Readout Electronics for Gas Electron Multiplier Detectors

The European Organization for Nuclear Research (CERN) operates the largest particle collider in the world. This particle collider is called the Large Hadron Collider (LHC) and it will undergo a maintenance break sometime in 2017 or 2018. During the break, the particle detectors, which operate around the particle collider, will be serviced and upgraded. Following the improvement in performance of the particle collider, the requirements for the detector electronics will be more demanding. In particular, the high amount of radiation during the operation of the particle collider sets requirements for the electronics that are uncommon in commercial electronics. Electronics that are built to function in the challenging environment of the collider have been designed at CERN. In order to meet the future challenges of data transmission, a GigaBit Transceiver data transmission module and an E-Link data bus have been developed. The next generation of readout electronics is designed to benefit from these technologies. However, the current readout electronics chips are not compatible with these technologies. As a result, in addition to new Gas Electron Multiplier (GEM) detectors and other technology, a new compatible chip is developed to function within the GEMs for the Compact Muon Solenoid (CMS) project. In this thesis, the objective was to study a data transmission interface that will be located on the readout chip between the E-Link bus and the control logic of the chip. The function of the module is to handle data transmission between the chip and the E-Link. In the study, a model of the interface was implemented with the Verilog hardware description language. This process was simulated by using chip design software by Cadence. State machines and operating principles with alternative possibilities for implementation are introduced in the E-Link interface design procedure. The functionality of the designed logic is demonstrated in simulation results, in which the implemented model is proven to be suitable for its task. Finally, suggestions that should be considered for improving the design have been presented.

Modeling Front End Electronics for a Gas Electron Multiplier Detector

The Large Hadron Collider (LHC) in The European Organization for Nuclear Research (CERN) will have a Long Shutdown sometime during 2017 or 2018. During this time there will be maintenance and a possibility to install new detectors. After the shutdown the LHC will have a higher luminosity. A promising new type of detector for this high luminosity phase is a Triple-GEM detector. During the shutdown these detectors will be installed at the Compact Muon Solenoid (CMS) experiment. The Triple-GEM detectors are now being developed at CERN and alongside also a readout ASIC chip for the detector. In this thesis a simulation model was developed for the ASICs analog front end. The model will help to carry out more extensive simulations and also simulate the whole chip before the whole design is finished. The proper functioning of the model was tested with simulations, which are also presented in the thesis.

Mitta-anturin mittauselektroniikan kehittäminen teräksen puutislepinnoituksen ohjaukseen

Työn tarkoituksena oli kehittää mittauselektroniikka puutislepinnoitusprosessin ohjaukseen. Mittauselektroniikalla on tarkoitus mitata pikoampeeriluokan virtoja mittaanturilta, jossa virtaa kuuma, noin 250 ºC asteinen kaasu. Mitta-anturin toiminta perustuu ioniliikkuvuusspektrometriaan. Työssä tutkitaan pikoampeeriluokan virtojen mittaamista sekä mittauskytkennöissä käytetyn virta-jännitemuuntimen ominaisuuksia ja mitoittamista. Työ tarkastelee myös T-kytkennän käyttöä vahvistimen takaisinkytkennässä. Jännitekertojakytkentöjä käsitellään teoreettisesti mitta-anturin biasjännitteiden luomiseksi vähäisellä piirilevypinta-alalla. Työssä suunniteltiin mittauselektroniikan esivahvistinprototyypit sekä mitta-anturin biasjännitekytkentä. Mitta-anturin kuumien olosuhteiden vuoksi on mittauselektroniikka siirrettävä etäämmäksi mitta-anturista. Prototyyppikytkennöillä sekä laboratoriomittauksilla selvitettiin mittauselektroniikan esivahvistimien siirtämiseen liittyviä ongelmia. Biasjännitekytkennän suunnittelussa pyrittiin kytkentä toteuttamaan mahdollisimman vähällä piirilevypinta-alalla. Mittauselektroniikka todettiin laboratoriomittausten perusteella toimivaksi puutislepinnoitusprosessissa suoritettavia koemittauksia varten.

