During the last couple of years several studies have been conducted to investigate how children move and position during car rides. This in order to map when, and for how long children sit in positions that are not safe as well as to identify the reason for these movements. One of the conclusions is that children do not always sit comfortable in today’s belt-positioning boosters and thereby they chose positions that are unwanted for safety reasons. The aim for the master thesis has thereby been to improve seating comfort for children while traveling safely in the rear seat of a car. The target group has been children in ages 5-11 years old with body height 110-145 cm, a Swedish population 50 percentile has been used for the extreme dimensions. The master thesis process is divided in three phases; Discovery, Development and Testing and Evaluation. In the Discovery phase information in the areas child safety, child methodology and comfort was gathered through literature study, interviews with experts, benchmarking and a focus group with parents. As a final step customer needs were formulated. In the Development phase a workshop with children was initially performed to complement the customer needs with inputs from the users. The customer needs were afterwards reformulated into a specification of requirements and five comfort hypotheses. Finally a prototype was developed, designed from the requirements with the purpose to validate the comfort hypotheses, using an anthropometric design method (Osvalder, et al., 2010). In the final phase, Testing and Evaluation, the prototype and reference belt-positioning boosters were evaluated by children in two user studies; one static study and one on road study, to evaluate comfort features and try out different seating comfort evaluation methods. The result is divided into child seating comfort characteristics and child seating comfort methodology guidelines. To assist future development of belt-positioning boosters, seven comfort features are defined to help children ride comfortable in a safe position in the car. Furthermore, 13 child methodology guidelines are formulated to help further seating comfort evaluation with children. Conclusively to make children sit comfortable and safe positioned in the car they should be seated in a belt-positioning booster with headrest, backrest, seat cushion and foot support, the supporting parts need to be perceived as soft around head, back and under the buttock and all parts need to be dimensioned for all children in the target group. The size of the belt-positioning booster and the combination of foam thickness, foam hardness and shape are the main factors for affecting the perceived seating comfort. Furthermore, children shall be included as both design partners and testers during the development of belt-positioning boosters. During the prototype development static comfort evaluation with children should be done repeatedly to verify measurements, shape and foam hardness. To evaluate comfort both static evaluation and on road evaluation should be performed since comfort varies over time. Data should be collected subjectively from children through quantitative methods, such as rating scales, and qualitative methods, such as general questions regarding comfort/discomfort experience. Video observations can identify children’s position during car rides. Different positions can be timed and together with subjective data reasons for repositioning can be identified.

Vinkelväxlar och slutväxlar spelar en viktig roll för kraftöverföringen mellan motor och hjuli fyrhjulsdrivna bilar. Med en ökande konkurrens finns en efterfrågan för att ständigt förbättraeffektivitet, ljudgenereringegenskaper och hållfasthet. För att uppnå detta krävs en bättreförståelse av systemets dynamiska egenskaper. En detaljerad numerisk dynamisk modell ärdock ofta beräkningsmässigt tung och tidskrävande. Verktygen för den dynamiska modelleringenbehöver bli mer effektiva och i vissa fall kan en kombinationen av två verktyg vara ett bättrealternativ. Denna integrerade plattform kan användas för att effektivt modellera dynamiken ochfå en bättre inblick i systemts beteende.Vinkelväxlen är en enhet vars funktion är att fördela kraften mellan fram- och bakaxel. De viktigastekomponenterna i vinkelväxeln är en hypoid-drevsats och en klokoppling, som aktiveras närkraft ska överföras till bakaxeln via kardanaxeln. Detta arbete modellerar dynamiskt beteendei vinkelväxeln och har sytftet att beräkna transmissionsfelet i systemet och dess effekt somexciteringskälla av ljud och vibrationer i systemet. MSC ADAMS har använts för Multi-Bodyberäkningsverktyg för modelleringen.Det beräknade transmissionsfelet har jämfört med testresultat. Dessutom har en co-simuleringmed både ADAMS och SIMULINK genomförts för att skapa en bas för tillämpa optimeringsalgoritmer.Bultarna i bultförbandet samt deras styvhet och förspänning har inkluderats i modellenoch studerats med avseende på effekten på vibrationer i kopplingspunkter, samt algoritmerför optimering har föreslagits. Korrelationen mellan test och beräkning var mycket god, ochdessutom har förslag på hur denna typ av beräkning kan förbättras ytterligare givits. / Automotive drive units play an important role in transmitting power from an engine to the wheels.In today’s competitive world, there is an increasing demand for these devices to be more efficient,quiet, and reliable at the same time. In order to achieve this, a better understanding of system’sdynamic behavior is necessary. A detailed dynamic model of a system is often computationallyintense to solve and time consuming. This demands more efficient tools to be developed and insome cases integrating two or more tools would be a better option. The integrated platform can beused to effectively model the dynamic behavior of a system and get better insights on the systembehavior.Power Transfer Unit (PTU) is a device whose function is to distribute power between a front axleand rear axle. This unit basically includes hypoid gear set and a dog clutch that is engaged whenthere is a requirement to transfer power to the Rear Drive Unit (RDU) through prop shaft. Thismaster thesis describes modeling the dynamic behavior of a PTU with a goal of predicting thetransmission error in the system and its effect as a source of excitation on the entire unit followedby studying system response to this type of excitation. MSC ADAMS was used as a Multi-BodySimulation tool to model the dynamic behavior of the PTU.The transmission error predicted by the simulation was compared with the test results, a cosimulationbetween SIMULINK and ADAMS was established in order to create a platform toapply optimization algorithms. The bolt and bearing stiffness were incorporated in the model andtheir effect on the mounting point accelerations and bearing point accelerations were studied. Itwas found that the bolt stiffness affects the acceleration levels at the coupling points and suitablealgorithms could be applied in order to find an optimum value. As a result of the good correlationbetween test and simulation data, some other useful conclusions have been derived in order todevelop this approach of modeling.

