Skid-steer loaders are also called mini loaders. Skid-steer loaders are capable of zero turning radiuses, which make them extremely maneuverable and suitable for confined spaces. The aim of this thesis study is to design the loader mechanism for skid-steer loaders. Primarily, the loader mechanism synthesis will be performed to determine the basic link dimensions for the mechanism of the loader. Genetic algorithm will be used in the design process. Besides, the hydraulic cylinders dimensions and working pressure of the loader mechanism will be chosen according to the forces that will be applied. After the link dimensions of the loader are determined, 3D modeling of the loader mechanism will be performed. Afterwards, the finite element analysis of the system will be carried out. Finally, improvements will be made on the model according to the results of the analysis.

A formação de alianças estratégicas entre pecuaristas de corte (AEPs) é um fenômeno recente na cadeia da carne bovina brasileira e apresenta um enorme potencial de promover benefícios para o setor, que carece de informações sobre estas organizações. Este trabalho descreve detalhadamente as diferentes configurações e abrangência de atuação das AEPs do Estado do Paraná (PR), e demonstra o possível benefício econômico para os potenciais participantes. Para isto, foram realizadas duas etapas metodológicas: 1) realizou-se um estudo de caso múltiplo em 6 AEPs do PR para caracterizar as formas de configuração, bem como mensurar a abrangência de atuação destas organizações no Estado; 2) realizou-se um estudo de caso em uma AEP para simular o benefício econômico obtido pelos associados. Na primeira etapa, identificou-se que o objetivo principal das AEPs é promover o abate e a comercialização da carcaça de novilhos precoces dos associados. As principais motivações para a formação são agregar valor ao produto e reduzir os riscos na comercialização. As 6 AEPs possuem o total de 242 pecuaristas associados e algumas medeiam as negociações entre os diversos segmentos da cadeia. O funcionamento das AEPs envolve o trabalho direto de 355 pessoas. No ano de 2015, as 6 AEPs comercializaram 17,4 mil toneladas de carcaça, o que representa cerca de 5% da produção Estadual. As carcaças são comercializadas com média de 14% de valor agregado para mais de 500 lojas de varejo, exclusivamente dentro do Estado. As especificações de conformidade das AEPs são semelhantes, mas as bonificações pelos animais variam de 1% até 10% acima do preço de mercado. Neste tipo de organização, os determinantes para o sucesso são aqueles que agregam confiança aos associados e aos clientes. Na segunda etapa, o estudo de caso de uma AEP demonstrou, por meio de simulações matemáticas, que os associados que produzem animais de uma determinada raça tem sua receita anual acrescida em 5% em média, se comparada à comercialização no mercado comum. As AEPs são mecanismos eficientes de coordenação da cadeia e agregação de valor ao produto. No entanto, a viabilidade econômica da associação a uma AEP depende da magnitude de investimentos necessários para a adesão e para a adequação do sistema produtivo, caso isto não seja analisado, a associação pode trazer mais frustrações do que benefícios. / The establishment of strategic alliances among beef producers (AEPs) is a recent phenomenon in Brazilian beef supply chain and presents a considerable potential to promote benefits to this segment, however, information about these organizations are limited. This work describes in detail the different conformation and operating coverage of Paraná State (PR) AEPs and presents the possible economic profit for potential participants. For that, two methodological stages were performed: 1) a multiple case study was performed in 6 AEPs from PR to characterize their conformation and to measure these organizations operating coverage inside the State; 2) a case study was performed in a single AEP to simulate the associates economic profit. In first stage, the major goal of AEPs was identified as the promotion of slaughter and commercialization of carcass of steers from associates. The main motivations to EAP formation are to add value to the product and to reduce commercialization venture. 242 participant producers compound the 6 AEPs. Some of these 6 EAPs mediate the negotiation between many chain segments. AEPs effectiveness demands 355 people direct work. In 2015, those 6 AEPs commercialized 17,4 ton of carcass, what represents around 5% of total State production. Carcasses are commercialized to more than 500 retail stores, exclusively inside the State, with 14% of added value in average. AEP conformity specifications are similar, however, the bonus for animals range from 1% to 10% over the market price. Trust, for associates and clients, is determinant for this type of association success. In second stage, the case study of a single AEP, mathematical simulations presented that raising a particular breed increases 5% in annual income, if compared to common market. The AEPs are efficient tools for chain coordination and for adding value to product. However, the association to an AEP economic viability depends on the magnitude of required investments for adhesion and for adequate production system. If these items are not analyzed, the association is more susceptible to failure than success.

