abstract: In the past decade, real-world applications of Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicles (UAV) have increased significantly. There has been growing interest in one of these types of UAVs, called a tail-sitter UAV, due to its VTOL and cruise capabilities. This thesis presents the fabrication of a spherical tail-sitter UAV and derives a nonlinear mathematical model of its dynamics. The singularity in the attitude kinematics of the vehicle is avoided using Modified Rodrigues Parameters (MRP). The model parameters of the fabricated vehicle are calculated using the bifilar pendulum method, a motor stand, and ANSYS simulation software. Then the trim conditions at hover are calculated for the nonlinear model, and the rotational dynamics of the model are linearized around the equilibrium state with the calculated trim conditions. Robust controllers are designed to stabilize the UAV in hover using the H2 control and H-infinity control methodologies. For H2 control design, Linear Quadratic Gaussian (LQG) control is used. For the H infinity control design, Linear Matrix Inequalities (LMI) with frequency-dependent weights are derived and solved using the MATLAB toolbox YALMIP. In addition, a nonlinear controller is designed using the Sum-of-Squares (SOS) method to implement large-angle maneuvers for transitions between horizontal flight and vertical flight. Finally, the linear controllers are implemented in the fabricated spherical tail-sitter UAV for experimental validation. The performance trade-offs and the response of the UAV with the linear and nonlinear controllers are discussed in detail. / Dissertation/Thesis / Masters Thesis Aerospace Engineering 2018

In the context of Service-Oriented Systems (SOS), services represent loosely coupled discrete units that can be created, invoked, composed and decomposed upon a client request. In such a setting, where complex systems are composed out of services based on the client request, ensuring the expected level of Quality-of-Service (QoS) becomes a difficult task. In systems built on service-oriented principles, the formal specification of both functional and extra-functional system behavior, service availability, compatibility and interoperability between different services and systems have become important issues. To be compliant with the new features, the REMES language has been extended towards SOS with new constructs that have been given formal semantics. In this thesis, we propose transformation rules, definitions and techniques for transforming these new constructs into Timed Automata (TA) counterparts to facilitate the formal analysis. Also, we present an extension to an existing REMES SOS IDE toolset for performing an automated transformation of the REMES SOS models into the TA framework suitable for the formal analysis with the UPPAAL model-checker. The contribution from our work is on two fronts: a) define transformation rules for all of the constructs specific for the REMES SOS modeling and b) prototype implementation of the transformation rules as an extension add-on to the already existing IDE for modeling SOS to perform the automated transformation. The benefit of performing an automated transformation of the REMES SOS models in TA is twofold. First, by automating the transformation process, the process of validation of the models becomes faster. Second, we considerably reduce the influence from the human factor in the entire process, and at the same time lower the risks of introducing errors into the systems in the phase of creating the formal model. Additional benefit from the automated process is that the SOS designer does not have to be a verification expert in order to be able to verify the modeled system.

