använda Quality Function Deployment (QFD) upprättades produktspecifikationer som var väsentliga för att kunna tillfredsställa kundkraven och för att veta vilka utgångspunkter detta projekt ska inrikta sig mot. Förundersökningsfas beskriver kortfattat om de tidigare projekten utförda på KTH samt presenterar olika material och olika tillverkningsprocesser inför produktion. Konceptutvecklingsfas omfattar CAD-modellering av lösningsförslag, prototypframtagning samt prototyptestning som säkerställer om lösningsförslaget kommer att fungera i verkligheten. Sista fasen utvärdering analyserar resultaten utifrån prototyptestning. / Weda AB is a Swedish environmental technology company that develops products intended for under-water cleaning. The B600 is one of Wedas underwater cleaning robots used in the public sector. B600 consist of a powerful pump and is combined with two rotating roller brushes, one on the front and the other one on the back. The roller brushes are intended to insert only dirt into the pump during the cleaning, which means that the B600 does not have today a scrubbing effect for more efficient cleaning. This thesis is a continuation of previous projects carried out at Weda AB and performed at the Royal Institute of Technology (KTH). The goal is to develop a proposal solution and a functional prototype of an external brush module that will further develop previous insufficiencies and streamline cleaning on the B600. The project consists of four phases which are planning, preliminary research, concept development and evaluation. The planning phase covers up problem description, goal definitions and delimitations set to minimize the scope of the project. To arrive at a proposal solution based on customer requirements and customer needs, identifies product specifications. By using Quality Function Deployment (QFD), product specifications were established which were essential to satisfy the customer requirements and to know which points of departure this project should focus on. Preliminary investigation describes briefly about previous projects performed at the KTH and presents various materials and different manufacturing processes that can be used at the production. Concept development phase includes CAD-modeling of the proposal solution, prototype development and prototype testing that ensures whether the proposal solution will work in reality. The final phase evaluation analyzes the results based on prototype tests.

In this thesis, an information system is designed and developed for engineer-to-order organizations to improve the traditional Bill-of-Material by handling variants of products and components efficiently. A database is developed to store the related information about inventories and configuration management in an effective way. The improved Bill-of-Material provides a common structure to access stored information for material management purposes. A model, based on network, is presented and included into the system for calculating time required to produce components and to make subassemblies or assemblies with the current inventory levels. The system is applied to T&Uuml / BiTAK-SAGE, which is an engineer-to-order organization carrying out Research and Development projects for Defense Industry.

Airborne Wind Energy Systems (AWES) harness the power of high-altitude winds using tethered planes or kites. Continuous and reliable operation requires that AWES become autonomous devices, but the wind intermittency forces the system to repeatedly take-off to start, and land to shut-off. Therefore, a common approach to facilitate the operation is implementing Vertical take-off and landing (VTOL) functionality. This thesis models and simulates AWES flights working towards the implementation of flight controller hardware and autonomous operation of an AWES demonstrator platform. The Ardupilot open-source autopilot platform provides a convenient tool for modeling, simulation, and hardware implementation of small-scale airplanes. An AWES lab-scale demonstrator was developed to obtain operational insight, get preliminary flight data, and real-world experience in this technology. A quadplane was developed by combining a structurally reinforced glider with VTOL and autopilot components. Its performance is obtained from static and aerodynamic studies and converted into the Ardupilot parameter format to define it in the simulation. An AWES flight model was developed from the ground up to evaluate the performance of a simple flight controller in trajectory tracking. The Ardupilot Software-in-Loop (SIL) tool expands the simulation capabilities by running the flight controller code without requiring any hardware. This allowed controller tuning and flight plan evaluation with a more advanced fight model. AWES crosswind flight simulation was only possible due to the incorporation of an elastic tether and an ideal winch into the physics model. As a result, different trajectories and configurations were tested to find the optimal parameters that were uploaded to the flight controller board. The operational capabilities of the AWES demonstrator were expanded with a flight testing campaign. By targeting individual objectives, each test gradually increased its complexity and ensured that the flight envelope was safely expanded. The results were validated with the simulation before moving on to the next flight test. The testing campaign is still underway due to challenges and limitations presented by the legal and logistical aspects of operating the quadplane. However, preliminary flight tests in VTOL mode have been completed and were consistent with the simulated results in terms of autonomous waypoint navigation and attitude control. / Graduate