Autonomous driving is one of the megatrends in today’s automotive industry. Passengers are expected to do more non-driving tasks in an autonomous driving vehicle. Therefore, the comfort of the vehicle has become a more important factor for the passengers. This thesis investigates the possibility of increasing comfort through an integrated active chassis control strategy. First, this thesis has defined comfort in objective ways. Then, the objective comfort evaluation variables are used for comfort evaluation of the vehicle in different scenarios. The improvement in comfort is evaluated for four active chassis systems, including active suspension, active anti-roll bar, active rear-wheel steering and torque vectoring systems. Since more than one active chassis system can affect vehicle body motion in one direction, those four active chassis systems should be controlled in an integrated way. The model predictive control (MPC) is used because it can control a multi-input multi-output system in an optimized way. Two MPC controllers have been developed in this thesis to control multiple active chassis systems for comfort improvement. The original MPC controller is a linear MPC controller that uses a time-invariant state-space vehicle model. The adaptive MPC controller is a linear MPC controller that uses a time-variant state-space vehicle model. These two controllers are tested in the simulation software CarMaker with various scenarios, such as slalom, double lane-change, and bumps that are both symmetrical and shifted unsymmetrical. Finally, the simulation results are evaluated with objective comfort evaluation methods to assess the controller performances in comfort improvement. In conclusion, the model predictive control can be a feasible way to improve comfort with multiple active chassis systems. The simulation results show that the two MPC controllers can reduce the objective comfort evaluation variables. The discussions of the design process and simulation results point out future works that need to be done before this project becomes a product of real vehicles. / Autonom körning är en av megatrenderna i dagens bilindustri. Passagerare förväntas utföra fler icke-körrelaterade uppgifter i ett autonomt fordon. Därför har fordonets komfort blivit en allt viktigare faktor för passagerarna. Denna avhandling undersöker möjligheten att öka komforten genom en integrerad aktiv chassikontrollstrategi. Som utgångspunkt har denna avhandling definierat komfort på objektiva sätt. Sedan används de objektiva komfortvärderingsvariablerna för komfortutvärdering av fordonet i olika scenarier. Förbättringen av komfort utvärderas för fyra aktiva chassisystem, inkluderande aktiv fjädring, aktiv krängningshämmare, aktiv bakhjulsstyrning och drivmomentvektorisering. Eftersom mer än ett aktivt chassisystem kan påverka fordonets rörelse i en riktning, bör dessa fyra aktiva chassisystem styras på ett integrerat sätt. Modellprediktiv reglering (MPC) används eftersom den kan styra ett multi-input multi-output system på ett optimerat sätt. Två MPC-reglersystem har utvecklats för att styra flera aktiva chassisystem för komfortförbättring. Den ursprungliga MPC-reglerenheten är en linjär MPC-regulator som använder en tidsinvariant fordonsmodell. Den adaptiva MPC-reglerenheten är en linjär MPC-regulator som använder en tidsvariant fordonsmodell. Dessa två reglersystem testas i simuleringsprogramvaran CarMaker i olika scenarier, till exempel slalom, dubbelt körfältsbyte och väg-gupp som är både symmetriska och osymmetriska. Slutligen utvärderas simuleringsresultaten med objektiva komfortutvärderingsmetoder för att bedöma reglersystemens komfortförbättring. Sammanfattningsvis kan modellprediktiv reglering vara ett genomförbart sätt att förbättra komforten med flera aktiva chassisystem. Simuleringsresultaten visar att de två MPC-regulatorerna kan reducera de objektiva komfortutvärderingsvariablerna. Diskussionerna om designprocessen och simuleringsresultaten tar upp framtida arbeten som behöver göras innan detta projekt kan förverkligas i riktiga fordon.