Master of Science / Department of Animal Sciences and Industry / Karol Fike / The United States beef cattle industry is continuously evolving and changing to meet buyer demands while considering environment factors for production. Cow-calf producers make decisions within their herds that impact their profitability. Previous research shows producers can add value to beef calves through management and marketing decisions in areas such as genetics, herd health, and nutrition. It is well documented that there are numerous factors that influence the sale price of beef calves, no matter the venue through which they are sold. Historically, steer calves sold for a greater price compared to heifer calves. Apparent breed composition also influences value of lots of beef calves. Black-hided calves recently sold for a greater sale price than calves of other hide colors due to perceived differences in potential performance. Calves with Bos indicus influence usually sell for a lower price than other breed types. Marketing of beef calves through video auction allows sellers to market lots of calves to a buyer basis nationwide. A national market provides a basis for buyer preferences and potential national trends for changes in characteristics valued by buyers. Evaluation of national breed composition trends can indicate potential changes in the industry. The opportunity to evaluate if and how breed description as described by producers influenced calf sale price from 1995 through 2016 was available through a livestock video auction service. Chapter 1 is a review of the literature and an overview of the beef industry and factors affecting sale price of lots of beef calves. Chapter 2 is an analysis of breed composition influencing sale price for lots of steer calves and lots of heifer calves. Chapter 3 investigates national and regional breed description and sire breed trends over a 23-year period.

A formação de alianças estratégicas entre pecuaristas de corte (AEPs) é um fenômeno recente na cadeia da carne bovina brasileira e apresenta um enorme potencial de promover benefícios para o setor, que carece de informações sobre estas organizações. Este trabalho descreve detalhadamente as diferentes configurações e abrangência de atuação das AEPs do Estado do Paraná (PR), e demonstra o possível benefício econômico para os potenciais participantes. Para isto, foram realizadas duas etapas metodológicas: 1) realizou-se um estudo de caso múltiplo em 6 AEPs do PR para caracterizar as formas de configuração, bem como mensurar a abrangência de atuação destas organizações no Estado; 2) realizou-se um estudo de caso em uma AEP para simular o benefício econômico obtido pelos associados. Na primeira etapa, identificou-se que o objetivo principal das AEPs é promover o abate e a comercialização da carcaça de novilhos precoces dos associados. As principais motivações para a formação são agregar valor ao produto e reduzir os riscos na comercialização. As 6 AEPs possuem o total de 242 pecuaristas associados e algumas medeiam as negociações entre os diversos segmentos da cadeia. O funcionamento das AEPs envolve o trabalho direto de 355 pessoas. No ano de 2015, as 6 AEPs comercializaram 17,4 mil toneladas de carcaça, o que representa cerca de 5% da produção Estadual. As carcaças são comercializadas com média de 14% de valor agregado para mais de 500 lojas de varejo, exclusivamente dentro do Estado. As especificações de conformidade das AEPs são semelhantes, mas as bonificações pelos animais variam de 1% até 10% acima do preço de mercado. Neste tipo de organização, os determinantes para o sucesso são aqueles que agregam confiança aos associados e aos clientes. Na segunda etapa, o estudo de caso de uma AEP demonstrou, por meio de simulações matemáticas, que os associados que produzem animais de uma determinada raça tem sua receita anual acrescida em 5% em média, se comparada à comercialização no mercado comum. As AEPs são mecanismos eficientes de coordenação da cadeia e agregação de valor ao produto. No entanto, a viabilidade econômica da associação a uma AEP depende da magnitude de investimentos necessários para a adesão e para a adequação do sistema produtivo, caso isto não seja analisado, a associação pode trazer mais frustrações do que benefícios. / The establishment of strategic alliances among beef producers (AEPs) is a recent phenomenon in Brazilian beef supply chain and presents a considerable potential to promote benefits to this segment, however, information about these organizations are limited. This work describes in detail the different conformation and operating coverage of Paraná State (PR) AEPs and presents the possible economic profit for potential participants. For that, two methodological stages were performed: 1) a multiple case study was performed in 6 AEPs from PR to characterize their conformation and to measure these organizations operating coverage inside the State; 2) a case study was performed in a single AEP to simulate the associates economic profit. In first stage, the major goal of AEPs was identified as the promotion of slaughter and commercialization of carcass of steers from associates. The main motivations to EAP formation are to add value to the product and to reduce commercialization venture. 242 participant producers compound the 6 AEPs. Some of these 6 EAPs mediate the negotiation between many chain segments. AEPs effectiveness demands 355 people direct work. In 2015, those 6 AEPs commercialized 17,4 ton of carcass, what represents around 5% of total State production. Carcasses are commercialized to more than 500 retail stores, exclusively inside the State, with 14% of added value in average. AEP conformity specifications are similar, however, the bonus for animals range from 1% to 10% over the market price. Trust, for associates and clients, is determinant for this type of association success. In second stage, the case study of a single AEP, mathematical simulations presented that raising a particular breed increases 5% in annual income, if compared to common market. The AEPs are efficient tools for chain coordination and for adding value to product. However, the association to an AEP economic viability depends on the magnitude of required investments for adhesion and for adequate production system. If these items are not analyzed, the association is more susceptible to failure than success.

