Avhandlingen presenterar resultatet av ett examensarbete i maskindesign på KTH. Uppgiften utfördes för ABB AB, Corporate Research.ABB vill undersöka en ny drivlinjekonstruktion för lågkostnadsautomatisering. ABB Robotiks har begränsat utbud av produkter rörande mobila plattformar. Det finns en stor marknadspotential för samarbetsrobotar på mobila plattformar bland kunder med både låg och hög grad av automation.I denna rapport diskuteras en möjlig designlösning av drivlinan för en mobil robotplattform. Generellt är utformningen av en robust drivlina för mobilplattform en komplex uppgift eftersom inte alla arbetsförhållanden är lika i en industriell installation. Till exempel kan vissa industriområden för logistik och andra för tung teknik etc. Idag finns det mycket fa designer av mobila industriplattformar konstruerade för ojämn yta, ytor med sprickor, stötar och liknande ojämna egenskaper. Befintliga industriella lösningar är utformade för jämna ytor inom gränserna for golvdesignen och överensstämmer också med lasterna på plattformens drivlina. En robust lösning föreslås i denna rapport. Detta baseras på en litteraturöversikt med konstruktionsarbete inkluderande lättillgängliga billiga komponenter samt modellutvärdering för att klara specifikationen av grova golv ojämnheter. Studien för att implementera en stötdämpare baserad drivlinjemodul har också inkluderats för att undersöka möjligheten att ha ett sådant drivsystem. Andra funktioner inkluderar också en inbyggd styrenhet som gör den mer kompakt genom att minska ledningar runt plattformen. Prestanda utfördes i en simuleringsmiljö för att se stötdämparens beteende. Den slutliga konstruktionen versionen byggdes som prototyp för vidare utvärdering i test. / This thesis presents the result of a master thesis in Machine Design at KTH. The task was performed for ABB AB, Corporate Research.ABB wants to investigate in a new driveline designs for low cost automation. ABB robotics doesn’t have any products concerning mobility application. There is a huge market potential for collaborative robots on mobile platforms with customers with both low and high budget of automation.This report discusses one possible design solutions of the driveline for a mobile robot platform. Generally, designing a robust driveline for mobile platform is a complex task since not all working conditions are alike in an industrial setup. For instance, some industrial area might for logistics, some might be for heavy engineering, etc. Moreover, there aren’t industrial platforms designed for uneven surface, surfaces having cracks, bumps and similar uneven features. The ones which can cope unevenness are for extreme off-road military conditions. Existing industrial solutions are designed for even surfaces within limits and the floor design is also in accordance to the platform driveline. A robust solution is proposed here after conducting a literature review with solid evidence and evaluation for the same to sustain rough floor designs with readily available inexpensive components. Study for implementing a shock absorber-based driveline module has also been included within to look at a possibility to have such a drive system. Other features also include an on-board controller which reduces the hassle of wiring around the complete platform. The performance was conducted on a simulation environment to see the behaviour of the shock absorber. The final design was prototyped for further evaluation.

No description available.

<p>Objectives: (1) to assess whether computer simulation modeling or process modeling have improved medication management systems, including informing the design of e-prescribing systems for Canada, and (2) to build and validate a workflow diagram of the handwritten medication management process in the community setting for Canada and use it to obtain feedback from stakeholders.</p> <p>Methods: A systematic review was conducted to assess whether the modeling techniques have improved medication management systems. A workflow diagram was developed and used to obtain feedback from stakeholders as to where problems exist in the current paper-based process and where information technology might be of help. Analyses were descriptive and qualitative.</p> <p>Results: The systematic review identified 13,376 citations, 8 of which were included in the full data extraction. The review revealed that simulation models of e-prescribing systems have been developed, but their accuracy and usefulness has not been established. One process model had been used to analyze a Canadian medication management system, but no evidence was found that process models had any positive impact on e-prescribing development in Canada.</p> <p>Fifteen stakeholders, including 5 physicians, 5 pharmacists, and 5 members of the public provided feedback using the workflow diagram. All stakeholders agreed that the diagram was a realistic representation of the actual handwritten medication management process, suggesting face validity. The majority of stakeholders identified the most problematic processes as generating the prescription by the physician (9/15 (60.0%)) and drug checking by the physician (6/15 (40.0%)).</p> <p>Conclusions: There is a lack of published evidence on simulation models and process models, and the studies that exist do not suggest any benefit in informing e-prescribing design. We developed and established face validity for a workflow diagram of the paper-based medication management cascade. Stakeholders believed that generating the prescription and drug checking by the physician could be improved by e-prescribing.</p> / Master of Science (MSc)

