V současné době se zvyšuje potřeba rozvoje agilních výrobních postupů, které lze snadno přizpůsobit neustálému zavádění nových produktů na trh. Jednobodové inkrementální tváření je nový, inovativní a proveditelný tvářecí proces s jednoduchým uspořádáním. Proces se provádí při pokojové teplotě (tváření za studena) a vyžaduje CNC stroj, nástroj s kulovou hlavou a jednoduché příslušenství pro uchycení obrobku plechu. V samotném procesu jde o přírůstkové formování, řízené CNC programem. Plastická deformace je lokalizována pod formovacím nástrojem takže plech je tvářen souhrnem pohybů lokální plastické zóny. Tento proces je zdlouhavý a proto se hodí pouze pro prototypovou výrobu nebo pro malé výrobní dávky. Na druhé straně umožňuje vyšší tvářitelnost ve srovnání s konvenčními procesy tváření, umožňuje použití levných nástrojů a také je charakterizován krátkou dobou od návrhu po výrobu produktu. Tato práce je výsledkem mezinárodní spolupráce Danmarks Tekniske Universitet v Lyngby a Instituto Superior Técnico v Lisabonu. Práce začíná krátkým hodnocením dílčích tvářecích procesů, pokračuje představováním jednobodového inkrementálního tváření a identifikací jeho praktických aplikací. Teoretická část obsahuje přehled nového rámce pro jednobodové inkrementální tváření, který je vytvořen na základě analýzy styku třecích sil. Praktická část projektu poskytuje úplný popis experimentálních technik použitých pro charakterizaci materiálů a stanovení limitů tvářitelnosti, dále se analyzuje vliv různých vstupních parametrů procesu (poloměru nástroje, tepelné zpracování materiálu obrobku, druh maziva,...). Tato část také obsahuje přehled experimentálního uspořádaní procesu jednobodového inkrementálního tváření i krátký popis CAD / CAM vývoje tří testovacích modelů. Poté jsou popsány v samostatné kapitole výsledky pozorování a analýzy hlavních parametrů procesů, které ovlivňují tvařitelnostní limity v jednobodovém inkrementálním tváření v souvislosti s aplikovaným teoretickým rámcem. Výsledky experimentů z časti objasňují probíhající mezinárodní diskusi kolem tvářitelnosti mechanismu jednobodového inkrementálního tváření vzhledem k tradičním metodám tváření. Jako logické pokračování prováděných experimentů, byla práce rozšířena na více-stupňové jednobodové inkrementální tváření, které umožňuje tváření součástek (kalíšku) se svislými stěnami ve více krocích. Za účelem objasnění procesů spojených s tímhle procesem byly navrženy a ve čtyřech krocích vyrobeny dva experimentální modely. Hlavním přínosem této práce k více-stupňovému jednobodovému inkrementálnímu tváření byla úspěšná výroba součásti s nekruhovým průřezem a kolmými stěnami. S cílem aplikovat celkové znalosti získáných v předchozích částí práce byla vyrobena prototypová součást. Popis designu a vývoje prototypu je součástí práce. V neposlední řadě jsou celkové závěry uvedené v poslední kapitole. Předpokládá se, že tato práce přizpívá k lepšímu pochopení mechanismu jednobodového inkrementálního tváření.

The demand for outdoor precise location is increasing with the development of new applications such as autonomous vehicles, exploration robots and wireless sensor networks. Global Navigation Satellite System (GNSS) is the go-to system for outdoor localization. This thesis focuses on developing new methods for GNSS single-point positioning (SPP) model, where no access to a reference station or precise GNSS parameters is needed. We investigated the limitations of the standard method, least- squares adjustment (LSA), and we derived the Cramer-Rao bounds for the SPP estimation problem. We also investigated different techniques to formulate the positioning problem with the goal to increase the accuracy. A new method is developed by reformulating the problem as difference-of-convex program (DC program) and utilizing convex-concave procedure (CCCP) to solve the positioning problem without linearizing the observation equations. In addition, we examined the potential of multiple-receiver systems in increasing the accuracy. We formulated the multiple- receiver SPP estimation problem, and we proposed to configure the multiple receivers in a fixed equilateral triangle to exploit the symmetry and the geometrical constraints of the configuration. We extended the use of LSA in multiple-receiver system. We also developed a modification of LSA algorithm, named least-squares adjustment extension (LSAE), that utilizes attitude information and the constraints of the multiple-receiver system. In addition, we developed a new algorithm to optimizes the SPP estimates over the equilateral triangles Riemannian manifold, which enforces the geometrical constraints of the multiple-receiver system. Furthermore, we derived the constrained and the unconstrained Cramer-Rao bounds (CRB and CCRB) for the multiple-receiver SPP problem. Moreover, we investigated the influence of both attitude information and the equilateral triangle baseline length on the algorithms’ performances and the derived CCRB. Finally, we carried out a numerical analysis by implementing the algorithms and the bounds in MATLAB, where we tested the algorithms on simulated GNSS scenarios. The proposed multiple-receiver methods provide more precise estimates for the SPP problem in comparison to the single receiver methods.