The Integrated Vehicle Dynamics Control (IVDC) concept can influence the vehicle behaviour both longitudinally and laterally with just one upper level control concept and further lower level controllers. This demands for state estimation of the vehicle which also includes estimating parameters of interest for the vehicle dynamicist. The approach to this research is firstly in developing a robust unscented Kalman filter (UKF) estimator for the vehicle side slip tracking and also for cornering stiffness estimation which is then fed to the existing model predictive control allocation (MPCA) controller to enhance the lateral stability of the vehicle for the different manoeuvres studied. Based on these developments, two types of filters are created. One with adaption of distance between center of gravity (COG) and roll center height and another without adaption. The key factor in the estimator development is the time adaptive process covariance matrix for the cornering stiffnesses, with which only the initial values have to be parameterised. Combining this research encompasses effective and adaptive method for a better quality of estimation with a kinematic vehicle model which behaves like a real world vehicle, at least virtually.This study is carried out with the understanding of various optimal estimators, parametric sensitivity analysis and statistical inferences, facilitating a base for robust estimation. Keywords: kalametric, state estimation, design matrix, aliasing, kalman filter, projection algorithm, resolution / Konceptet Integrated Vehicle Dynamics Control (IVDC) kan påverka fordonets beteende både longitudinellt och lateralt med bara ett regler koncept iett övre lager och ytterligare regulatorer på lägre nivåer. Detta kräver tillståndsuppskattning av fordonet som också inkluderar uppskattning av parametrar av intresse för en fordonsdynamiker. Tillvägagångssättet för denna studie är för det första att utveckla en robust tillståndsestimering med hjälp av ett Unscented Kalman Filter (UKF) för att uppskatta ett fordons avdriftsvinkel och även för uppskattning av ett däcks sidkraftskoefficient, vilket sedan används i den befintliga modell-prediktiva regleralgoritmen (MPCA) för att förbättra lateralstabiliteten hos fordonet för de olika studerade manövrarna. Baserat på denna utveckling skapades två typer av filter, ett med anpassning av avståndet mellan tyngdpunkten (COG) och krängcentrumhöjden och ett annat utan anpassning. Nyckelfaktorn i estimeringsutvecklingen är den tidsberoende adaptiva inställningenav processkovariansmatrisen för sidkraftskoefficienterna, med vilken endast de initiala värdena behöver parametriseras. Efter filterutvecklingen identifieras parametrar baserade på en förväntad kundanvändning och en statistisk variansanalys (ANOVA) utförs för att bestämma de mest inflytelserika faktorerna i gruppen. En parameteroptimering utförs för att förbättra uppskattningskvaliteten. Kombinationen av detta arbete omfattar en effektiv och anpassningsbar metod för en bättre uppskattningskvalitet med en kinematisk fordonsmodell som har en fordonsrespons som ett verkligt fordon, åtminstone praktiskt taget. Denna studie har genomförts med förståelse för olika optimala estimatorer, parametrisk känslighetsanalys och statistiska slutsatser, vilket underlättaren bas för robust uppskattning. Nyckelord: kalametric, tillståndsestimering, designmatris, vikningsdistorsion, kalmanfilter,projection algorithm, upplösning