Commissioned by the government, SOS Alarm has undertaken the assignment to be responsible for the emergency calls within Sweden. They are also performing commissions for the county councils in dispatching ambulances. SOS Alarms business concept is to develop, offer and perform services to create safety in emergency situations and to create a safer society. To develop the ambulance services in Sweden, SOS Alarm started a project in the beginning of 2003. The project is called OPAL, Optimized Ambulance Logistics, and it is being conducted in cooperation with Linköpings Universitet. Ambulance Logistics is the planning, implementation and control of resources and information used to facilitate an efficient way of serving a person in need of out-of-hospital medical care, including possible transportation. Among other things, the OPAL-project has resulted in a preparedness calculator. The calculator calculates the preparedness for certain areas in Sweden (so far Dalarna and the county of Stockholm) and visualizes the preparedness on a digital map to support the persons who dispatch the ambulances. If an area has “bad preparedness”, in simple terms it means that there are not enough ambulances in the surrounding area to cover the probable needs. The inputs for the preparedness calculator include forecasts of where and when ambulance calls are probable to occur in Sweden. The purpose with this thesis is to create a method to produce these forecasts. A method to update the forecasts when new input data is available also has to be created. The data analysis and production of forecasts in this thesis are based on data from Dalarna. However, the method has to be generalized and eventually applicable to produce forecasts for the rest of Sweden. An analysis of historical data shows that the demand is constant, with no obvious trend. It is obvious that number of ambulance calls is differentiated over the days of the week and also over the hours of the day. Therefore, the week is categorized into 168 different indexes, one for each hour of the week. The next step is to examine two reasonable forecasting methods, moving average and exponential smoothing, and compare their quantitative and qualitative characteristics. Based on these comparisons, the moving average method is recommended. With the forecasts, the preparedness in selected areas can be calculated and SOS Alarm receives excellent assistance in dispatching ambulances in a more efficient way. The preparedness calculator will assist in preventing bad preparedness and it makes sure that the best possible preparedness is being upheld. Therefore, good forecasting can contribute to a safer society and to saving human lives. / SOS Alarm har, med staten som uppdragsgivare, åtagit sig att svara för nödnumret 112 inom Sverige. De utför även uppdrag för landstingens räkning, inom ambulansalarmering och inom ambulansdirigering. SOS Alarms affärsidé är att utveckla, erbjuda och utföra tjänster för att skapa trygghet i nödsituationer och bidra till ett tryggare samhälle. I början av år 2003 inledde SOS Alarm projektet OPAL med målet att utveckla ambulansverksamheten i Sverige. OPAL står för Optimerad Ambulanslogistik och drivs i samarbete med Linköpings universitet. Ambulanslogistik är den planering, implementering och kontroll av resurser och information som utförs för att åstadkomma ett effektivt sätt att betjäna en person i behov av vård utanför sjukhuset, inklusive eventuell transport. OPAL-projektet har bland annat resulterat i en beredskapskalkylator. Denna kalkylator beräknar beredskapen för vissa områden i Sverige (för närvarande i Dalarna och Stockholms län) och visualiserar dessa beredskaper på en digital karta som stöd för de personer som styr ambulanserna och tilldelar dem uppdrag. ”Dålig beredskap” i ett område innebär förenklat att det inte finns tillräckligt många ambulanser i närheten för att uppfylla det förväntade behovet. En ingående parameter som behövs till beredskapskalkylatorn är prognoser för när det är troligt att uppdrag kommer att uppstå i olika områden. Syftet med examensarbetet är att skapa en metod för att prognostisera detta förväntade antal uppdrag för ambulanserna i Sverige. En metod ska även skapas för att prognoserna ska kunna uppdateras i takt med att ny data samlas in. Analysen av data och framtagning av prognoserna utförs i examensarbetet för Dalarna som exempel, men metoden ska kunna användas även för att ta fram prognoser för övriga Sverige. En analys av historiska data för Dalarna visar en bakomliggande konstant efterfrågemodell utan tydlig trend. Det visar sig tydligt att antal uppdrag beror på vilken veckodag samt vilken timme på dygnet som råder. Valet blir därför att tilldela veckan 168 olika index, ett för varje timme under veckan. Sedan undersöks två rimliga prognosmetoder, glidande medelvärde och exponentiell utjämning, som jämförs kvalitativt och kvantitativt. Med dessa analyser som grund rekommenderas metoden glidande medelvärde. Med prognosvärden kan beredskapen i utvalda områden beräknas och SOS Alarm får god hjälp att dirigera ambulanser på ett mer effektivt sätt. Beredskapskalkylatorn är ett verktyg som hjälper till att förebygga dålig beredskap och att se till att bästa möjliga beredskap hålls. Goda prognoser kan alltså bidra till ett tryggare samhälle och att rädda människoliv.

This thesis describes a tool for data mining used to optimize ambulance preparedness. The goal with the tool was that it should be able to retract the information necessary to be able to analyze and calibrate the preparedness model used in the software ResQMap. ResQMap is used by SOS Alarm, who are responsible for the Swedish emergency number 112, as a decision support tool for ambulance operators. It is developed by Carmenta AB, who are the supervisors of the thesis work. Also, a minor study of the preparedness models variables has been performed in order to be able to evaluate the function of the tool. Since the study was carried out with sufficient results, the goals with the tool are seen as accomplished. The thesis concludes with a discussion about future uses and development of the tool. / Denna uppsats behandlar utvecklingen av ett verktyg för informationshämtning föroptimering av ambulansberedskap. Målet med verktyget var att det skulle kunnaanvändas för att hämta ut den information som ansågs nödvändig för att kunna analyseraoch kalibrera den beredskapsmodell som används i programmet ResQMap. Programmetanvänds som ambulansdirigeringsstöd av SOS Alarm och är utvecklat av Carmenta AB,vilka stått för handledningen av detta examensarbete. För att utvärdera verktygetsfunktion har också en förstudie genomförts, vars resultat presenteras i uppsatsen. Dådenna studie genomfördes med goda resultat anses målet med verktyget uppfyllt.Uppsatsen avslutas med en diskussion kring framtida användningsområden ochutveckling av verktyget.