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Forklifts are commonly perceived as simple machines that are not representative of modern technology. However, a deeper analysis uncovers their inherent complexity and sophistication. This project aims to develop a tire model for indoor forklifts with sufficient accuracy that it can replace the need for physical tests and significant calibration, thereby shortening development time and decreasing costs. This report is part of a Master's thesis work on modeling shocks generated when driving over obstacles with a forklift. The project is conducted in collaboration with Linköping University and Toyota Material Handling Manufacturing Sweden. Various methods for modeling tire behavior, along with different contact types, have been explored and tested, primarily focusing on the Fiala tire model. Developing a tire model that accurately captures all aspects of driving over obstacles is a challenging endeavor. Despite several challenges, the findings presented in this report suggest that, with additional time, it is possible to develop a model that effectively simulates shocks across various speeds and obstacle heights.

O presente trabalho investiga o comportamento da chapa de latão C268, com 0,50 mm de espessura, quando exposto ao processo de Estampagem Incremental de Chapas de Metal (Incremental Sheet Metal Forming -ISMF). Especificamente para a pesquisa, foram utilizadas as modalidades de Estampagem Incremental com Ponto Simples (Single Point Incremental Forming- SPIF) e Estampagem Incremental de Múltiplos Passes (Multi Pass Single Point Incremental Forming- MSPIF). Os experimentos foram baseados em uma geometria de tronco de pirâmide de base quadrada com 100 mm de lado e 45 mm de profundidade. Para as estratégias de estampagem foi atribuído, a estampagem helicoidal. Como resultado principal, foi verificado o ângulo de parede máximo atingido por cada processo de estampagem incremental. Adicionalmente, ensaios de tração, análise de deformações e de rugosidade da chapa de latão foram realizados. Todos os seus resultados estão detalhados na investigação. Para os parâmetros adotados nestes experimentos, o ângulo de parede obtido por SPIF foi maior do que pelo estudo proposto por MSPIF. / The present study investigates the performance of the brass plate C-268 with 0.50 mm thickness, when exposed to Incremental Sheet Metal Forming (ISMF). Specifically for research, it was used the modalities Single Point Incremental Forming (SPIF) and Multi Pass Single Point Incremental Forming (MSPIF). The experiments were based on a truncated pyramid geometry with square base 100 mm side and 45 mm depth. For forming strategies has been assigned, the helical forming. As the main outcome, it was found the maximum wall angle achieved by each process of incremental printing. In addition, tensile tests, analysis of deformation and roughness of the brass sheet were performed. All results are detailed in the investigation. For the parameters used in these experiments, the wall angle obtained by SPIF is greater than the study proposed by MSPIF.

