Wavelet Filter Parameterization for Compression of Spectral Images

Vaatimus kuvatiedon tiivistämisestä on tullut entistä ilmeisemmäksi viimeisen kymmenen vuoden aikana kuvatietoon perustuvien sovellutusten myötä. Nykyisin kiinnitetään erityistä huomiota spektrikuviin, joiden tallettaminen ja siirto vaativat runsaasti levytilaa ja kaistaa. Aallokemuunnos on osoittautunut hyväksi ratkaisuksi häviöllisessä tiedontiivistämisessä. Sen toteutus alikaistakoodauksessa perustuu aallokesuodattimiin ja ongelmana on sopivan aallokesuodattimen valinta erilaisille tiivistettäville kuville. Tässä työssä esitetään katsaus tiivistysmenetelmiin, jotka perustuvat aallokemuunnokseen. Ortogonaalisten suodattimien määritys parametrisoimalla on työn painopisteenä. Työssä todetaan myös kahden erilaisen lähestymistavan samanlaisuus algebrallisten yhtälöiden avulla. Kokeellinen osa sisältää joukon testejä, joilla perustellaan parametrisoinnin tarvetta. Erilaisille kuville tarvitaan erilaisia suodattimia sekä erilaiset tiivistyskertoimet saavutetaan eri suodattimilla. Lopuksi toteutetaan spektrikuvien tiivistys aallokemuunnoksen avulla.

Wavelet Analysis in Turbulence

The objective of this thesis is to study wavelets and their role in turbulence applications. Under scrutiny in the thesis is the intermittency in turbulence models. Wavelets are used as a mathematical tool to study the intermittent activities that turbulence models produce. The first section generally introduces wavelets and wavelet transforms as a mathematical tool. Moreover, the basic properties of turbulence are discussed and classical methods for modeling turbulent flows are explained. Wavelets are implemented to model the turbulence as well as to analyze turbulent signals. The model studied here is the GOY (Gledzer 1973, Ohkitani & Yamada 1989) shell model of turbulence, which is a popular model for explaining intermittency based on the cascade of kinetic energy. The goal is to introduce better quantification method for intermittency obtained in a shell model. Wavelets are localized in both space (time) and scale, therefore, they are suitable candidates for the study of singular bursts, that interrupt the calm periods of an energy flow through various scales. The study concerns two questions, namely the frequency of the occurrence as well as the intensity of the singular bursts at various Reynolds numbers. The results gave an insight that singularities become more local as Reynolds number increases. The singularities become more local also when the shell number is increased at certain Reynolds number. The study revealed that the singular bursts are more frequent at Re ~ 107 than other cases with lower Re. The intermittency of bursts for the cases with Re ~ 106 and Re ~ 105 was similar, but for the case with Re ~ 104 bursts occured after long waiting time in a different fashion so that it could not be scaled with higher Re.

Cost Estimation of Engineering Environment Services

Työn tavoitteena oli kehittää tutkittavan insinööriyksikön projektien kustannusestimointiprosessia, siten että yksikön johdolla olisi tulevaisuudessa käytettävänään tarkempaa kustannustietoa. Jotta tämä olisi mahdollista, ensin täytyi selvittää yksikön toimintatavat, projektien kustannusrakenteet sekä kustannusatribuutit. Tämän teki mahdolliseksi projektien kustannushistoriatiedon tutkiminen sekä asiantuntijoiden haastattelu. Työn tuloksena syntyi kohdeyksikön muiden prosessien kanssa yhteensopiva kustannusestimointiprosessi sekä –malli.Kustannusestimointimenetelmän ja –mallin perustana on kustannusatribuutit, jotka määritellään erikseen tutkittavassa ympäristössä. Kustannusatribuutit löydetään historiatietoa tutkimalla, eli analysoimalla jo päättyneitä projekteja, projektien kustannusrakenteita sekä tekijöitä, jotka ovat vaikuttaneet kustannusten syntyyn. Tämän jälkeen kustannusatribuuteille täytyy määritellä painoarvot sekä painoarvojen vaihteluvälit. Estimointimallin tarkuutta voidaan parantaa mallin kalibroinnilla. Olen käyttänyt Goal – Question – Metric (GQM) –menetelmää tutkimuksen kehyksenä.