A partir du postulat que les comportements problématiques que manifestent certains adolescents ayant grandi dans les villages d’enfants SOS au Rwanda post-génocide constituaient le versant négatif de l’aboutissement du processus de construction du sentiment d’exister, l’objectif principal de cette recherche était la compréhension de ce processus. Ces comportements problématiques ne seraient pas nécessairement synonyme de son échec, mais seraient, surtout à l’adolescence, des tentatives de se faire exister, en lien avec différents éléments qu’il nous fallait découvrir.En appliquant une approche développementale et systémique de recherche et en raisonnant en termes de facteurs de protection et/ou de risque, nous avons identifié quatre facteurs impliqués dans ce processus.Le traumatisme psychique et les deuils compliqués qui ont succédé aux différentes pertes que ces adolescents ont subies pendant le génocide continuent de peser sur le processus de construction de leur sentiment d’exister. De ce fait, certains des comportements problématiques qu’ils affichent peuvent se comprendre comme des réactions comorbides au PTSD.L’environnement physique/matériel et humain dans lequel ces adolescents ont grandi était aussi un facteur de risque. La discontinuité/pluralité des contextes dans lesquels ils ont vécu, le côté institutionnel des villages d’enfants qui prend le dessus sur le côté familial, la primauté des liens de sang dans la société rwandaise et la (trop) grande importance accordée aux activités scolaires au détriment des autres activités sont mis en cause.La qualité de l’attachement développée par chacun des jeunes suivant sa trajectoire de développement joue aussi dans certains cas comme facteur de risque. L’insécurité de l’attachement est notamment impliquée dans certains comportements problématiques, dans la question de dépendance chronique de certains jeunes et dans la faible estime de soi.L’étude a aussi montré que dans certains cas ce sont les modalités relationnelles familiales et extrafamiliales propres à chaque adolescent qui jouent comme facteurs de risque, notamment des difficultés liées à la quête des origines et des héritages familiaux, ainsi que celles liées à la construction d’un sentiment d’affiliation à la famille SOS d’accueil. / From the assumption that problematic behaviors manifested by some adolescents who were raised in SOS Children’s Villages in post-genocide Rwanda constitute the negative side of the outcome of the process of construction of their sense of existence, the main aim of this research was to understand that process. These behavior problems would not necessarily mean its failure. Rather, especially at the adolescence period, they would be understood as attempts to make themselves exist, in line with different elements that we ought to discover.Applying a developmental and systemic research approach, and reasoning in terms of protection and/or risk factors, we identified four factors involved in that process.The psychological trauma and complicated grief that followed the losses that these adolescents sustained during the genocide are still a burden to the process of construction of their sense of existence. Therefore, some of their behavior problems can be understood as comorbid reactions to the PTSD.The physical and human environment in which these adolescents were raised was also a risk factor. The discontinuity/plurality of contexts in which they lived, the institutional side of SOS Children’s Villages that overpowers the family side, the primacy of blood relationships in the rwandan society and the (too much) consideration given to school activities, leaving out other activities, were found to be involved.The quality of the attachment developed by each youth through their development path comes also as a risk factor in some cases. The attachment insecurity is, among others, involved in some behavior problems, in the chronic dependency of some adolescents, and in the lack of self-esteem.The study also shows that in some cases, it is the family and extrafamily relational modalities of every adolescent that play as risk factors, namely those difficulties related to the quest for origins and family heritages and those involved in the construction of the feeling of belonging or affiliation to the SOS foster family. / Doctorat en Sciences psychologiques et de l'éducation / info:eu-repo/semantics/nonPublished