The automotive industry is currently undergoing a paradigm shift. One such example in the next generation steering is the Steer-by-Wire (SbW) technology. SbW comes with a lot of advantages but one of the big challenges is to provide the driver with a realistic steering feel. More precisely, steering feel can be defined as the relationships between the steering wheel torque, the steering wheel angle and the dynamics of the vehicle. Accordingly, the first contribution of this work will be to present transfer functions between these quantities that resemble those observed in traditional steering systems. The steering feel/feedback is then achieved by an electric motor which can be controlled by different control strategies. In this thesis three different control strategies are investigated. The first straightforward strategy is called open loop since there is no feedback controller in the system. The second strategy is torque feedback control and the third strategy is angle feedback control. All three systems are evaluated in terms of reference tracking, stability, robustness and sensitivity. Here reference tracking is defined as tracking a desired transfer function. The desired transfer function is denoted as the reference generator. When fulfilling the requirements the analysis shows that the torque feedback system has a better reference tracking than the other evaluated systems. It is also concluded that the open loop system has a compromised reference tracking compared to the torque and angle feedback systems. Since the SbW technology is still an undergoing area of research within the automotive sector this work can be used as a basis for choice of control strategy for steering feedback systems and also as a guideline for future hardware choices.

Doctor of Philosophy / Department of Animal Sciences and Industry / Evan C. Titgemeyer / Effects of energy supply on the efficiency of methionine and leucine utilization in growing steers were evaluated in 3 studies. We hypothesized that increased energy supply would improve efficiency of amino acid utilization. In study 1, treatments were abomasal infusion of 0 or 3 g/d of L-methionine and supplementation with 3 amounts of energy (0, 1.3, and 2.6 Mcal GE/d) in a factorial design. Nitrogen balance was increased (P<0.05) by methionine supplementation and increased linearly (P<0.05) with energy supply, indicating that efficiency of methionine use was improved by energy supplementation. In study 2, the effects of supplementation with no energy or isocaloric (1.3 Mcal GE/d) supplementation with glucose, fat, acetate, or propionate at 2 levels of L-methionine supplementation (0 or 3 g/d) were evaluated. Supplemental energy increased (P<0.01) nitrogen retention, without differences among energy sources. The results indicated that energy supplementation improved the efficiency of methionine utilization, independent of energy source. In study 3, effects of energy supplementation on leucine utilization in growing steers at 2 body weights (150 kg in Exp. 1 and 275 kg in Exp. 2) were evaluated. Treatments were a 3 × 2 factorial with 0, 4, or 8 g/d of L-leucine infused abomasally and 2 amounts of energy (0 and 1.9 Mcal GE/d). In Exp. 1, nitrogen retention linearly increased in response to leucine supplementation when additional energy was supplied. When no energy was supplemented, nitrogen retention was similar for 4 and 8 g/d of leucine. Energy supplementation increased nitrogen retention (P<0.01), indicating that energy supplementation improved the efficiency of leucine utilization by modestly increasing nitrogen retention when leucine was limiting and by increasing the ability of steers to respond to the highest amount of supplemental leucine. In Exp. 2, nitrogen retention was not affected by leucine supplementation, indicating that leucine did not limit protein deposition. Energy supply increased nitrogen retention (P<0.01) independent of the level of leucine supplemented, demonstrating an increase in capacity for protein deposition when energy was supplemented. Overall, our results indicated that energy affects the efficiency of amino acid utilization, challenging the assumption of a constant efficiency of use.

京都大学 / 0048 / 新制・課程博士 / 博士(農学) / 甲第21806号 / 農博第2319号 / 新制||農||1065(附属図書館) / 学位論文||H31||N5178(農学部図書室) / 京都大学大学院農学研究科応用生物科学専攻 / (主査)教授 松井 徹, 教授 久米 新一, 教授 廣岡 博之 / 学位規則第4条第1項該当 / Doctor of Agricultural Science / Kyoto University / DGAM

The theme of this diploma thesis is design of skid steer loader with capacity up to 1 tonne. The result of this thesis is a conceptual solution of loader. It describes structural, technological, ergonomic and visual aspects with respect to current trends.