This thesis estimates potential runway throughput gains using a reduced wake separation based on the 123 most prevalent aircraft in the United States fleet. The analysis considers Runway Occupancy Time (ROT) constraint factors and existing geometric design factors. This research extracts the historic data from Airport Surface Detection Equipment Model X (ASDE-X) for analysis. The Runway Exit Design Interactive Model (REDIM) is used to optimize the runway exit locations and reduce ROT. The runway throughput and safety factors are generated from a Monte Carlo runway simulator. This thesis focuses on selected US airport runways that could benefit from geometric optimization. The study aims to estimate ROT improvements through improved runway exit locations and the changes in runway throughput considering ROT constraint factors. The results of the thesis show that Dallas Fort Worth International Airport (DFW) runway 35C and Denver International Airport (DEN) runway 16R have the potential to improve the ROT. After the optimization to locate runway exits, the ROT time of the RECAT group F and G aircraft (greater than 90% of the arrivals) was reduced by three to five seconds (a very significant effect). After the ROT reductions and with the application of reduced wake separation criteria with the ROT constraint factor applied, the arrival-only capacity of DFW runway 35C improved by 3.5 arrivals per hour. The arrival-only capacity on DEN runway 16R improved by 2.14 arrivals per hour. Both runways maintained a probability of violation between time-based separation and ROT time at around 1.5%. The study concludes that the application of reduced wake separation criteria alone is a necessary but insufficient condition to improve the efficiency of arrival runways. Through careful improvements of runway exit locations, reductions in ROT provide reliability and efficiency to the operation of runways. / Master of Science / This thesis estimates potential runway throughput gains using a reduced wake separation based on the 123 most prevalent aircraft in the United States fleet. The analysis considers Runway Occupancy Time (ROT) constraint factors and existing geometric design factors. This research extracts the historic data from Airport Surface Detection Equipment Model X (ASDE-X) for analysis. The Runway Exit Design Interactive Model (REDIM) is used to optimize the runway exit locations and reduce ROT. The runway throughput and safety factors are generated from a Monte Carlo runway simulator. This thesis focuses on selected US airport runways that could benefit from geometric optimization. The study aims to estimate ROT improvements through improved runway exit locations and the changes in runway throughput considering ROT constraint factors. The results of the thesis show that Dallas Fort Worth International Airport (DFW) runway 35C and Denver International Airport (DEN) runway 16R have the potential to improve the ROT. After the optimization to locate runway exits, the ROT time of the RECAT group F and G aircraft (greater than 90% of the arrivals) was reduced by three to five seconds (a very significant effect). After the ROT reductions and with the application of reduced wake separation criteria with the ROT constraint factor applied, the arrival-only capacity of DFW runway 35C improved by 3.5 arrivals per hour. The arrival-only capacity on DEN runway 16R improved by 2.14 arrivals per hour. Both runways maintained a probability of violation between time-based separation and ROT time at around 1.5%. The study concludes that the application of reduced wake separation criteria alone is a necessary but insufficient condition to improve the efficiency of arrival runways. Through careful improvements of runway exit locations, reductions in ROT provide reliability and efficiency to the operation of runways.

This thesis discusses enhancements to the Global Demand Model (GDM). The model addresses the need to predict: a) number of flights Worldwide by Origin-Destination (OD) airport pair, b) the number of seats (surrogate of demand) by OD airport pair, c) the fleet evolution over time, d) fuel consumption by OD pair and aircraft type, and emissions by OD pair and aircraft type. The model has developed an airline fleet assignment module to predict changes to the airline fleet in the future. Specifically, the model has the capability to examine the fuel and emission benefits of next generation N+1 aircraft and advanced NASA's N+2 aircraft are adopted in the future. / Master of Science

The catchability coefficient is used in most marine stock assessment models, and is usually assumed to be stationary and density-independent. However, recent research has shown that these assumptions are violated in most fisheries. Violation of these assumptions will cause underestimation of stock declines or recoveries, leading to inappropriate management policies. This project assesses the soundness of stationarity and density independence assumptions using multi-species data for seven stocks and four gears in the U.S. Gulf of Mexico. This study also develops a multi-species methodology to compensate for failures of either assumption. To evaluate catchability assumptions, abundance-at-age was reconstructed and compared with catch-per-unit-effort data in the Gulf. Mixed-effects, Monte Carlo, and bootstrap analyses were applied to estimate time-varying catchability parameters. Gulf data showed large and significant density dependence (0.71, s.e. 0.07, p<0.001) and increasing trends in catchability (2.0% annually compounding, s.e. 0.6%, p < 0.001). Simulation modeling was also used to evaluate the accuracy and precision of seven different single-species and multi-species estimation procedures. Imputing estimates from similar species provided accurate estimates of catchability parameters. Multi-species estimates also improved catchability estimation when compared with the current assumptions of density independence and stationarity. This study shows that multi-species data in the Gulf of Mexico have sufficient quantity and quality to accurately estimate catchability model parameters. This study also emphasizes the importance of estimating density-dependent and density-independent factors simultaneously. Finally, this study shows that multi-species imputation of catchability estimates decreases errors compared with current assumptions, when applied to single-species stock assessment data. / Master of Science