Les systèmes-de-systèmes (Systems-of-Systems, SoS) interconnectent plusieurs systèmes indépendants qui travaillent ensemble pour exécuter une action conjointe dépassant leurs compétences individuelles. Par ailleurs, les descriptions architecturales sont des artefacts qui décrivent des architectures logicielles jouant dans le contexte SoS un rôle important dans la promotion de l’interaction des éléments constituants tout en favorisant la communication parmi les intéressés et en soutenant les activités d’inspection et d’analyse dès le début de leur cycle de vie. Le principal problème traité dans cette thèse est le manque de descriptions architecturales adéquates pour les SoS qui sont développés sans l’attention nécessaire à leur architecture logicielle. Puisque les systèmes constituants ne sont pas forcément connus pendant la conception du projet à cause du développement évolutionnaire des SoS, la description architecturale doit définir à la conception même du projet quelles coalitions entre les systèmes constituants seront possibles pendant son exécution. En outre, comme plusieurs de ces systèmes sont développés pour le domaine critique de sécurité, des mesures supplémentaires doivent être mises en place pour garantir l’exactitude et la complétude de la description architecturale. Afin de résoudre ce problème, nous nous servons du SosADL, un langage formel créé spécialement pour le domaine SoS et qui permet de décrire les architectures logicielles comme des associations dynamiques entre systèmes indépendants où les interactions doivent être coordonnées pour réaliser une action combinée. Notamment, une nouvelle méthode formelle, nommée Ark, est proposée pour systématiser les étapes nécessaires dans la synthèse d’architectures concrètes obéissant à cette description. Dans ce dessein, cette méthode crée un modèle formel intermédiaire, nommé TASoS, qui décrit l’architecture du SoS en tant que problème de satisfaisabilité de restrictions, rendant ainsi possible la vérification automatique d’un ensemble initial de propriétés. Le résultat obtenu par cette analyse peut s’utiliser en raffinements et révisions ultérieurs de la description architecturale. Un outil logiciel nommé SoSy a été aussi développé pour automatiser la génération de modèles intermédiaires et d’architectures concrètes, en cachant l’utilisation de solveurs de contraintes dans le projet de SoS. Particulièrement, cet outil intègre un environnement de développement plus important et complet pour le projet de SoS. Cette méthode et son outil ont été appliqués dans un modèle de SoS de surveillance de rivières urbaines où la faisabilité d’architectures abstraites a été étudiée. En formalisant et en automatisant les étapes requises pour la synthèse architecturale de SoS, Ark contribue à l’adoption de méthodes formelles dans le projet d’architectures SoS, ce qui est nécessaire pour atteindre des niveaux plus élevés de fiabilité. / Systems-of-Systems (SoS) encompass diverse and independent systems that must cooperate with each other for performing a combined action that is greater than their individual capabilities. In parallel, architecture descriptions, which are the main artifact expressing software architectures, play an important role in fostering interoperability among constituents by facilitating the communication among stakeholders and supporting the inspection and analysis of the SoS from an early stage of its life cycle. The main problem addressed in this thesis is the lack of adequate architectural descriptions for SoS that are often built without an adequate care to their software architecture. Since constituent systems are, in general, not known at design-time due to the evolving nature of SoS, the architecture description must specify at design-time which coalitions among constituent systems are feasible at run-time. Moreover, as many SoS are being developed for safety-critical domains, additional measures must be placed to ensure the correctness and completeness of architecture descriptions. To address this problem, this doctoral project employs SoSADL, a formal language tailored for the description of SoS that enables one to express software architectures as dynamic associations between independent constituent systems whose interactions are mediated for accomplishing a combined action. To synthesize concrete architectures that adhere to one such description, this thesis develops a formal method, named Ark, that systematizes the steps for producing such artifacts. The method creates an intermediate formal model, named TASoS, which expresses the SoS architecture in terms of a constraint satisfaction problem that can be automatically analyzed for an initial set of properties. The feedback obtained in this analysis can be used for subsequent refinements or revisions of the architecture description. A software tool named SoSy was also developed to support the Ark method as it automates the generation of intermediate models and concrete architectures, thus concealing the use of constraint solvers during SoS design and development. The method and its accompanying tool were applied to model a SoS for urban river monitoring in which the feasibility of candidate abstract architectures is investigated. By formalizing and automating the required steps for SoS architectural synthesis, Ark contributes for adopting formal methods in the design of SoS architectures, which is a necessary step for obtaining higher reliability levels.