O objetivo deste trabalho foi identificar a influência das condições de usinagem sobre o acabamento superficial no faceamento de uma liga de alumínio com ferramenta de diamante. Os parâmetros de corte variados foram: velocidade de corte, avanço e profundidade de corte. De acordo com a bibliografia consultada apenas o avanço e o raio de ponta da ferramenta afetam diretamente o acabamento superficial, sendo que quanto menor o avanço e maior o raio de ponta melhor será o resultado em termos de rugosidade superficial. A profundidade de corte é dita apenas influenciar na força de corte e não no acabamento. Outro parâmetro de corte que segundo a bibliografia não apresenta influência seria a velocidade de corte, sendo que sua variação não afeta os resultados de acabamento superficial. Os ensaios demonstraram que dentre as condições de corte estudadas o avanço é o parâmetro de maior influência, com os menores valores de rugosidade obtidos para um avanço de 2 &#956m/rev. A profundidade de corte apresentou pouca influência no acabamento, apresentando um efeito previsto pela literatura, o \"size effect\", a uma profundidade de corte de 3 &#956m, e a velocidade de corte não apresentou influência. A liga de alumínio testada foi a 7075-T6. Utilizou-se uma ferramenta de diamante monocristalino nova com raio de ponta de 1.524 mm e ângulos de folga e de saída de 11º e 0º, respectivamente. / The objective of this work was to identify the influence of the cutting conditions on surface roughness of an aluminum alloy faced with a single-point diamond tool. The cutting parameters to be varied were: feedrate, depth of cut and cutting speed. According to the literature, only the feedrate and the tool nose radius have direct influence on surface roughness, in the following way: The lower the feedrate and the greater the nose radius, the better the surface roughness. The depth of cut is said only to influence on the cutting forces and do not affect the surface roughness. The cutting speed also has no influence on surface roughness, according to the literature. Experimental investigation has demonstrated that, among the tested cutting conditions, the feedrate has the most influence with low values of surface roughness obtained at a feedrate of 2 &#956m/rev. The depth of cut has very little influence on the surface finish. lt just showed an effect foreseen by the literature, the size effect, at a depth of cut of 3 &#956m and the cutting speed has not showed any influence. The aluminum alloy investigated was 7075-T6. A fresh diamond tool was used, with a nose radius of 1.524 mm and 11º and 0º clearance and rake angle, respectively.

O objetivo deste trabalho foi identificar a influência das condições de usinagem sobre o acabamento superficial no faceamento de uma liga de alumínio com ferramenta de diamante. Os parâmetros de corte variados foram: velocidade de corte, avanço e profundidade de corte. De acordo com a bibliografia consultada apenas o avanço e o raio de ponta da ferramenta afetam diretamente o acabamento superficial, sendo que quanto menor o avanço e maior o raio de ponta melhor será o resultado em termos de rugosidade superficial. A profundidade de corte é dita apenas influenciar na força de corte e não no acabamento. Outro parâmetro de corte que segundo a bibliografia não apresenta influência seria a velocidade de corte, sendo que sua variação não afeta os resultados de acabamento superficial. Os ensaios demonstraram que dentre as condições de corte estudadas o avanço é o parâmetro de maior influência, com os menores valores de rugosidade obtidos para um avanço de 2 &#956m/rev. A profundidade de corte apresentou pouca influência no acabamento, apresentando um efeito previsto pela literatura, o \"size effect\", a uma profundidade de corte de 3 &#956m, e a velocidade de corte não apresentou influência. A liga de alumínio testada foi a 7075-T6. Utilizou-se uma ferramenta de diamante monocristalino nova com raio de ponta de 1.524 mm e ângulos de folga e de saída de 11º e 0º, respectivamente. / The objective of this work was to identify the influence of the cutting conditions on surface roughness of an aluminum alloy faced with a single-point diamond tool. The cutting parameters to be varied were: feedrate, depth of cut and cutting speed. According to the literature, only the feedrate and the tool nose radius have direct influence on surface roughness, in the following way: The lower the feedrate and the greater the nose radius, the better the surface roughness. The depth of cut is said only to influence on the cutting forces and do not affect the surface roughness. The cutting speed also has no influence on surface roughness, according to the literature. Experimental investigation has demonstrated that, among the tested cutting conditions, the feedrate has the most influence with low values of surface roughness obtained at a feedrate of 2 &#956m/rev. The depth of cut has very little influence on the surface finish. lt just showed an effect foreseen by the literature, the size effect, at a depth of cut of 3 &#956m and the cutting speed has not showed any influence. The aluminum alloy investigated was 7075-T6. A fresh diamond tool was used, with a nose radius of 1.524 mm and 11º and 0º clearance and rake angle, respectively.

