An IP capable data link layer protocol for narrow band half-duplex packet data radio networks

The wide adaptation of Internet Protocol (IP) as de facto protocol for most communication networks has established a need for developing IP capable data link layer protocol solutions for Machine to machine (M2M) and Internet of Things (IoT) networks. However, the wireless networks used for M2M and IoT applications usually lack the resources commonly associated with modern wireless communication networks. The existing IP capable data link layer solutions for wireless IoT networks provide the necessary overhead minimising and frame optimising features, but are often built to be compatible only with IPv6 and specific radio platforms. The objective of this thesis is to design IPv4 compatible data link layer for Netcontrol Oy's narrow band half-duplex packet data radio system. Based on extensive literature research, system modelling and solution concept testing, this thesis proposes the usage of tunslip protocol as the basis for the system data link layer protocol development. In addition to the functionality of tunslip, this thesis discusses the additional network, routing, compression, security and collision avoidance changes required to be made to the radio platform in order for it to be IP compatible while still being able to maintain the point-to-multipoint and multi-hop network characteristics. The data link layer design consists of the radio application, dynamic Maximum Transmission Unit (MTU) optimisation daemon and the tunslip interface. The proposed design uses tunslip for creating an IP capable data link protocol interface. The radio application receives data from tunslip and compresses the packets and uses the IP addressing information for radio network addressing and routing before forwarding the message to radio network. The dynamic MTU size optimisation daemon controls the tunslip interface maximum MTU size according to the link quality assessment calculated from the radio network diagnostic data received from the radio application. For determining the usability of tunslip as the basis for data link layer protocol, testing of the tunslip interface is conducted with both IEEE 802.15.4 radios and packet data radios. The test cases measure the radio network usability for User Datagram Protocol (UDP) based applications without applying any header or content compression. The test results for the packet data radios reveal that the typical success rate for packet reception through a single-hop link is above 99% with a round-trip-delay of 0.315s for 63B packets.

Formation and Control of Trace Metal Emissions in Co-Firing of Biomass, Peat, and Wastes in Fluidised Bed Combustors

Environmentally harmful consequences of fossil fuel utilisation andthe landfilling of wastes have increased the interest among the energy producers to consider the use of alternative fuels like wood fuels and Refuse-Derived Fuels, RDFs. The fluidised bed technology that allows the flexible use of a variety of different fuels is commonly used at small- and medium-sized power plants ofmunicipalities and industry in Finland. Since there is only one mass-burn plantcurrently in operation in the country and no intention to build new ones, the co-firing of pre-processed wastes in fluidised bed boilers has become the most generally applied waste-to-energy concept in Finland. The recently validated EU Directive on Incineration of Wastes aims to mitigate environmentally harmful pollutants of waste incineration and co-incineration of wastes with conventional fuels. Apart from gaseous flue gas pollutants and dust, the emissions of toxic tracemetals are limited. The implementation of the Directive's restrictions in the Finnish legislation is assumed to limit the co-firing of waste fuels, due to the insufficient reduction of the regulated air pollutants in the existing flue gas cleaning devices. Trace metals emission formation and reduction in the ESP, the condensing wet scrubber, the fabric filter, and the humidification reactor were studied, experimentally, in full- and pilot-scale combustors utilising the bubbling fluidised bed technology, and, theoretically, by means of reactor model calculations. The core of the model is a thermodynamic equilibrium analysis. The experiments were carried out with wood chips, sawdust, and peat, and their refuse-derived fuel, RDF, blends. In all, ten different fuels or fuel blends were tested. Relatively high concentrations of trace metals in RDFs compared to the concentrations of these metals in wood fuels increased the trace metal concentrations in the flue gas after the boiler ten- to hundred-folds, when RDF was co-fired with sawdust in a full-scale BFB boiler. In the case of peat, lesser increase in trace metal concentrations was observed, due to the higher initial trace metal concentrations of peat compared to sawdust. Despite the high removal rate of most of the trace metals in the ESP, the Directive emission limits for trace metals were exceeded in each of the RDF co-firing tests. The dominat trace metals in fluegas after the ESP were Cu, Pb and Mn. In the condensing wet scrubber, the flue gas trace metal emissions were reduced below the Directive emission limits, whenRDF pellet was used as a co-firing fuel together with sawdust and peat. High chlorine content of the RDFs enhanced the mercuric chloride formation and hence the mercury removal in the ESP and scrubber. Mercury emissions were lower than theDirective emission limit for total Hg, 0.05 mg/Nm3, in all full-scale co-firingtests already in the flue gas after the ESP. The pilot-scale experiments with aBFB combustor equipped with a fabric filter revealed that the fabric filter alone is able to reduce the trace metal concentrations, including mercury, in the flue gas during the RDF co-firing approximately to the same level as they are during the wood chip firing. Lower trace metal emissions than the Directive limits were easily reached even with a 40% thermal share of RDF co-firing with sawdust.Enrichment of trace metals in the submicron fly ash particle fraction because of RDF co-firing was not observed in the test runs where sawdust was used as the main fuel. The combustion of RDF pellets with peat caused an enrichment of As, Cd, Co, Pb, Sb, and V in the submicron particle mode. Accumulation and release oftrace metals in the bed material was examined by means of a bed material analysis, mass balance calculations and a reactor model. Lead, zinc and copper were found to have a tendency to be accumulated in the bed material but also to have a tendency to be released from the bed material into the combustion gases, if the combustion conditions were changed. The concentration of the trace metal in the combustion gases of the bubbling fluidised bed boiler was found to be a summary of trace metal fluxes from three main sources. They were (1) the trace metal flux from the burning fuel particle (2) the trace metal flux from the ash in the bed, and (3) the trace metal flux from the active alkali metal layer on the sand (and ash) particles in the bed. The amount of chlorine in the system, the combustion temperature, the fuel ash composition and the saturation state of the bed material in regard to trace metals were discovered to be key factors affecting therelease process. During the co-firing of waste fuels with variable amounts of e.g. ash and chlorine, it is extremely important to consider the possible ongoingaccumulation and/or release of the trace metals in the bed, when determining the flue gas trace metal emissions. If the state of the combustion process in regard to trace metals accumulation and/or release in the bed material is not known,it may happen that emissions from the bed material rather than the combustion of the fuel in question are measured and reported.

