Electrification is a trend that is on the rise within the aviation industry. Electrifying more systems in airplanes leads to increased efficiency and safety. GKN Aerospace intends to simulate electric machines as a preliminary step before conducting real-world experiments for the purpose of testing different machine designs. A simulation of an existing electric machine was made in this project seeking to replicate the characteristics of a synchronous machine installed in a test rig at GKN Aerospace. The simulation was made possible by measuring and estimating parameters from the machine. Furthermore, the report demonstrates the complexity of reverse-engineering an existing machine and how unexpected challenges made the development of the simulation model much harder than anticipated. The result confirms that a simulation model can be made by measuring and estimating the machine’s parameters. However, to get a more precise simulation, more exact measurements must be done, and more time to experiment with the input and output data in Motor-CAD. The simulation developed in this project can be applied to simulate steady-state behavior of the machine. A suggestion for future work includes more detailed measurements as well as further integrating the simulation in other software platforms to facilitate more dynamic simulations.

This master thesis project aims to complete and verify core functions of a test rig that is designed and built to emulate drive cycles for measuring the energy consumption of HEVs, especially a vehicle named ELBA from KTH Integrated Transport Research Lab (ITRL). To fulfill this goal, a simplified model is created for the test rig, whose involved parameters are identified through various experiments. Then the model is verified by both step voltage responses and sinusoidal current responses. Meanwhile, vehicle dynamics is modeled to calculate required resistance force for road slope emulation. Moreover, an existing method, vehicle equivalent mass, is utilized to compensate dynamic force of the vehicle body, enabling simulation of regenerative braking without an extra flywheel. Together with test rig’s model that is responsible for converting required resistance force to demanded current reference, the rig’s functions are completed and ready for final verification. As a result, the driver of the DC motor on the rig is found to has lower current limitation than required so that the rig is not able to entirely compensate dynamic force of the car. However, the feasibility of the principle is still proved by the tests. Based on the result, recommendations are given to solve the problem and achieve other improvements in the future. / Detta examensarbete syftar till att slutföra och verifiera kärnfunktioner i en testrigg som är designad och byggd för att emulera körcykler för att mäta energiförbrukningen för elhybridbilar, särskilt ett fordon som heter ELBA från KTH Integrated Transport Research Lab (ITRL). För att uppfylla detta mål skapades en förenklad modell för testriggen, vars parametrar identifieras genom olika experiment. Sedan verifieras modellen av både stegspänningssvar och sinusformade strömsvar. Under tiden modelleras fordonsdynamiken för att beräkna erforderlig motståndskraft för väglöpemulering. Samtidigt modelleras fordonsdynamiken för att beräkna den erforderliga motståndskraften för emulering av väglutningar. Dessutom används en befintlig metod, fordonsekvivalentmassa, för att kompensera fordonskroppens dynamiska kraft, vilket möjliggör simulering av regenerativ bromsning utan extra svänghjul. Tillsammans med testriggens modell som är ansvarig för att konvertera erforderlig motståndskraft till efterfrågad strömreferens, är riggens funktioner färdig och redo för slutlig verifiering. Som ett resultat har föraren av likström motorn på riggen visat sig ha lägre strömbegränsning än vad som krävs så att riggen inte helt kan kompensera bilens dynamiska kraft. Emellertid bevisas principens genomförbarhet fortfarande av testerna. Baserat på resultatet ges rekommendationer för att lösa problemet och uppnå andra förbättringar i framtiden.