Trust as a source of sustainable competitive advantage

Tämän pro gradu -tutkielman tarkoituksena oli selvittää, miten luottamus vaikuttaa yrityksen kilpailuetuun. Luottamus on monitieteellinen ilmiö joka on saanut varsin paljon huomiota viimeaikaisissa tutkimuksissa. Myös jatkuvasti kehittyvässä yrityksen teoriassa yrityksen kilpailukyky ja sen pysyvyys ovat olleet mielenkiinnon kohteena. Luottamuksen ja kilpailuedun suhdetta on tästä huolimatta tutkittu vain vähän. Luottamus on nähty ikään kuin implisiittisesti yrityksen teoriassa, mutta ei eksplisiittisesti. Tämä tutkielma analysoi luottamuksen ja yrityksen kilpailukyvyn teorioita sekä näiden yhtymäkohtia. Tutkimuksen lopputuloksena esitellään nämä teoriat toisiinsa yhdistävä malli. Tutkielma on teoreettinen ja osin käsiteanalyyttinen, tutkimusote on syntetisoiva ja exploratiivinen, sillä se pyrkii osoittamaan aiemmin erillisten teorioiden yhtymäkohdat. Esiteltävä malli osoittaa, että luottamuksen ja yrityksen pysyvän kilpailuedun teoriat voidaan liittää toisiinsa, tärkeimmän yhdistävän tekijän ollessa yhteistyökyvykkyys. Luottamus on yhteistyökyvykkyyden välttämätön ennakkoedellytys. Kyky tehdä yhteistyötä on, paitsi jo itsessään erittäin tärkeä dynaaminen kyvykkyys, myös muiden dynaamisten kyvykkyyksien luomista ja hyväksikäyttöä edesauttava tekijä. Sikäli yhteistyö voidaan nähdä yrityksen teoriassa muut dynaamiset kyvykkyydet mahdollistavana meta-kyvykkyytenä ja luottamus sen edellytyksenä.

GPS-signal Source Based on Direct Digital Synthesis

This thesis presents the design and implementation of a GPS-signal source suitable for receiver measurements. The developed signal source is based on direct digital synthesis which generates the intermediate frequency. The intermediate frequency is transfered to the final frequency with the aid of an Inphase/Quadrature modulator. The modulating GPS-data was generated with MATLAB. The signal source was duplicated to form a multi channel source. It was shown that, GPS-signals ment for civil navigation are easy to generate in the laboratory. The hardware does not need to be technically advanced if navigation with high level of accuracy is not needed. It was also shown that, the Inphase/Quadrature modulator can function as a single side band upconverter even with a high intermediate frequency. This concept reduces the demands required for output filtering.

