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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.
Severe environmental degradation worldwide calls for imperative action from human society. Small- and Medium-sized Enterprises (SMEs), which constitute an important component in almost every economic entity in the world, are subject to growing concern, as their environmental performance is essential to regional and global environmental protection and sustainable industrial development. Due to the
In model-based development, floating-point arithmetic is typically used for computations in algorithms and models. However, on many target platforms, there is no support for floating-point computations due to constraints on, e.g., price, size, power consumption, and execution speed. A solution is to use fixed-point arithmetic instead. Manually transforming floating-point code to fixedpoint code is
INTRODUCTION In the last years a lot of researches about source separation have been realized, like extraction of a signal of interest (vocal recognition application), identification of which source gives which sound (motor engine applications) or noise source characterization (environmental application). Most of these techniques for sound source estimation use the signal-subspace approach, where
The thesis is an attempt to analyse the concept of limitation of liability for maritime claims with multiple legal and policy perspectives. In trying to analyse the issues related to limitation of liability, the thesis explores the historical background to the development of the concept of limitation of liability within both civil and common law. A synoptic overview on the development of intern
Precision agriculture requires detailed information regarding the crop status variability within a field. Remote sensing provides an efficient way to obtain such information through observing biophysical parameters, such as canopy nitrogen content, leaf coverage, and plant biomass. However, individual remote sensing sensors often fail to provide information which meets the spatial and temporal res
Objective Image Quality Assessment (IQA) is crucial for evaluating and ensuring the fidelity of images. Traditional human-based evaluations, although reliable, are impractical due to their cost and slow pace, combined with subjective inconsistencies. This thesis aims to address these issues by developing a test and quality bench for Bertin Exensor's dual-head camera, integrating both infrared
This thesis details the development, implementation, and optimization of a local microservice designed to enhance invoice processing at Hulo, a company that manages au- tomatic payment invoices. This is conducted through Artificial Intelligence (AI) and Machine Learning (ML) techniques, focusing particularly on Computer Vision and Object- detection. Motivated by the need to address the inefficienc
The purpose of this study is to design and investigate a pulsating heat pipe device (PHP). A PHP is a two-phase flow heat transfer device which can handle high heat fluxes with passive internal flow. It is made of a continuous loop serpentine, partially filled with a working fluid that can cool systems, such as electronic devices. It differs from a conventional heat pipe device in design and opera
Cities face multiple social-ecological challenges, which nature-based solutions (NBS) promise to address. Strategies to mainstream NBS have only achieved partial success, hence recent studies suggest that inner dimensions - mindsets and transformative capacities - must be mainstreamed simultaneously. This study investigates municipal employees' engagement with inner dimensions, its impact on s
Som en del i utvecklingen mot grönare och miljövänligare processer, samt ett behov av ytterst specifika reaktioner, vill AAK AB utvidga sin användning av lipaser i sin produktion av strukturerade triacylglyceroler (STAGs). AAK vill bygga upp ett bibliotek av utvärderade lipaser. Syftet med detta examensarbete är att bidra till detta bibliotek genom att karakterisera en grupp kommersiellt tillgänglAs part of a switch towards more green and environmentally friendly processes, together with a need for highly specific reactions, AAK AB wants to broaden their use of lipases in the production of structured triacylglycerols (STAGs). AAK are working on creating a lipase library where several lipases are evaluated, this master thesis aims to contribute to this lipase library by characterizing a sel
Entreprenörskap karaktäriseras av en snabbföränderlig och osäker miljö. I tillägg har intressenter i området olika perspektiv och bekymmer samt är beroende av varandra. För att en ny affärsverksamhet ska lyckas är finansiering och humant kapital ofta viktiga faktorer, särskilt inom tech, och i dagsläget är det svårt att skapa/uppnå ”rätt” koppling i samspelet mellan unga företag (ideators), investThe field of entrepreneurship is characterized by a fast-changing and uncertain environment. In addition, stakeholders within the field all come with different perspectives and concerns and are dependent upon each other. For a new business to be successful, financing and human capital are often determinants, especially within tech, and it is difficult to attain the “right” connections between youn