The primary purpose of this research is to investigate the effectiveness of a scaled roller rig for accurately assessing the contact mechanics and dynamics between a profiled steel wheel and rail, as is commonly used in rail vehicles. The established creep models of Kalker and Johnson and Vermeulen are used to establish correction factors, scaling factors, and transformation factors that allow us to relate the results from a scaled rig to those of a tangent track. �Correction factors, which are defined as the ratios of a given quantity (such as creep coefficient) between a roller rig and a track, are derived and used to relate the results between a full-size rig and a full-size track. Scaling factors are derived to relate the same quantities between roller rigs of different scales. Finally, transformation factors are derived by combining scaling factors with correction factors in order to relate the results from a scaled roller rig to a full-size tangent track. Close-end formulae for creep force correction, scaling, and transformation factors are provided in the thesis, along with their full derivation and an explanation of their limitations; these formulae can be used to calculate the correction factors for any wheel-rail geometry and scaling. For Kalker's theory, it is shown that the correction factor for creep coefficients is strictly a function of wheel and rail geometry, primarily the wheel and roller diameter ratio. For Johnson and Vermeulen's theory, the effects of creepage, scale, and load on the creep force correction factor are demonstrated. �It is shown that INRETS' scaling strategy causes the normalized creep curve to be identical for both a full-size and a scaled roller rig. �It is also shown that the creep force correction factors for Johnson and Vermeulen's model increase linearly with creepage, starting with the values predicted by Kalker's theory. �Therefore, Kalker's theory provides a conservative estimate for creep force correction factors. �A case study is presented to demonstrate the creep curves, as well as the correction and transformation factors, for a typical wheel-rail configuration. �Additionally, two studies by other authors that calculate the correction factor for Kalker's creep coefficients for specific wheel-rail geometries are reviewed and show full agreement with the results that are predicted by the formulae derived in this study. �Based on a review of existing and past roller rigs, as well as the findings of this thesis, a number of recommendations are given for the design of a roller rig for the purpose of assessing the wheel-rail contact mechanics. �A scaling strategy (INRETS') is suggested, and equations for power consumption of a roller rig are derived. Recommendations for sensors and actuators necessary for such a rig are also given. Special attention is given to the resolution and accuracy of velocity sensors, which are required to properly measure and plot the creep curves. / Master of Science

The estimation of motion of multi-camera systems is one of the most important tasks in computer vision research. Recently, some issues have been raised about general camera models and multi-camera systems. Using many cameras as a single camera is studied [60], and the epipolar geometry constraints of general camera models is theoretically derived. Methods for calibration, including a self-calibration method for general camera models, are studied [78, 62]. Multi-camera systems are an example of practically implementable general camera models and they are widely used in many applications nowadays because of both the low cost of digital charge-coupled device (CCD) cameras and the high resolution of multiple images from the wide field of views. To our knowledge, no research has been conducted on the relative motion of multi-camera systems with non-overlapping views to obtain a geometrically optimal solution. ¶ In this thesis, we solve the camera motion problem for multi-camera systems by using linear methods and convex optimization techniques, and we make five substantial and original contributions to the field of computer vision. First, we focus on the problem of translational motion of omnidirectional cameras, which are multi-camera systems, and present a constrained minimization method to obtain robust estimation results. Given known rotation, we show that bilinear and trilinear relations can be used to build a system of linear equations, and singular value decomposition (SVD) is used to solve the equations. Second, we present a linear method that estimates the relative motion of generalized cameras, in particular, in the case of non-overlapping views. We also present four types of generalized cameras, which can be solvable using our proposed, modified SVD method. This is the first study finding linear relations for certain types of generalized cameras and performing experiments using our proposed linear method. Third, we present a linear 6-point method (5 points from the same camera and 1 point from another camera) that estimates the relative motion of multi-camera systems, where cameras have no overlapping views. In addition, we discuss the theoretical and geometric analyses of multi-camera systems as well as certain critical configurations where the scale of translation cannot be determined. Fourth, we develop a global solution under an L∞ norm error for the relative motion problem of multi-camera systems using second-order cone programming. Finally, we present a fast searching method to obtain a global solution under an L∞ norm error for the relative motion problem of multi-camera systems, with non-overlapping views, using a branch-and-bound algorithm and linear programming (LP). By testing the feasibility of LP at the earlier stage, we reduced the time of computation of solving LP.¶ We tested our proposed methods by performing experiments with synthetic and real data. The Ladybug2 camera, for example, was used in the experiment on estimation of the translation of omnidirectional cameras and in the estimation of the relative motion of non-overlapping multi-camera systems. These experiments showed that a global solution using L∞ to estimate the relative motion of multi-camera systems could be achieved.