Pelin kehitys win32-alustalla käyttäen Open Source -työkaluja

Peliteollisuus on nykyään erittäin suuri ohjelmistokehityksen ala, joten on ajankohtaista tutustua ilmaisten työkalujen ja kirjastojen tarjoamiin mahdollisuuksiin. Visuaalisen viihteen tuottamiseen tarvitaan yleensä C++-ohjelmointitaidon lisäksi mallinnustaitoa ja kuvankäsittelytaitoa. Tämän lisäksi äänten tuottaminen on erittäin suuri osa toimivan kokonaisuuden saavuttamiseksi. Tässä työssä käsitellään kaikki osa-alueet ja tutkitaan Open Source -työkalujen soveltuvuutta pelin kehitykseen win32-alustalla. Lopputuloksena syntyy täysin pelattava, tosin yksinkertainen peli CrazyBunny. Työn alussa esitellään kaikki käytettävät työkalut jotka kuuluvat tarvittavaan kehitysympäristöön. Tähän esittelyyn kuuluvat myös olennaisena osana työkalujen asennuksen läpikäynti sekä käyttöönotto. Työn perustana on käytetty OGRE-ohjelmistokehystä, joka ei ole varsinainen pelimoottori. Puuttuvia ominaisuuksia on lisätty käyttämällä CEGUI-kirjastoa käyttöliittymien tekoon sekä FMOD-kirjastoa äänijärjestelmän toteutukseen. Muita käytet-tyjä työkaluja ovat Code::Blocks-kehitysympäristö, Blender-mallinnusohjelma ja Audacity-äänieditori. Pelisovelluksen toteutuksen pohjana on käytetty State-sunnittelumalliin perustuvaa järjes-telmää pelitiloja hallintaan. Tässä mallissa pelin päävalikko, pelitila ja pelin loppu on ero-tettu omiksi tilaluokikseen, jolloin sovelluksesta saadaan helpommin hallittava. Päävali-kossa tärkein osa on itse valikoiden toteutus CEGUI-kirjaston avulla. Pelitilan toteutukses-sa tutustutaan OGRE:n visuaalisiin ominaisuuksiin kuten ympäristöön, valoihin, varjoihin, kuva-alustoihin ja visuaalisiin tehosteisiin. Tämän lisäksi peliin on toteutettu äänet suosi-tulla FMOD-kirjastolla, jota useat isot alan yritykset käyttävät kaupallisissa tuotteissaan.

Bayesian Estimation of Noise

In mathematical modeling the estimation of the model parameters is one of the most common problems. The goal is to seek parameters that fit to the measurements as well as possible. There is always error in the measurements which implies uncertainty to the model estimates. In Bayesian statistics all the unknown quantities are presented as probability distributions. If there is knowledge about parameters beforehand, it can be formulated as a prior distribution. The Bays’ rule combines the prior and the measurements to posterior distribution. Mathematical models are typically nonlinear, to produce statistics for them requires efficient sampling algorithms. In this thesis both Metropolis-Hastings (MH), Adaptive Metropolis (AM) algorithms and Gibbs sampling are introduced. In the thesis different ways to present prior distributions are introduced. The main issue is in the measurement error estimation and how to obtain prior knowledge for variance or covariance. Variance and covariance sampling is combined with the algorithms above. The examples of the hyperprior models are applied to estimation of model parameters and error in an outlier case.

Au bord d'une source

Soitinnus: Piano.

Size Effect and Notch Size Effect in Metal Fatigue

It is a well known phenomenon that the constant amplitude fatigue limit of a large component is lower than the fatigue limit of a small specimen made of the same material. In notched components the opposite occurs: the fatigue limit defined as the maximum stress at the notch is higher than that achieved with smooth specimens. These two effects have been taken into account in most design handbooks with the help of experimental formulas or design curves. The basic idea of this study is that the size effect can mainly be explained by the statistical size effect. A component subjected to an alternating load can be assumed to form a sample of initiated cracks at the end of the crack initiation phase. The size of the sample depends on the size of the specimen in question. The main objective of this study is to develop a statistical model for the estimation of this kind of size effect. It was shown that the size of a sample of initiated cracks shall be based on the stressed surface area of the specimen. In case of varying stress distribution, an effective stress area must be calculated. It is based on the decreasing probability of equally sized initiated cracks at lower stress level. If the distribution function of the parent population of cracks is known, the distribution of the maximum crack size in a sample can be defined. This makes it possible to calculate an estimate of the largest expected crack in any sample size. The estimate of the fatigue limit can now be calculated with the help of the linear elastic fracture mechanics. In notched components another source of size effect has to be taken into account. If we think about two specimens which have similar shape, but the size is different, it can be seen that the stress gradient in the smaller specimen is steeper. If there is an initiated crack in both of them, the stress intensity factor at the crack in the larger specimen is higher. The second goal of this thesis is to create a calculation method for this factor which is called the geometric size effect. The proposed method for the calculation of the geometric size effect is also based on the use of the linear elastic fracture mechanics. It is possible to calculate an accurate value of the stress intensity factor in a non linear stress field using weight functions. The calculated stress intensity factor values at the initiated crack can be compared to the corresponding stress intensity factor due to constant stress. The notch size effect is calculated as the ratio of these stress intensity factors. The presented methods were tested against experimental results taken from three German doctoral works. Two candidates for the parent population of initiated cracks were found: the Weibull distribution and the log normal distribution. Both of them can be used successfully for the prediction of the statistical size effect for smooth specimens. In case of notched components the geometric size effect due to the stress gradient shall be combined with the statistical size effect. The proposed method gives good results as long as the notch in question is blunt enough. For very sharp notches, stress concentration factor about 5 or higher, the method does not give sufficient results. It was shown that the plastic portion of the strain becomes quite high at the root of this kind of notches. The use of the linear elastic fracture mechanics becomes therefore questionable.