Opportunities, constraints and constrained opportunities – A study on mothers’ working time patterns in 22 European countries

The aim of this study was to analyse mothers’ working time patterns across 22 European countries. The focus was on three questions: how much mothers prefer to work, how much they actually work, and to what degree their preferred and actual working times are (in)consistent with each other. The focus was on cross-national differences in mothers’ working time patterns, comparison of mothers’ working times to that of childless women and fathers, as well as on individual- and country-level factors that explain the variation between them. In the theoretical background, the departure point was an integrative theoretical approach where the assumption is that there are various kinds of explanations for the differences in mothers’ working time patterns – namely structural, cultural and institutional – , and that these factors are laid in two levels: individual- and country-levels. Data were extracted from the European Social Survey (ESS) 2010 / 2011. The results showed that mothers’ working time patterns, both preferred and actual working times, varied across European countries. Four clusters were formed to illustrate the differences. In the full-time pattern, full-time work was the most important form of work, leaving all other working time forms marginal. The full-time pattern was perceived in terms of preferred working times in Bulgaria and Portugal. In polarised pattern countries, fulltime work was also important, but it was accompanied by a large share of mothers not working at all. In the case of preferred working times, many Eastern and Southern European countries followed it whereas in terms of actual working times it included all Eastern and Southern European countries as well as Finland. The combination pattern was characterised by the importance of long part-time hours and full-time work. It was the preferred working time pattern in the Nordic countries, France, Slovenia, and Spain, but Belgium, Denmark, France, Norway, and Sweden followed it in terms of actual working times. The fourth cluster that described mothers’ working times was called the part-time pattern, and it was illustrated by the prevalence of short and long part-time work. In the case of preferred working times, it was followed in Belgium, Germany, Ireland, the Netherlands and Switzerland. Besides Belgium, the part-time pattern was followed in the same countries in terms of actual working times. The consistency between preferred and actual working times was rather strong in a majority of countries. However, six countries fell under different working time patterns when preferred and actual working times were compared. Comparison of working mothers’, childless women’s, and fathers’ working times showed that differences between these groups were surprisingly small. It was only in part-time pattern countries that working mothers worked significantly shorter hours than working childless women and fathers. Results therefore revealed that when mothers’ working times are under study, an important question regarding the population examined is whether it consists of all mothers or only working mothers. Results moreover supported the use of the integrative theoretical approach when studying mothers’ working time patterns. Results indicate that mothers’ working time patterns in all countries are shaped by various opportunities and constraints, which are comprised of structural, cultural, institutional, and individual-level factors.