Mobile offshore jack-up drilling rigs are not custom-designed for a particular location but rated for typical operating characteristics, like water depths. They may be deployed at a number of different sites during their design life. Under the current guidelines, the jack-up is required to be assessed for its suitability for each new proposed location, assuming environmental loading conditions due to wind, waves and current corresponding to a 50-year return period storm applicable to the site. Traditionally, these assessments have been performed in two dimensions, simplifying the jack-up to a plane frame and the loading conditions to be in-plane with the rig's 'axis of symmetry'. This thesis introduces a computer program, named SOS_3D, for the fluid-structure-soil interaction analysis of jack-up response in three dimensions. Extensive experimental series have been performed to provide evidence for the generalisation of the foundationsoil interaction model to general six degree-of-freedom loading conditions and its applicability to load paths and stress levels relevant to jack-up spudcans. These experiments included (1) 1g single footing tests, (2) centrifuge single footing tests and (3) centrifuge model jack-up tests. The latter tests highlighted differences in response and mode of failure depending on the loading direction of the jack-up and re-iterated the importance of three-dimensional modelling. The numerical program SOS_3D introduced early in this thesis was shown to represent a useful tool for the prediction of jack-up behaviour under general combined loading in three dimensions. It provided reasonably good, conservative predictions of the experimentally measured jack-up behaviour.

Trends such as increasing awareness of sustainable production, shorter product life cycles and personalised products create challenges for the mining industry. A solution to these challenges may be a functional product business model, where the provider sells the hardware’s function under a service contract and is responsible for delivering the combination of hardware and services over the duration of the contract. Under a functional product contract, it is of great importance to predict the availability performance of the hardware. For the mining company to strengthen its competitiveness even further, the reliability and maintainability are also crucial factors to reduce costs, maximise profits, minimise downtime, and improve forecasting of operating hours. The feasibility of performance modelling would be increased if it could be performed by a tool.In prior research related to the reliability of mining vehicles in underground mines, a research gap for drilling rigs was identified. The aim of the thesis was to build a prototype tool and develop a realistic test case to apply it to as a demonstration of how it can help mining vehicle (drilling vehicle) providers understand the impact of their failure modes, particularly from the perspective of providing those vehicles under functional product contracts. The focus was to develop a tool that can be accessible for decision makers within mine operating and mine vehicle provider companies who are not specialists in reliability and maintenance modelling.A simulation model was developed in JaamSim, a graphical user interface developed in Qt designer and the integration between them developed in the Python programming language. A realistic test case was constructed with the purpose of imitating a jumbo drill rig, specifically the Boomer M2 manufactured by Epiroc, used to develop tunnels in an underground mine. Three critical failure modes of the Boomer M2 were identified. Simulations of the test case show that the bent boom arm failure mode had greatest influence on the availability of the drill rig.The developed prototype tool demonstrates the value of decision support tools for measuring the impact of failure modes on functional product contracts and its potential for aiding their negotiation and adoption. The tool has a low complexity regarding usage which should increase its usefulness for decision makers. To increase the tools usefulness further, extending its flexibility of application to other mining vehicles and different maintenance policies has been identified as the next steps for future work.Key words:

Made available in DSpace on 2014-12-17T15:48:00Z (GMT). No. of bitstreams: 1 GustavoAS_DISSERT.pdf: 3060399 bytes, checksum: 659289bc757f2443a1b6902094747b13 (MD5) Previous issue date: 2012-02-27 / This work approaches the Scheduling Workover Rigs Problem (SWRP) to maintain the wells of an oil field, although difficult to resolve, is extremely important economical, technical and environmental. A mathematical formulation of this problem is presented, where an algorithmic approach was developed. The problem can be considered to find the best scheduling service to the wells by the workover rigs, taking into account the minimization of the composition related to the costs of the workover rigs and the total loss of oil suffered by the wells. This problem is similar to the Vehicle Routing Problem (VRP), which is classified as belonging to the NP-hard class. The goal of this research is to develop an algorithmic approach to solve the SWRP, using the fundamentals of metaheuristics like Memetic Algorithm and GRASP. Instances are generated for the tests to analyze the computational performance of the approaches mentioned above, using data that are close to reality. Thereafter, is performed a comparison of performance and quality of the results obtained by each one of techniques used / O trabalho em quest?o aborda o Problema da Programa??o das Sondas de Produ??o (PPSP) para atender os po?os de um campo de petr?leo. Embora de dif?cil resolu??o, ele ? de extrema import?ncia econ?mica, t?cnica e ambiental. Uma formula??o matem?tica deste problema ? apresentada, assim como desenvolvida uma abordagem algor?tmica. O problema abordado pode ser considerado como o de encontrar o melhor escalonamento de atendimento aos po?os pelas sondas, levando em considera??o a minimiza??o da composi??o dos custos relativos ?s sondas e da perda total da produ??o de petr?leo associada aos po?os que est?o aguardando por atendimento. Tal problema assemelha-se ao Problema de Roteamento de Ve?culos (PRV), que ? classificado como pertencente ? classe de problemas NP-Dif?cil. O objetivo da presente pesquisa ? desenvolver uma abordagem algor?tmica para resolver o PPSP, utilizando os fundamentos de metaheur?sticas como o Algoritmo Mem?tico e o GRASP. Inst?ncias s?o geradas para a realiza??o dos testes computacionais para an?lise do desempenho das abordagens acima citadas, utilizando dados que se aproximam da realidade. A partir da?, ? realizada uma compara??o de desempenho e qualidade dos resultados obtidos por cada uma das t?cnicas utilizadas