Palvelutuotteiden hinnoittelu kerroinmallin avulla, Case: Leppävaaran Laskenta Oy

Perinteisiä taloushallintopalveluja tuottavilla tilitoimistoilla on omien palveluidensa hinnoittelu ollut yksi haastavimmista hallinnollisista tehtävistä. Hinnoittelutavat alalla vaihtelevat ja myös asiakkaan on ollut vaikea ymmärtää hinnan muodostumisen periaatteita. Strategisesti vääränlainen hinnoittelu on myös saattanut johtaa kannattamattomaan liiketoimintaan. Tämän tutkimuksen tavoitteena on kehittää taloushallintopalveluja tuottavalle tilitoimistolle ymmärrettävä ja tehokkaasti toimiva hinnoittelumalli kirjanpitopalveluiden hinnoitteluun. Hinnoittelumallin on tarkoitus toimia kustannuslaskennan, palveluiden hinnoittelun sekä resurssienhallinnan ja budjetoinnin välineenä tuotettaessa kirjanpitopalveluita sekä muita tilitoimistoyrityksen palvelutuotteita. Tutkimus toteutettiin tutkimalla esimerkkiyrityksen kirjanpidon laskutusta yhden tilikauden ajalta. Aineistoa analysoimalla voitiin luoda kerroinmalli, jonka avulla voidaan hinnoitella kirjanpitopalveluita. Aineistoa analysoitaessa havaittiin voimakasta hajontaa aineistossa esiintyvissä kertoimissa. Tilikauden aikaisesta laskutusaineistosta löydettiin myös selkeä kannattavuuteen vaikuttava asia, jonka euromääräistä vaikutusta voitiin arvioida kerroinmallin avulla.

Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine

The assembly and maintenance of the International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. The VV is made of stainless steel, which has poor machinability and tends to work harden very rapidly, and all the machining operations need to be carried out from inside of the ITER VV. A general industrial robot cannot be used due to its poor stiffness in the heavy duty machining process, and this will cause many problems, such as poor surface quality, tool damage, low accuracy. Therefore, one of the most suitable options should be a light weight mobile robot which is able to move around inside of the VV and perform different machining tasks by replacing different cutting tools. Reducing the mass of the robot manipulators offers many advantages: reduced material costs, reduced power consumption, the possibility of using smaller actuators, and a higher payload-to-robot weight ratio. Offsetting these advantages, the lighter weight robot is more flexible, which makes it more difficult to control. To achieve good machining surface quality, the tracking of the end effector must be accurate, and an accurate model for a more flexible robot must be constructed. This thesis studies the dynamics and control of a 10 degree-of-freedom (DOF) redundant hybrid robot (4-DOF serial mechanism and 6-DOF 6-UPS hexapod parallel mechanisms) hydraulically driven with flexible rods under the influence of machining forces. Firstly, the flexibility of the bodies is described using the floating frame of reference method (FFRF). A finite element model (FEM) provided the Craig-Bampton (CB) modes needed for the FFRF. A dynamic model of the system of six closed loop mechanisms was assembled using the constrained Lagrange equations and the Lagrange multiplier method. Subsequently, the reaction forces between the parallel and serial parts were used to study the dynamics of the serial robot. A PID control based on position predictions was implemented independently to control the hydraulic cylinders of the robot. Secondly, in machining, to achieve greater end effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. This thesis investigates the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two schemes of intelligent control for a hydraulically driven parallel mechanism based on the dynamic model: (1) a fuzzy-PID self-tuning controller composed of the conventional PID control and with fuzzy logic, and (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self-tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel mechanism based on rod length predictions. The serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should be controlled to hold the hexa-element. Thirdly, a finite element approach of multibody systems using the Special Euclidean group SE(3) framework is presented for a parallel mechanism with flexible piston rods under the influence of machining forces. The flexibility of the bodies is described using the nonlinear interpolation method with an exponential map. The equations of motion take the form of a differential algebraic equation on a Lie group, which is solved using a Lie group time integration scheme. The method relies on the local description of motions, so that it provides a singularity-free formulation, and no parameterization of the nodal variables needs to be introduced. The flexible slider constraint is formulated using a Lie group and used for modeling a flexible rod sliding inside a cylinder. The dynamic model of the system of six closed loop mechanisms was assembled using Hamilton’s principle and the Lagrange multiplier method. A linearized hydraulic control system based on rod length predictions was implemented independently to control the hydraulic cylinders. Consequently, the results of the simulations demonstrating the behavior of the robot machine are presented for each case study. In conclusion, this thesis studies the dynamic analysis of a special hybrid (serialparallel) robot for the above-mentioned special task involving the ITER and investigates different control algorithms that can significantly improve machining performance. These analyses and results provide valuable insight into the design and control of the parallel robot with flexible rods.