Optimization and Measuring Techniques for Collect-and-Place Machines in Printed Circuit Board Industry

This thesis considers optimization problems arising in printed circuit board assembly. Especially, the case in which the electronic components of a single circuit board are placed using a single placement machine is studied. Although there is a large number of different placement machines, the use of collect-and-place -type gantry machines is discussed because of their flexibility and increasing popularity in the industry. Instead of solving the entire control optimization problem of a collect-andplace machine with a single application, the problem is divided into multiple subproblems because of its hard combinatorial nature. This dividing technique is called hierarchical decomposition. All the subproblems of the one PCB - one machine -context are described, classified and reviewed. The derived subproblems are then either solved with exact methods or new heuristic algorithms are developed and applied. The exact methods include, for example, a greedy algorithm and a solution based on dynamic programming. Some of the proposed heuristics contain constructive parts while others utilize local search or are based on frequency calculations. For the heuristics, it is made sure with comprehensive experimental tests that they are applicable and feasible. A number of quality functions will be proposed for evaluation and applied to the subproblems. In the experimental tests, artificially generated data from Markov-models and data from real-world PCB production are used. The thesis consists of an introduction and of five publications where the developed and used solution methods are described in their full detail. For all the problems stated in this thesis, the methods proposed are efficient enough to be used in the PCB assembly production in practice and are readily applicable in the PCB manufacturing industry.

Flotaatio jätevedenpuhdistamon tertiäärivaiheena eräässä paperitehtaassa

Työn tavoitteena oli selvittää, kuinka tehokkaasti pystytään aktiivilieteprosessin läpikäynyttä, jälkiselkeytettyä vettä edelleen puhdistamaan flotaatiolla ennen sen johtamista vesistöön. Tarkoituksena oli löytää sellaiset kemikaalit ja näiden annokset, joilla tehtaalle asetetut jätevesien lupa-arvot voitaisiin huonossa tilanteessa, jätevesikuormitushuippujen aikana alittamaan. Työn kirjallisessaosassa tarkasteltiin lyhyesti, minkälaista jätevesikuormaa mekaanista massaa valmistavalta tehtaalta yleensä syntyy ja millaiset ovat tavanomaiset puhdistusmenetelmät. Myös flotaation teoriaa esiteltiin. Kokeellinen osa koostui kolmesta päävaiheesta: esi- eli niin sanotuista kuppikokeista, pilot-flotaatiokoeajoista jalaitosmittakaavan flotaatiokoeajoista. Esikokeet tehtiin niin kutsutulla Jar Test -laitteistolla ja pilot-flotaatiolaitteistona työssä käytettiin YIT:n valmistamaa pilot-flotaattoria. Laitosmittakaavan flotaatioaltaat olivat aikaisemmin biolietteen tiivistykseen käytettyjä, myöhemmin tertiääripuhdistukseen modifioituja flotaatioaltaita. Laitosmittakaavan flotaatiokoeajoissa testattiin neljän eri saostuskemikaalin ¿ polyalumiinikloridin (KEMPAC 18), rautapitoisen alumiinisulfaatin (AVR), ferrisulfaatin ja alumiinisulfaatin ¿ tehokkuutta tertiäärivaiheessa käsiteltävän veden puhdistajana. Esi- ja pilot-kokeiden perusteella laitosmittakaavan kokeisiin valittiin saostuskemikaalien rinnalle polymeeriksi Superfloc C 491. AVR- ja alumiinisulfaattiannokset laitosmittakaavan kokeissa olivat 200 ppm ja 400 ppm. KEMPAC 18- ja ferrisulfaattiannokset olivat 200ppm, 400 ppm ja 600 ppm. Polymeeriannos kokeissa oli pääasiassa 1,2 ppm. Tertiäärivaiheeseen tulevasta vedestä ja poistuvasta kirkasteesta määritettiin kiintoaine, pH, liukoinen ja kokonais-COD, liukoinen ja kokonaisfosfori sekä liukoinen ja kokonaistyppi. Laitosmittakaavan koeajojen tulosten mukaan eniten tertiäärivaiheessa saatiin käsiteltävästä vedestä erotettua fosforia ja toiseksi eniten COD:ta. Typpireduktiot olivat verrattain alhaiset ja myös kiintoainereduktiot jäivät usein pieniksi tai olivat jopa negatiiviset. Kaikki saostuskemikaalit saostivat COD- ja ravinnekuormaa. Eniten kuormaa saostuskemikaaleista saatiin erotettua AVR:llä ja toiseksi eniten KEMPAC 18:lla. Laitteistojen käyttökustannuksia huomioimatta AVR olisi edullisin vaihtoehto saostuskemikaaaliksietenkin pidempiaikaisessa käytössä. Lisäksi työssä tutkittiin polymeeriannoksen kasvattamisen 1,2 ppm:stä 2,5 ppm:ään vaikutusta puhdistustulokseen, kun saostuskemikaaliannos pidettiin vakiona. Tulosten mukaan polymeeriannoksen kasvattaminen kasvatti kokonais-COD- ja kokonaisfosforireduktiota. Myöslaitosmittakaavan flotaatioaltaiden pohjaputkistoja vertailtiin kiintoainereduktioiden perusteella. Kokeissa saatujen tulosten mukaan ei voitu sanoa, oliko toisen altaan pitkä kirkasteenpoistoputki vai toisen altaan lyhyt kirkasteenpoistoputki parempi vaihtoehto.