Potentielle Steuerreformen befinden sich regelmäßig auf der Tagesordnung der politischen Diskussion in Deutschland und Europa. Die erwarteten Aufkommens- und Verteilungswirkungen von Steuerreformen werden von Simulationsmodellen quantifiziert, die damit der politischen Entscheidungsunterstützung dienen. Bisherige Simulationsmodelle basieren auf makroökonomischen oder unternehmensindividuellen Daten und führen die Analyse für einen historischen Zeitraum oder für einzelne Länder durch. Vor diesem Hintergrund stellen die Beiträge dieser Dissertation das Design, die Implementierung und die Anwendung des Mikro-Simulationsmodells ASSERT dar. ASSERT basiert auf unkonsolidierten Jahresabschlussdaten sowie Beteiligungsbeziehungen europäischer Unternehmen, länderspezifischen Parameterdaten und berücksichtigt die nationalen Besteuerungsvorschriften der europäischen Länder. Die Simulation der zukünftigen Unternehmensentwicklung erlaubt eine vorwärtsgerichtete Analyse für mögliche nationale oder europäische Steuerreformszenarien unter Unsicherheit. Dabei werden Auswirkungen auf inländische und ausländische verbundene Unternehmen berücksichtigt. Das formale und steuerliche Design von ASSERT wird in Beitrag 1 erläutert. Die Anwendung von ASSERT erfolgt dann in Beitrag 2. Ziel dieses Beitrags ist die Quantifizierung der Auswirkungen möglicher Reformszenarien zur alternativen Besteuerung der ertragsteuerlichen Organschaft in Deutschland. Die Präsentation des Entwicklungsprozesses, des optimierten IT-Designs und der Implementierung ist Gegenstand von Beitrag 3. Zunächst wurde ASSERT für eine zeitnahe Realisierung funktionenorientiert konzipiert und realisiert. Nachfolgend wurde ein ganzheitliches Datenbankdesign und ein integriertes Programm-Paket erstellt, um Verbesserungen der Performance und der Wartbarkeit zu erzielen. Da zu erwarten ist, dass unternehmerische Entscheidungen durch Steuerreformen beeinflusst werden, werden in Beitrag 4 Verhaltensreaktionen in Bezug auf die Finanzierungsstruktur berücksichtigt und die resultierenden Zweitrundeneffekte für verschiedene Szenarien ermittelt. Die Modellierung der Zielkapitalstruktur erfolgt in Abhängigkeit des tariflichen, des marginalen Steuersatzes und weiteren Konzerncharakteristika.

Neste trabalho é proposto um modelo para estimar a geração e a distribuição de viagens intraurbanas baseado em agentes, denominado Modelo GDA. Neste modelo foram aplicadas simulações em Sistemas Multiagentes (SMA), nas quais foram usadas, como dados de entrada, informações relativas ao morador e ao uso do solo. Na estimativa da geração de viagens, a simulação SMA foi usada para estimar uma população sintética baseada nas informações sociodemográficas dos moradores e para obter um plano de atividades associado a cada morador. Na estimativa da distribuição de viagens, a simulação SMA foi usada para obter uma matriz Origem-Destino (OD) com base no plano de atividades dos moradores e nos atributos do uso do solo. Para definir os critérios da distribuição de viagens, foram testadas teorias alternativas à força gravitacional, como a teoria das redes livres de escala e o conceito de path dependence. Foi feita uma aplicação do Modelo GDA na cidade de São Carlos (SP), cujos resultados estimados foram comparados aos resultados observados, provenientes da pesquisa Origem-Destino (OD), e aos resultados estimados obtidos pela aplicação de modelos gravitacionais nesta cidade. Os resultados mostraram que os resultados estimados obtidos pelo Modelo GDA são tão acurados quanto aos do modelo gravitacional. Conclui-se que o Modelo GDA, comparativamente ao modelo gravitacional, possui vantagens quanto à sua aplicabilidade, pois em vez de serem utilizados pelo modelo dados provenientes de pesquisas de tráfego, geralmente onerosos e de difícil aquisição; são empregados dados acerca do morador e do uso do solo, de fácil coleta e atualização periódica. / In this work, an agent-based model in order to estimate trip generation and trip distribution in an intra-urban context (GDA model) is proposed. Simulations using Multiagent Systems (MAS), with input data concerning dwellers and land use were applied in this model. To estimate the trip generation, the MAS simulation was used to elaborate a synthetic population based on sociodemographic information of the dwellers and to obtain an activity plan of each dweller. To estimate the trip distribution, the MAS simulation was used to obtain an Origin-Destiny (OD) matrix based on the dwellers activity plans and the land use characteristics. To define the trip distribution rules, alternative theories to gravitational force like free scale networks and path dependence theories were tested. The GDA model was applied in the urban area of São Carlos (Brazil), whose estimates was compared to the observed data from the OD survey and the estimate data from the Gravity model applied in this same area. The results showed that the estimates from the GDA Model are as accurate as from the Gravity Model. It was observed that the GDA Model presents advantages in relation to the Gravity Model because instead of using traffic survey data, which often is expensive and difficult to get, it uses dwellers and land use information, which is periodically collected from government researches, making it easy for government agencies to obtain this information.