Jia Zhang-ke est un cinéaste chinois. Il est généralement considéré comme une figure de la Sixième génération. De son premier court-métrage Xiao Shan Going Home (1995) jusqu’à I Wish I Knew, de son premier films trilogie Xiao Wu, artisan pickpocket (1997), Platform (2000), Plaisirs Inconnus (2002) qui est considéré comme des films underground, à la sortie en Chine de Still Life en face du film blockbuster La cité interdite de Zhang Yi-mou, Jia Zhang-ke reste fidèle à son attitude de cinéaste de films d’auteur. Il ne change jamais. Il est un authentique paradigme de la société chinoise. Il est comme un écrivain qui enregistre la mutation de la société chinoise des années 1980 et 1990 jusqu’à aujourd’hui. Il cherche la vérité, avec sincérité, soucieux de ne jamais simplifier la réalité, dans le respect de l’homme et de la complexité de sa vie quotidienne. Ce que je crois avoir bien dégagé dans ma thèse, c’est la fertilité des oppositions symétriques : arrière-garde et avant-garde, ancien et nouveau, tradition et modernité, culture réservée à une certaine élite et culture de masse. Parce que Jia Zhang-ke est toujours un entre-deux : Oriental et Occidental, procédure de fiction et procédure documentaire. / Jia Zhang-ke is a Chinese film director. He is generally regarded as a leading figure of the Sixth Generation mouvement of Chinese cinema. From his first short Xiao Shan Going Home (1995) to the last film I Wish I Knew (2010), from his early films trilogy Xiao Wu (1997), Platform (2000), Unknown Pleasures (2002), which are considered underground film, to the film Still Life in front of the blockbuster film Curse of the Golden Flower by Zhang Yi-mou, Jia Zhang-ke remains faithful to his attitude film d'auteur. He never changes. He is a true paradigm of Chinese society. He is as a writer who records the transformation of Chinese society in the 1980s and 1990s until today. He seeks the truth with sincerity, careful, not to simplify the reality, within the respect of man and the complexity of everyday life. What I think I have identified in my work, is the fertility oppositions symmetrical: avant garde and rear garde, old and new, traditional and modernity, cultural elite and mass culture. Because Jia Zhang-ke is always an in-between: Oriental and Occidental, process documentary and fiction process. / 贾樟柯是一位中国导演.他被公认为是第六代电影导演的代表人物.从他的第一部短片小山回家,（1995年），直到海上传奇（2010年），从他的第一个故乡三部曲，小武（1997年），站台（2000年），任逍遥（2002）, 他的地下电影时期，到三峡好人, 和张艺谋的大制作满城尽带黄金甲同日公映,贾樟柯始终保持他作者导演的态度。他从来没有改变. 他是一个真正的中国社会的范式。他像是一个作家，记录了中国社会在20世纪80年代和90年代直到今天的社会转型。他用真诚寻求真理，小心的从来不简化现实, 尊重人和日常生活的复杂性。在我的论文中,我坚持用对比：后卫和先锋，旧的和新的，传统与现代，精英文化和大众文化。因为贾樟柯总是跨界：东方和西方，剧情