Palvelusetelien prosessit ja hallinnolliset kustannukset Helsingin kaupungin sosiaali- ja terveysvirastossa

Diplomityö käsittelee Helsingin sosiaali- ja terveysviraston palvelusetelitoimintaa eräänä ostopalvelun järjestämistapana. Vakinaistettuja palveluseteleitä on kaksi-toista, joista työhön on valittu viisi kustannuksiltaan ja lukumääriltään suurinta palveluseteliä. Tutkimuksessa mallinnetaan kahden keskenään erilaisimman palve-lusetelin prosessikuvaukset, vanhusten palveluasumisen (sosh) ja suun terveyden-huollon (tervh) palveluseteleille ja kuvataan niiden hallinnolliset työvaiheet ja toi-minnot. Empiirinen aineisto koostuu aiemmin kerätystä hallinnollisen työajan da-tasta, jonka avulla eri toimintoihin sitoutuneiden hallinnollisten kustannuksien las-kenta on suoritettu hyödyntäen aikaperusteista toimintolaskentaa. Aikaperusteisen toimintolaskennan avulla saadaan esille kirjanpidon ulkopuolelle jääviä piileviä prosessikustannuksia. Lisäksi diplomityössä tehdään edullisuusvertailua oman vas-taavan palvelutoiminnan ja palvelusetelien välillä. Terveydenhuollon palvelusetelien hallinnolliset prosessit osoittautuvat hallinnolli-sesti ja kustannuksien osalta kuormittavammaksi kuin sosiaalihuollon vastaavat prosessit. Terveydenhuollon palveluseteliprosessit ovat luonteeltaan monivaihei-sempia, ne ovat toimenpiteellisiä ja kertaluonteisia, joka lisää asiakasvolyymia ja tiedon välittämisen tarvetta sosiaali- ja terveysviraston ja palveluntuottajan välillä. Hallinnollinen kustannuslisä on vuoden 2013 palvelusetelitoiminnan volyymeillä suun terveydenhuollossa +24%, kolonoskopiassa +9%, ikäihmisten päivätoimin-nassa +8%, vammaisten henkilökohtaisessa avussa +5% ja vanhusten palveluasu-misessa +1%. Hallinnollisten kustannusten esiin tuomiseksi tulee terveydenhuollon palvelusetelien kirjanpidon kustannuksissa käyttää kerrointa 1,167 ja sosiaalihuol-lon palvelusetelien kustannuksissa kerrointa 1,046. Edullisuusvertailussa suun terveydenhuollon ja kolonoskopian palvelusetelit osoittautuvat omaa toimintaa kalliimmiksi, vanhusten palveluasuminen, ikäihmisten päivätoiminta ja vammais-ten henkilökohtainen apu on edullisempaa tuottaa palvelusetelillä. Palveluseteli-toiminnan kustannushyöty ei ole ainoa tekijä toimintaa suunnitelleessa. Hoitota-kuuseen vastaaminen, asiakasorientaation ja vapaavalintaisuuden lisääntyminen, sekä palvelun sujuvuus vaikuttavat myös palvelusetelitoiminnan kehittämisessä.

Development of Measurement Systems in Scientific Research: Case Study

In recent years, technological advancements in microelectronics and sensor technologies have revolutionized the field of electrical engineering. New manufacturing techniques have enabled a higher level of integration that has combined sensors and electronics into compact and inexpensive systems. Previously, the challenge in measurements was to understand the operation of the electronics and sensors, but this has now changed. Nowadays, the challenge in measurement instrumentation lies in mastering the whole system, not just the electronics. To address this issue, this doctoral dissertation studies whether it would be beneficial to consider a measurement system as a whole from the physical phenomena to the digital recording device, where each piece of the measurement system affects the system performance, rather than as a system consisting of small independent parts such as a sensor or an amplifier that could be designed separately. The objective of this doctoral dissertation is to describe in depth the development of the measurement system taking into account the challenges caused by the electrical and mechanical requirements and the measurement environment. The work is done as an empirical case study in two example applications that are both intended for scientific studies. The cases are a light sensitive biological sensor used in imaging and a gas electron multiplier detector for particle physics. The study showed that in these two cases there were a number of different parts of the measurement system that interacted with each other. Without considering these interactions, the reliability of the measurement may be compromised, which may lead to wrong conclusions about the measurement. For this reason it is beneficial to conceptualize the measurement system as a whole from the physical phenomena to the digital recording device where each piece of the measurement system affects the system performance. The results work as examples of how a measurement system can be successfully constructed to support a study of sensors and electronics.

Cascade hydropower capacity increase profitability analysis with optimisation modelling

The electricity market and climate are both undergoing a change. The changes impact hydropower and provoke an interest for hydropower capacity increases. In this thesis a new methodology was developed utilising short-term hydropower optimisation and planning software for better capacity increase profitability analysis accuracy. In the methodology income increases are calculated in month long periods while varying average discharge and electricity price volatility. The monthly incomes are used for constructing year scenarios, and from different types of year scenarios a long-term profitability analysis can be made. Average price development is included utilising a multiplier. The method was applied on Oulujoki hydropower plants. It was found that the capacity additions that were analysed for Oulujoki were not profitable. However, the methodology was found versatile and useful. The result showed that short periods of peaking prices play major role in the profitability of capacity increases. Adding more discharge capacity to hydropower plants that initially bypassed water more often showed the best improvements both in income and power generation profile flexibility.