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This thesis investigates how high-level planning principles can be deterministically and algorithmically incorporated into a sampling-based motion planner by modifying the structure of the RRT* algorithm. In particular, the requirement to always end a planned route by a reversing maneuver can be directly imposed through the expansion and connection logic of bidirectional search-trees, rather than
Hadfield steel is widely used in heavy-duty applications involving high impact loads and abrasive wear, such as mining and stone crushing equipment, due to its high toughness, ductility, and work-hardening ability. However, the as-cast microstructure contains carbide precipitation and chemical segregation, particularly along grain boundaries, which causes embrittlement and reduce service performan
Early Warning Systems (EWS) are crucial for safeguarding communities, but are vulnerable to failure due to a technocratic focus that excludes local communities. This thesis closes the gap between normative participatory principles and practical implementation by exploring the entry points or challenges that affect community participation. Adopting a complexity theory lens, the study conducts a qua
Komplex mjukvara kräver testning på flera nivåer. Detta examensarbete undersöker automatiserad testning av Radio Block Centre (RBC). En RBC bestämmer hur långt ett tåg får köra och i vilken hastighet. Examensarbetet har tre fokusområden. Det första området undersöker hur nuvarande testscript kan göras mer dynamiska genom att införa slumpmässighet. Slumpmässighet införs genom att variera tåglängd. Complex software must be tested carefully. This thesis looks at how automated testing can be improved for Alstom’s Radio Block Centre, a system that supervises trains and sends movement authorities. The work focuses on three practical ways to improve an existing automated test setup. First, it studies how the test suite can be made more dynamic by introducing randomness into current test scripts.
There have been several studies which indicate a preferential invasion towards younger red blood cells (RBCs) for the malarial parasite, P. Falciparum. Knowledge about a preferential mechanism could aid in the development of novel anti-malarial drugs. While the preference in these reports has been studied with density-separation of red blood cells, separating the cells by deformability may be a mo
It is said that coreference is difficult to explain, but easy to comprehend; everyoneknows coreference, they just don’t know that they do. We trained a computer toknow it too! Coreference resolution is the identification of phrases that refer to the same entity in a text. Current techniques to solve coreferences use machine-learning algorithms, which require large annotated data sets. Such annota
The constantly increasing awareness of protecting the environment has put electrical roads in the spotlight as an alternative solution to fossil driven means of transport. Dan Zethraeus has developed an innovative idea for a prototype electrical road which conductively supplies power to the cars whilst driving. The concept is to place a line of short rail segments in the middle of the drive lanes
The constantly increasing awareness of protecting the environment has put electri- cal roads in the spotlight as an alternative solution to fossil driven means of trans- port. Dan Zethraeus has developed an innovative idea for a prototype electrical road which conductively supplies power to the cars whilst driving. The concept is to place a line of short rail segments in the middle of the drive la
The purpose of this master thesis project was to compare two pasteurizers (pasteurizer 31 and 52) at Österlenmejeriet AB (ÖMAB) in Lunnarp, which is a part of Danone, France and once the differences were clear the goal was to have them equalized in the aspect of heating effects/temperature treatments/heating load and processing parameters. The products that are mainly pasteurized on these pasteuri
The demand for organic products is high in France, and the amount of land under organic production is increasing. This is due to the Organic Certification label, that helps to bring up the price and attractiveness of organic goods, and the Common Agricultural Policy (CAP) that provides farmers funds and assistance. However, organic farmers in France still struggle to make ends meet which is detrim
The “Fundamental Review of the Trading Book” calculates the capital requirements using Expected Shortfall (ES) backtests since Value at risk (VaR) neglects losses in the tail. Additionally, real estate investments have increased significantly, which warrants an exploration of the asset class. This study applies eight different univariate GARCH models to six distinct property indices; Global, Asia
The development of the new green industries based on standards creates legal issues of the collision between patent law and standardisation processes. Whereas some solutions have already been implemented in the industries like telecommunications, it is of an interest to research on whether these solutions might be used when managing intellectual property rights in the green technologies or there w
Existing pick and place robots are either heavy or have a limited workspace for vertical operations. Since there is no robot today that are both light and have a good vertical workspace, this leads to a gap in the market. With the use of the laws of physics Cognibotics is trying to fill these gaps in the market, by developing new fast and lightweight robots. These new robots are designed to have a
Bricklaying is one of the most accident-prone professions in the construction industry, with heavy and non-ergonomic lifting being a leading cause of sick leave and back problems. Increased automation is expected to reduce the number of work-related accidents while simultaneously improving productivity. Existing solutions are often expensive and inflexible. This thesis investigates how a pick- and
The introduction of the Environmental Transmission Electron Microscope (ETEM) has revolutionized scientific studies by allowing in-situ studies of nano and angstrom scale samples in varying environments. In combination with the introduction of the Microelectromechanical Systems (MEMS) chip the ETEM has become a powerful tool for high resolution imaging of material interaction. However, the MEMS ch
The Laser Interferometer Space Antenna (LISA) is a space borne gravitational wave detec- tor set to launch in 2034, with the objective of detecting and studying the Gravitational Waves (GWs) of our universe. So far, ground-based detectors such as the Laser Interferometer Gravitational-Wave Observatory (LIGO) have been successful in detecting GWs, but the limitations of ground based detectors is wh
Machine learning as a field has expanded in an explosive manner, with more companies interested in using the technology. One of these companies, Spiideo, uses Machine learning to automatically stream and record sports, highlighting key events - all automatically without a cameraman. However, these cameras have to undergo a lengthy calibration process involving manual feature extraction. This work
Det här examensarbetet utvecklar ett koncept för infästning av fenor på jetboards som inte intränger på befintliga patent. Det resulterande konceptet medför handlingsfrihet (FTO) och följaktligen tillåter produktion av fenor med originell design. FTO innebär möjligheten till att producera och sälja en produkt utan rättsligt ansvar gentemot ägare av patent. Examensarbetet presenterar och diskuterarThis master thesis generates a concept for the means of attaching fins onto jetboards without infringing on existing patents. The resulting concept establishes freedom to operate (FTO) and enables production of fins with original designs. FTO meaning the possibility of producing and selling a product without legal liability to any patent holders. The thesis further presents and discusses user need
Better access to finance and higher education levels in a country are two major policy areas of governments and international development cooperation organisations for the goal of reducing poverty. Microfinance has become a popular instrument to facilitate access to finance, but comparative evidence on a macro scale is scarce. This thesis examines the relative importance of the two policy areas us