As metodologias normalmente utilizadas para otimizar as dimensões de uma usina hidroelétrica, incluindo os métodos empregados pelo Setor Elétrico Brasileiro, baseiam-se em análises do tipo custo/benefício. Os custos provêm de gastos diretos com a construção da usina e os benefícios correspondem a receitas proporcionadas pela venda de energia. Para avaliar os benefícios, são realizadas simulações da operação da usina e a energia produzida é valorizada economicamente. Esta necessidade das simulações da operação faz com que o problema de dimensionamento não possua uma função analítica explícita para determinar os benefícios energéticos, o que dificulta a implementação de métodos tradicionais de otimização. O objetivo deste trabalho é justamente desenvolver e implementar uma metodologia de dimensionamento que permita que o processo de busca pelas dimensões ótimas seja automático. Para tanto, acoplam-se um modelo de otimização evolutiva e um modelo de simulação da operação de sistemas hidroelétricos. Adicionalmente, o modelo proposto também deve ser flexível, permitindo que as regras de operação do sistema hidroelétrico, o conjunto de vazões afluentes, a forma de valorização da energia gerada e uma série de outros fatores sejam tratados como parâmetros do modelo. Os resultados encontrados indicam que, sob o ponto de vista computacional, o modelo proposto é automático, flexível e eficiente. Além disso, as várias análises de sensibilidade realizadas atestam a consistência da metodologia proposta e permitem avaliar a forma como os diferentes parâmetros do modelo influenciam as próprias dimensões da usina sob dimensionamento. A partir destas análises, sugerem-se algumas medidas de regulamentação e planejamento para que as dimensões de novas usinas não sejam determinadas a partir de sinalizações imprecisas de parâmetros que influenciam de forma decisiva suas dimensões ótimas. / The methods normally applied to optimally size a hydropower plant, including the ones used by the Brazilian Power Industry, are based on cost/benefit analysis. The costs are due to direct expenses with the hydropower plant construction and the benefits correspond to incomes from selling energy. The benefits are evaluated throughout computing simulations of the hydropower plant operation, followed by the assignment of an economical value to the energy produced by it. The need for computing simulations turns out a non-analytical objective function for the sizing problem, what makes the use of traditional optimization tools very hard. The objective of this work is just to develop and implement a sizing method that automatically performs the search for the optimal sizes of a hydropower plant. The proposed method combines an evolutionary optimization technique and a simulation model for the operation of hydropower systems. Additionally, the proposed model is also flexible in the sense that the operation rules for the hydroelectric system simulation, the set of water inflows, the way the energy is valued and some other factors that may influence the results are treated as parameters. The results show that, from the computing point of view, the proposed method is automatic, flexible and efficient. Furthermore, the sensitivity analyses performed validate the method consistency and establish relationships among the different parameters and the way they affect the optimal features of the new hydropower plant. Based on the results of such analyses, some regulation and planning measures are suggested in order to avoid sizing hydropower plants with mistaken parameters that can substantially change its optimal features.

<p>U okviru istraživačkog rada formiran je matematički model za simulaciju<br />procesa transformacije energije u postrojenju gasne turbine pri<br />sagorevanju gasova srednje ili niže toplotne moći. Data je analiza procesa<br />kosagorevanja gasa iz gasifikacije kukuruznog oklaska i prirodnog gasa u<br />postrojenju gasne turbine, za tri različite konfiguracije postrojenja.<br />Analiza je rađena na primeru osnovnog Joule-ovog ciklusa sa vazduhom<br />hlađenim lopaticama.</p> / <p>This paper presents mathematical model for simulation of energy<br />transformation process in gas turbine facility with combustion of medium<br />and low calorific gases. The basis of the mathematical model is the<br />M&uuml;ller&rsquo;s method. Analysis of co-firing the corn cob gas and natural gas for<br />different gas turbine facility configurations is presented. The basic Joule<br />cycle with blade cooling was analyzed.</p>