[pt] Na indústria do petróleo e gás, uma das atividades de maior importância é a intervenção em poços para serviços de manutenção, a qual é necessária para garantir a produção de petróleo. Estas intervenções são realizadas por sondas workover que são disponibilizadas para atender uma grande quantidade de poços segundo um itinerário. Nesta tese são propostos três modelos de programação linear inteira para abordar eficientemente o problema de intervenção em poços terrestres de petróleo. O primeiro modelo determina o itinerário de um conjunto de sondas homogêneas, visando minimizar a perda total de produção. Este modelo é um aprimoramento do modelo proposto por Costa e Ferreira Filho (2004). O segundo modelo é uma extensão do anterior e considera também o dimensionamento de uma frota de sondas heterogênea, procurando minimizar o custo de perda de produção e o custo de aluguel de sondas. O terceiro modelo é uma abordagem estocástica que estende o segundo modelo e consiste em dimensionar uma frota de sondas considerando o tempo de intervenção incerto. A incerteza do tempo de intervenção é representada mediante a geração de cenários, usando para este fim os métodos de Monte Carlo, Redução de Cenários e Quasi-Monte Carlo. Os testes de estabilidade propostos por Kaut e Wallace (2003) são aplicados para avaliar os métodos de geração de cenários e estabelecer o número de cenários adequados para resolver o problema. Para avaliar o desempenho dos modelos propostos, diversos experimentos computacionais foram realizados em instâncias de pequeno, médio e grande porte. Todas as instâncias são baseadas em casos reais no Brasil. Os resultados mostram que os modelos propostos foram capazes de resolver todas as instâncias utilizadas, inclusive aquelas de grande porte, demonstrando serem eficientes quando comparadas com várias metaheurísticas, pois produzem soluções exatas em um curto tempo computacional. Uma análise do impacto nas soluções quando ocorre uma mudança no preço de petróleo e no horizonte de planejamento também é realizada. A metodologia de resolução empregada no terceiro modelo mostrou que o método Quasi-Monte Carlo proporcionou os melhores cenários para representar a incerteza e também o potencial do modelo para resolver problemas de grande porte. / [en] In the oil and gas industry, one of the most important activities is the intervention in wells for maintenance services, which is necessary to ensure the production of oil. These interventions are performed by workover rigs that are available to serve a large number of wells according to a schedule. In this thesis, we proposed three integer linear programming models to efficiently address the problem of intervention in onshore oil wells. The first model determines the schedule of a set of homogeneous rigs, with the objective of minimizing the total production loss. This model is an improvement of the model proposed by Costa and Ferreira Filho (2004). The second model is an extension of the previous one and also considers the sizing of a heterogeneous rig fleet, with the objective of minimizing the production loss cost and the rig rental cost. The third model is a stochastic approach that extends the second model and consists of sizing a rig fleet considering the uncertainty in the intervention time. The uncertainty in the intervention time is represented by the generation of scenarios, using for this purpose the Monte Carlo, Scenario Reduction, and Quasi-Monte Carlo methods. The stability tests proposed by Kaut and Wallace (2003) are applied to evaluate the scenario generation methods and to establish the number of appropriate scenarios to solve the problem. To evaluate the performance of the proposed models, several computational experiments were performed in small, medium and large instances. All instances are based on real cases in Brazil. The results show that the proposed models were able to solve all of the instances considered, including the large instances, proving to be efficient when compared to various metaheuristics, as they produce exact solutions in small computational time. An analysis of the impact on the solutions when there is a change in the oil price and the planning horizon is also carried out. The resolution methodology employed in the third model showed that the Quasi-Monte Carlo method provided the best scenarios to represent the uncertainty and also the potential of the model to solve large-scale problems.