A Controller Area Network (CAN) is a multi-master serial data communication bus designed primarily for the automotive industry. It is reliable and cost-effective and features error detection and fault confinement capabilities. CAN has been widely used in other applications, such as onboard trains, ships, construction vehicles, and aircraft. CAN has even been applied within the industrial automation segment in a range of devices such as programmable controllers, industrial robots, digital and analog I/O modules, sensors, etc. Despite its robustness and other positive features, the CAN bus has limitations in form of limited maximum data rate and maximum bus length. Also the CAN network topology is rigidly fixed which is a severe limiting factor in some of its application cases, therefore several industrial actors are evaluating alternatives to CAN. Ethernet is one of the potential candidates to replace CAN. It is a widespread and well knowntechnology, easily accessible, and many off-the-shelf solutions are available. It can support extended networks and offers wide possibilities in terms of network topology thanks to active switches. It features very high bandwidth, which has increased systematically from 10 Mbps to 100 Gbps year after year, always preserving backward compatibility to the maximum possible extent. The purpose of this thesis project is to investigate the possibility of replacing the CAN bus with Ethernet according to the following requirements: Standard off-the-shelf components and software stacks No modification of the network node application software, i.e. messages formatted accordingto CAN protocols must be transferred by means of Ethernet. A main issue is that CAN is time deterministic; it is always possible to predict the maximum latency in a message transfer. On the other hand Ethernet is still considered unreliable for time-critical applications, although the advent of Ethernet switches has minimized this non-deterministic behavior. A unique approach to this issue is offered as a result of the work done by Time Critical Networks, a newly started Swedish company. Their tool makes it possible to calculate the maximum forwarding time of a frame in an Ethernet network. This tool may make it possible to validate the use of Ethernet for time-critical applications. CPAC Systems, a company in the Volvo group which develops and manufactures steer-by-wire systems based on the CAN technology, wishes to verify whether Ethernet could now be considered as a solution to complement or replace CAN, thus overcoming CAN’s limitations. This verification is the goal of this master thesis project. The work was carried out through three different phase: First we performed a theoretical evaluation by modeling the Ethernet network using Time Critical Network’s tools. Next we verified the results by implementing the modeled CAN/Ethernet network that was previously modeled. Finally, we validated the solution by directly testing the modeled CAN/Ethernet in combination with CPAC System’s steer-by-wire technology. The results obtained show that Ethernet in combination with Time Critical Network’s modeling tool, when it comes to time-determinism, can be a complement and/or an alternative to the