Germanium is a brittle semi-metal, used for lenses and windows in Thermal Imaging Systems since it transmits infrared energy in the 2 &micro / m - 12 &micro / m wavelength range at peak. In this thesis study, polycrystalline diamond is used as cutting tool material to machine germanium. Diamond is the hardest, most abrasion-resistant material and polycrystalline diamond is produced by compacting small diamond particles under high pressure and temperature conditions, which results more homogeneous, improved strength and a durable material. However, slightly reduced hardness is obtained when compared with natural diamond. Different from finish cutting, rough cutting, performed before finishing, is used to remove most of the work-piece material. During rough cutting, surface roughness is still an important concern, since it affects the finishing operations. Roughness of the surface of product is affected by a number of factors such as cutting speed, depth of cut, feed rate as cutting parameters, and also rake angle as tool geometry parameter. In the thesis, the optimum cutting and tool geometry parameters are investigated by experimental studies for rough cutting of germanium with polycrystalline diamond tools. Single Point Diamond Turning Machine is used for rough cutting, and the roughness values of the optical surfaces are measured by White Light Interferometer. Experiments are designed by making use of &ldquo / Full Factorial&rdquo / and &ldquo / Box-Behnken&rdquo / design methods at different levels considering cutting parameters as cutting speed, depth of cut, feed rate and tool geometry parameter as rake angle.

O presente trabalho investiga o comportamento da chapa de latão C268, com 0,50 mm de espessura, quando exposto ao processo de Estampagem Incremental de Chapas de Metal (Incremental Sheet Metal Forming -ISMF). Especificamente para a pesquisa, foram utilizadas as modalidades de Estampagem Incremental com Ponto Simples (Single Point Incremental Forming- SPIF) e Estampagem Incremental de Múltiplos Passes (Multi Pass Single Point Incremental Forming- MSPIF). Os experimentos foram baseados em uma geometria de tronco de pirâmide de base quadrada com 100 mm de lado e 45 mm de profundidade. Para as estratégias de estampagem foi atribuído, a estampagem helicoidal. Como resultado principal, foi verificado o ângulo de parede máximo atingido por cada processo de estampagem incremental. Adicionalmente, ensaios de tração, análise de deformações e de rugosidade da chapa de latão foram realizados. Todos os seus resultados estão detalhados na investigação. Para os parâmetros adotados nestes experimentos, o ângulo de parede obtido por SPIF foi maior do que pelo estudo proposto por MSPIF. / The present study investigates the performance of the brass plate C-268 with 0.50 mm thickness, when exposed to Incremental Sheet Metal Forming (ISMF). Specifically for research, it was used the modalities Single Point Incremental Forming (SPIF) and Multi Pass Single Point Incremental Forming (MSPIF). The experiments were based on a truncated pyramid geometry with square base 100 mm side and 45 mm depth. For forming strategies has been assigned, the helical forming. As the main outcome, it was found the maximum wall angle achieved by each process of incremental printing. In addition, tensile tests, analysis of deformation and roughness of the brass sheet were performed. All results are detailed in the investigation. For the parameters used in these experiments, the wall angle obtained by SPIF is greater than the study proposed by MSPIF.

Time Difference Of Arrival (TDOA) based position tracking technique is one of the pinnacles of sports tracking technology. Using radio frequency com-munication, advanced filtering techniques and various computation methods, the position of a moving player in a virtually created sports arena can be iden-tified using MATLAB. It can also be related to player’s movement in real-time. For football in particular, this acts as a powerful tool for coaches to enhanceteam performance. Football clubs can use the player tracking data to boosttheir own team strengths and gain insight into their competing teams as well. This method helps to improve the success rate of Athletes and clubs by analyz-ing the results, which helps in crafting their tactical and strategic approach to game play. The algorithm can also be used to enhance the viewing experienceof audience in the stadium, as well as broadcast.In this thesis work, a typical football field scenario is assumed and an arrayof base stations (BS) are installed along perimeter of the field equidistantly.The player is attached with a radio transmitter which emits radio frequencythroughout the assigned game time. Using the concept of TDOA, the position estimates of the player are generated and the transmitter is tracked contin-uously by the BS. The position estimates are then fed to the Kalman filter, which filters and smoothens the position estimates of the player between the sample points considered. Different paths of the player as straight line, circu-lar, zig-zag paths in the field are animated and the positions of the player are tracked. Based on the error rate of the player’s estimated position, the perfor-mance of the Kalman filter is evaluated. The Kalman filter’s performance is analyzed by varying the number of sample points.