Cost estimation framework for modular product

Cost estimation is an important, but challenging process when designing a new product or a feature of it, verifying the product prices given by suppliers or planning a cost saving actions of existing products. It is even more challenging when the product is highly modular, not a bulk product. In general, cost estimation techniques can be divided into two main groups - qualitative and quantitative techniques - which can further be classified into more detailed methods. Generally, qualitative techniques are preferable when comparing alternatives and quantitative techniques when cost relationships can be found. The main objective of this thesis was to develop a method on how to estimate costs of internally manufactured and commercial elevator landing doors. Because of the challenging product structure, the proposed cost estimation framework is developed under three different levels based on past cost information available. The framework consists of features from both qualitative and quantitative cost estimation techniques. The starting point for the whole cost estimation process is an unambiguous, hierarchical product structure so that the product can be classified into controllable parts and is then easier to handle. Those controllable parts can then be compared to existing past cost knowledge of similar parts and create as accurate cost estimates as possible by that way.

Sensor Fusion of Proprioception, Force and Vision in Estimation and Robot

Sensor-based robot control allows manipulation in dynamic environments with uncertainties. Vision is a versatile low-cost sensory modality, but low sample rate, high sensor delay and uncertain measurements limit its usability, especially in strongly dynamic environments. Force is a complementary sensory modality allowing accurate measurements of local object shape when a tooltip is in contact with the object. In multimodal sensor fusion, several sensors measuring different modalities are combined to give a more accurate estimate of the environment. As force and vision are fundamentally different sensory modalities not sharing a common representation, combining the information from these sensors is not straightforward. In this thesis, methods for fusing proprioception, force and vision together are proposed. Making assumptions of object shape and modeling the uncertainties of the sensors, the measurements can be fused together in an extended Kalman filter. The fusion of force and visual measurements makes it possible to estimate the pose of a moving target with an end-effector mounted moving camera at high rate and accuracy. The proposed approach takes the latency of the vision system into account explicitly, to provide high sample rate estimates. The estimates also allow a smooth transition from vision-based motion control to force control. The velocity of the end-effector can be controlled by estimating the distance to the target by vision and determining the velocity profile giving rapid approach and minimal force overshoot. Experiments with a 5-degree-of-freedom parallel hydraulic manipulator and a 6-degree-of-freedom serial manipulator show that integration of several sensor modalities can increase the accuracy of the measurements significantly.

Mobile system for pump working point estimation

In the current economy situation companies try to reduce their expenses. One of the solutions is to improve the energy efficiency of the processes. It is known that the energy consumption of pumping applications range from 20 up to 50% of the energy usage in the certain industrial plants operations. Some studies have shown that 30% to 50% of energy consumed by pump systems could be saved by changing the pump or the flow control method. The aim of this thesis is to create a mobile measurement system that can calculate a working point position of a pump drive. This information can be used to determine the efficiency of the pump drive operation and to develop a solution to bring pump’s efficiency to a maximum possible value. This can allow a great reduction in the pump drive’s life cycle cost. In the first part of the thesis, a brief introduction in the details of pump drive operation is given. Methods that can be used in the project are presented. Later, the review of available platforms for the project implementation is given. In the second part of the thesis, components of the project are presented. Detailed description for each created component is given. Finally, results of laboratory tests are presented. Acquired results are compared and analyzed. In addition, the operation of created system is analyzed and suggestions for the future development are given.