Submitted by Vera Sirlene Leonardo (vsleonardo2@gmail.com) on 2017-04-25T21:54:10Z No. of bitstreams: 1 Tese Do desenho nacional à Dinanimica local.pdf: 3314211 bytes, checksum: 7fe935d78deba7bedf6e21befc4d17ba (MD5) / Approved for entry into archive by Maria Tereza Fernandes Conselmo (maria.conselmo@fgv.br) on 2017-04-28T16:24:25Z (GMT) No. of bitstreams: 1 Tese Do desenho nacional à Dinanimica local.pdf: 3314211 bytes, checksum: 7fe935d78deba7bedf6e21befc4d17ba (MD5) / Made available in DSpace on 2017-05-02T12:42:00Z (GMT). No. of bitstreams: 1 Tese Do desenho nacional à Dinanimica local.pdf: 3314211 bytes, checksum: 7fe935d78deba7bedf6e21befc4d17ba (MD5) Previous issue date: 2017-04-07 / This thesi’s aim is to analyse the implementation of a brazilian housing program, MCMV, in ordem to identify if this process is affected by the legacy of the policies that are formulated at the local level of government and by its path. The program structure, the federal government institutional resources provided in order to achive the program’s purpose were studied along with the results and the municipal management’s dynamic on the program’s implementation. The literature has its base on intergovernmental relations and federative coordination to indicate that the federal government mechanisms were insufficient to make the municipality producing enough housing to families with low income according to the area’s housing deficit. Its argued that the implementation process is affected by the action of local actors who controls the process and used to decided how the policies will be implemented and what will be implemented. This point of view is supported by the implementation theory and by the path dependence approach, both help understanding the performance of these actors in the dynamics of the local implementation. The research is theoretical empirical, qualitative, case study regarding the research strategy, wich the empirical object is the municipality of Maringá- PR and the instrument used to collected the data was a semistructured interview. The results shows that despite the intergovernmental articulation weakness, the competences between the federatives bodies worked as complementary because the municipality has contributed donating building sities in order to policy feasible. It was concluded that few units builted and located on the suburb, despite being supplied with social facilities they suffer the consequences of a strong agreement between public actors and interest groups that guide their actions to promote the town, fact that increases housing prices limiting the possibilities of producing housing for low income families. / Essa tese tem por objetivo analisar o processo de implementação da política habitacional, o programa MCMV, de modo a demonstrar se esse processo é afetado pelo legado das políticas que são elaboradas no nível local de governo e pela sua trajetória. Foram analisados, de um lado o desenho do programa e os recursos institucionais que o governo federal dispunha para alcançar os seus objetivos e, de outro, os resultados e a dinâmica da gestão municipal na implementação do programa. A tese apoia-se na literatura sobre relações intergovernamentais e coordenação federativa para mostrar que os mecanismos do governo federal foram insuficientes para induzir o município a produzir a quantidade de unidades habitacionais previstas com base no déficit habitacional da região para as famílias de baixa renda. Argumenta-se que o processo de implementação é afetado pela ação dos atores locais que tem o controle do processo e decidem o que e como serão implementadas as políticas. Esse argumento é sustentado pela teoria da implementação e pela abordagem da path dependence para auxiliar na interpretação da atuação desses atores na dinâmica da implementação local. A pesquisa é empírico-teórica, qualitativa, estudo de caso quanto à estratégia de pesquisa, cujo objeto empírico é o município de Maringá-Pr e os dados foram levantados por meio de entrevista semiestrutura. Os resultados mostram que apesar da frágil articulação intergovernamental houve complementariedade de competências entre os entes federativos, visto que o município subsidia com a doação de terrenos para viabilizar a política. Conclui-se que o cenário das poucas unidades produzidas e localizadas nos bairros periféricos, apesar de estarem supridas pelos equipamentos sociais, é reflexo da forte aliança entre os atores públicos locais e os grupos de interesse que direcionam suas ações voltadas para a promoção da cidade, fato que inflaciona o custo do imóvel, limitando as possibilidades de produção de moradia para a população de baixa renda.

The aim of this thesis is the structural design small drilling rigs for drilling wells. Drilling rig will be used for drilling wells up to 200 mm diameter rotary drilling technology with irrigation water. The first part is a literature search of small drilling rigs. In the second part, then custom design a small drilling rig.