Introduction: It is of great importance that there is a functioning priority system at SOS Alarm that complies with the ambulance care for equivalent priorities, which may have a significant role for the severely ill patient. Purpose: The purpose of the study was to describe the ambulance nurse's experiences of SOS Alarm's priorities and use of ambulance resources. Method: An empirical interview study with qualitative design and an inductive approach. 12 ambulance nurses were interviewed in two regions in Sweden. The material was analyzed using Graneheim and Lundman's method. Results: The result is presented in two themes with eight categories. The two themes presented are: factors experienced affecting the priorities of SOS Alarm and experiences of available ambulance resources. Conclusion: An equivalent priority system is desirable by the ambulance nurses when the ambulance care and SOS Alarm work together on a daily basis. It is important that the systems that the organizations work under operate optimally to facilitate the respective device. It has been found that there is insufficient knowledge of each other's working methods. Ambulance nurses feel that cooperation must be developed by matching the priority systems to each other, which can contribute to increased patient safety. Ambulance nurses find that SOS Alarm often over prioritize and sends ambulances to patients without care needs. The goal of both organizations is ultimately to provide the patient with a safe and secure care. / Introduktion:Det är av stor betydelse att det finns ett fungerande prioriteringssystem hos SOS Alarm som överrensstämmer med ambulanssjukvården för likvärdiga prioriteringar, vilket kan ha en betydande roll för den svårt sjuka patienten. Syfte: Syftet med studien var att beskriva ambulanssjuksköterskans upplevelser av SOS Alarms prioriteringar och bruk av ambulansresurser. Metod: En empirisk intervjustudie med kvalitativ design och en induktiv ansats. 12 ambulanssjuksköterskor intervjuades i två regioner i mellan- Sverige. Materialet analyserades med hjälp av Graneheim och Lundmans metod. Resultat: Resultatet redovisas i två teman med åtta kategorier. De två teman som presenteras är : faktorer som upplevs påverka prioriteringarna från SOS Alarm och upplevelser av tillgängliga ambulansresurser. Slutsats: Ett överrensstämmande prioriteringssystem är önskvärt av ambulanssjuksköterskorna då ambulanssjukvården och SOS Alarm arbetar tillsammans dagligen. Det är viktigt att systemen som organisationerna arbetar under fungerar optimalt för att underlätta för respektive enhet. Det har visat sig att det finns bristande kunskap om varandras arbetssätt. Ambulanssjuksköterskorna upplever att samarbetet måste utvecklas genom att prioriteringssystemen liknar varandras som kan bidra till ökad patientsäkerhet. Ambulanssjuksköterskorna upplever att SOS Alarm ofta överprioriterar och skickar ambulans till patienter utan vårdbehov. Målet för båda organisationerna är i slutändan att ge patienten en trygg och säker vård.

No description available.

Double strand breaks (DSB) are a common source of DNA damage in both prokaryotes and eukaryotes. If they are not repaired or are repaired incorrectly, they can lead to cell death (bacteria) or cancer (humans). In Escherichia coli, repair of DSB are typically accomplished via homologous recombination and mediated by RecA. This repair pathway, among others, is associated with activation of the SOS response. DNA adenine methyltransferase (dam) mutants have an increased number of DSB and, therefore, are notorious for being RecA-dependent for viability. Here, we show that the synthetic lethality of Δdam/ΔrecA is suppressed when clpP is removed, suggesting that there is a protein, normally degraded by ClpXP, which is preventing DSB from occurring.

Cell division is essential for spore formation but not for viability in the filamentous streptomycetes bacteria. Failure to complete cell division instead blocks spore formation, a phenotype that can be visualized by the absence of gray (in Streptomyces coelicolor) and green (in Streptomyces venezuelae) spore-associated pigmentation. The streptomycetes divisome is however, similar to that of other prokaryotes. We hypothesized chemical inhibitors of sporulation in model streptomycetes might interfere with cell division in rod shaped bacteria. To test this, we investigated 196 compounds that inhibit sporulation in Streptomyces coelicolor. We show that 19 of these compounds cause filamentous growth in Bacillus subtilis, consistent with impaired cell division. One of the compounds is a DNA damaging agent and inhibits cell division by activating the SOS response. The remaining 18 act independently of known stress responses and may therefore act on the divisome or on divisome positioning and stability. Three of the compounds (Fil-1, 2 and 3) confer distinct cell division defects on B. subtilis. They also block B. subtilis sporulation, which is mechanistically unrelated to the sporulation pathway of streptomycetes but which is also dependent on the divisome. We discuss ways in which these differing phenotypes can be used in screens for cell division inhibitors. In addition to the molecules affecting the divisome, DNA and cell wall damage also affects the process indirectly by temporarily halting the cell division. To further explore the cell division regulation in stressful conditions, we carried the complete transcriptomic analysis of S. venezuelae after the DNA damage. The observed changes in the gene expression as a result of the DNA damage paves the way for identification of the DNAdamage induced cell division inhibitor in streptomycetes. / Thesis / Doctor of Philosophy (PhD)