Genom våra två fallstudier har vi undersökt formuleringsarenans intentioner vad gäller elevinflytande i förhållande till hur dessa tar sig uttryck i praktiken. För att finna formuleringsarenans intentioner har vi använt oss av Skolkommitténs tre utgångspunkter om varför elever skall ges inflytande i skolan. Skolkommittén har på ett konkret och förståeligt sätt redogjort för tre motiveringar till elevinflytande vilka benämns som: ”Mänsklig rättighet”, ”Demokratifostran” och ”Elevers inflytande över sitt lärande”.   I vår text har vi eftersträvat att ringa in ämnesområdet och ge läsaren en tillräcklig bakgrund för vidare läsning. För att vidga vår förståelse för elevdemokrati idag ser vi det med andra ord som angeläget att mer översiktligt och kort redogöra för en historisk tillbakablick. Med vår undersökning som underlag hävdar vi att elevdemokrati sett ur elevperspektiv, observatörperspektiv och lärarperspektiv kan te sig mycket olika. Eleverna talar om sitt inflytande i förhållande till deras mänskliga rättigheter såsom när de ska sova, äta och om att få vara inomhus när det är kallt. Det framkommer även att praktiserandet av elevdemokrati i de båda undersökta klassrummen tycks vara avhängigt lärarens egen uppfattning om vad elevdemokrati är och vilka demokratiska förmågor som är viktiga att utveckla i klassrummet. Ytterligare en intressant iakttagelse vi har gjort i vår studie är att skolans sociokulturella upptagningsområde inverkar och påverkar skolans förutsättningar och behov att utöva elevdemokrati. Denna iakttagelse förefaller intressant och anses av oss författare som lämplig för vidare studier. Vår uppsats är begränsad av en tidsram och lämnar oss och förmodligen andra med frågor för vidare forskning. Vår förhoppning är att denna uppsats ger läsaren reflektioner och ett väckt intresse kring elevdemokrati och elevinflytande. / Trough our two case studies we have sought to explore how and if, the description of democracy in the Swedish curriculum is viable in the reality. To our benefit the Skolkommitténs three motivations for pupils’ democracy, named “human right”, “democratic upbringing” and “pupils’ influence over their own learning”, has been useful. In this text the reader will find an attempt to surround the subject and give enough background information for comprehension. By using the methods of conversations with pupils, classroom observations and teacher interviews at two different schools, including literature studies, we have been able to make the conclusion that the realisation of the curriculum is a long process of transformation and influence from various angles. We have found that the meaning of pupils’ democracy differs depending on whose perspective is being regarded. Pupils tend to focus their human rights. Such as when to eat, sleep or wanting to stay inside when it is cold outside. Teachers on the other hand seem to solely be the ones to decide what impact pupils’ democracy will have in the classroom, and what democratic abilities that are important for pupils to acquire. Amongst our results we find the sociocultural surroundings from where the pupils derive as distinguished from the others concerning the schools conditions for pupils’ democracy. This fact has also encouraged our interest and we will pass this on as a future matter of research. Our research has nevertheless been restricted by schedule and leaves us and probably others with questions for further research, however our hope is that this essay will give the reader enough thoughts to see the relevance in our research.

This thesis deals with a mechanical design of a front wheel hub carrier and a rear wheel hub carrier for Formula SAE. It contains the main design as well as the control of a screw and computer loading solve process. The essential objectives of this thesis are the optimization of the mechanical design and following manufacturing of desired parts and their practical usage in a Formula SAE race car.

The main goal of this thesis is to get an insight into a field of non-destructive testing using potential drop techniques that have nowadays become the standard not only in the fatigue and loading tests but also in the industry. These methods can serve to non-destructively and continuously measure material specimens, thickness, corrosion losses, deformations, spectroscopy and detection and analysis of crack geometry. They can help to identify materials and measure material changes over time. The second part of this thesis deals with designing the aperture for detection of cracks in steam and product piping using potential drop technique modified by Ing. Ladislav Korec, CSc. Last part deals with extensive testing, experimenting and evaluation of the aperture.

The dissertation thesis deals mainly with determining of the duration that driver needs to assess the situation behind his vehicle at manoeuvers of turning and overtaking, based on the measurements made in real road traffic. These are common and frequent driving manoeuvers, which the driver performs while driving the vehicle in regular road traffic. For their safe execution the driver needs to have sufficient amount of information about the situation around the vehicle and especially behind the vehicle. This information can driver usually gain from devices for indirect vision, most often rear view mirrors. The time thus defined, suitable e.g for the needs of forensic engineering applications for the analysis of road accidents, has not been studied in detail yet. For the purpose of its determination, therefore, an extensive analysis of the current state of problematics related to the indirect vision from the vehicle was carried out. There were formulated influences on the time duration and with this related characteristics of humans as a part of the driver-vehicle-environment system in the thesis. The characteristics of human perception were investigated and the problematics of reaction time was discussed. Existing research focused on the duration of rear view mirrors glances was analyzed and possible methods of its measurement in detail were presented by author. Based on this, an experiment was designed and realized, the time necessary for rear view mirror glances was defined by the author. The results enable to quantify the time that the driver needs for assessing the situation behind the vehicle in connection of turning, overtaking and other driving manoeuvers when the driver needs to change the driving direction. The conclusions showed that the time needed to evaluate the situation behind the vehicle by means of the rear-view mirrors does not normally exceed duration 1 second.

Heart rate, Oxygen saturation, HR, SpO2, MATLAB, smartphone, mobile phone, photopletysmogram, PPG