CAN bus. / En Controller Area Network (CAN) är en multi-master seriell datakommunikation buss utformad främst för fordonsindustrin. Den är pålitlig och kostnadseffektiv och har feldetektering och fel förmåga instängdhet. CAN har ofta används i andra tillämpningar, som ombord på tåg, fartyg, fordonkonstruktion, och flygplan. CAN har även använts inom industriautomation segmentet i en radapparater som programmerbara styrsystem, industrirobotar, digitala och analoga I/O-moduler, sensorer, etc. Trots sin robusthet och andra positiva egenskaper har CAN-bus begränsningar i form av begränsad maximal datahastighet och maximal buss längd. Även CAN nätverkstopologin är fast förankrade vilket är en svår begränsande faktor i några av dess tillämpning fall därför flera industriella aktörer utvärderar alternativ till CAN. Ethernet är en av de potentiella sökande för att ersätta CAN. Det är en utbredd och väl känd teknik, lättillgänglig, och många off-the-shelf lösningar finns tillgängliga. Det kan stödja utökade nätverk och erbjuder stora möjligheter när det gäller nätverkstopologin tack vare aktiv växlar. Den har mycket hög bandbredd, vilket har ökat systematiskt från 10 Mbps till 100 Gbps år efter år, alltid bevara bakåtkompatibilitet i största möjliga utsträckning. Syftet med detta examensarbete är att undersöka möjligheten att ersätta CAN-bussen med Ethernet i enlighet med följande krav: Standard off-the-shelf komponenter och stackar programvara Inga ändringar av nätverket nod programvara, formaterade dvs meddelanden enligt CAN protokollmåste överföras med hjälp av Ethernet. En viktig fråga är att CAN är dags deterministisk, det är alltid möjligt att förutse den maximala fördröjning i ett överfört meddelande. Å andra sidan Ethernet är fortfarande betraktas som otillförlitliga för tidskritiska applikationer, även om tillkomsten av Ethernet-switchar har minimeratdenna icke-deterministiska beteendeEn unik inställning till denna fråga är erbjuds som ett resultat av det arbete som tidskritiska Networks, ett nystartat svenskt företag. Deras verktyg gör det möjligt att beräkna den maximal avidarebefordran tid för en ram i ett Ethernet-nätverk. Detta verktyg kan göra det möjligt att valideraanvändningen av Ethernet för tidskritiska applikationer. CPAC Systems, ett bolag inom Volvokoncernen som utvecklar och tillverkar styr-by-wire-system baserade på CAN-tekniken, vill kontrollera om Ethernet nu kan betraktas som en lösning för att komplettera eller ersätta kan således övervinna CAN: s begränsningar. Denna kontroll är målet för detta examensarbete. Arbetet genomfördes genom tre olika fas: Först utförs en teoretisk utvärdering av modellering Ethernet-nätverk med hjälp av tidskritiska Networks verktyg. Nästa vi verifierat resultat genom att genomföra de modellerade CAN / Ethernet-nätverk som tidigare modellerats. Slutligen, validerade vi lösningen genom att direkt testa de modellerade CAN / Ethernet i kombination med CPAC Systems steer-by-wire-teknik. De resultat som erhållits visar att Ethernet i kombination med tidskritiska Networksmodelleringsverktyg, när det gäller tid-determinism, kan vara ett komplement och / eller ett alternativtill CAN-bussen.

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