Johdon laskentajärjestelmän suunnittelu ja toimintoperusteisen laskennan käyttöönotto tietojärjestelmähankkeen yhteydessä

Tutkimus on tehty keskisuomalaiselle pk-yritykselle vuosien 2003-2005 aikana. Tutkimusjaksolla kohdeyrityksessä on toteutettu lukuisia mittavia muutoksia ja merkittävä investointiohjelma. Tutkimuksen kannalta oleellisin muutos on ollut yrityksen tietojärjestelmien kokonaisvaltainen uudistaminen. Vanha tuotannonohjausjärjestelmä on korvattu uudella toiminnanohjausjärjestelmällä ja myös taloudenohjausjärjestelmät on uudistettu. Tutkimuksen tavoitteena on ollut laatia kokonaisvaltainen suunnitelma johdon laskentajärjestelmien kehittämiseksi ja selvittää erityisesti toimintolaskentajärjestelmän sekä suorituskyvyn mittaus- ja analysointijärjestelmän implementoinnin edellytyksiä tutkimuksen kohdeyrityksessä ja laatia konkreettinen esitys järjestelmien rakentamiseksi. Johdon laskentajärjestelmän kokonaissuunnitelmassa tarkoituksena on laatia laskentajärjestelmän loogisten elementtien kuvauksen lisäksi esitys tarvittavista sovelluksista sekä tutkia sovellusten välisiä fyysisiä rajapintoja ja suunnitella järjestelmäintegraatio siten, että johdon laskentajärjestelmän koko naissuunnitelma on mahdollista taloudellisesti toteuttaa. Tutkimuksen tavoitteena on lisäksi ollut selvittääyrityksen toimintojen kustannukset ja tuoteryhmien kannattavuudet sekä rakentaasuorituskyvyn mittaus- ja analysointijärjestelmä SAKE prosessi-malliinperustuen. Lisäksi tutkimuksen puitteissa on rakennettu erilaisia liiketoimintaa tukevia raportteja erilaisilla kehitysvälineillä. Tutkimukselle asetetut sisällölliset tavoitteet saavutettiin pääpiirteissään. Jatkuvatoimisten ja integroitujen toimintolaskentajärjestelmän sekä suorituskyvyn mittaus- ja analysointijärjestelmän rakentaminen osoittautui tutkimuksen aikana haastavaksi, joskaan ei mahdottomaksi tehtäväksi. Järjestelmien rakennustyö jatkuu tutkimuksessa esitettyihin ajatuksiin perustuen yhteistyössä ohjelmistotoimittajan kanssa edelleen ja järjestelmät valmistunevat vuosien 2005-2006 aikana.

Weak Form Tests of Efficient Market Hypothesis: Evidence from CEE-Countries and Russian Stock Markets

Tämän tutkielman tavoitteena on selvittää Venäjän, Slovakian, Tsekin, Romanian, Bulgarian, Unkarin ja Puolan osakemarkkinoiden heikkojen ehtojen tehokkuutta. Tämä tutkielma on kvantitatiivinen tutkimus ja päiväkohtaiset indeksin sulkemisarvot kerättiin Datastreamin tietokannasta. Data kerättiin pörssien ensimmäisestä kaupankäyntipäivästä aina vuoden 2006 elokuun loppuun saakka. Analysoinnin tehostamiseksi dataa tutkittiin koko aineistolla, sekä kahdella aliperiodilla. Osakemarkkinoiden tehokkuutta on testattu neljällä tilastollisella metodilla, mukaan lukien autokorrelaatiotesti ja epäparametrinen runs-testi. Tavoitteena on myös selvittääesiintyykö kyseisillä markkinoilla viikonpäiväanomalia. Viikonpäiväanomalian esiintymistä tutkitaan käyttämällä pienimmän neliösumman menetelmää (OLS). Viikonpäiväanomalia on löydettävissä kaikilta edellä mainituilta osakemarkkinoilta paitsi Tsekin markkinoilta. Merkittävää, positiivista tai negatiivista autokorrelaatiota, on löydettävissä kaikilta osakemarkkinoilta, myös Ljung-Box testi osoittaa kaikkien markkinoiden tehottomuutta täydellä periodilla. Osakemarkkinoiden satunnaiskulku hylätään runs-testin perusteella kaikilta muilta paitsi Slovakian osakemarkkinoilla, ainakin tarkastellessa koko aineistoa tai ensimmäistä aliperiodia. Aineisto ei myöskään ole normaalijakautunut minkään indeksin tai aikajakson kohdalla. Nämä havainnot osoittavat, että kyseessä olevat markkinat eivät ole heikkojen ehtojen mukaan tehokkaita

Täystehokonvertterin tehohäviöt ja hyötysuhde

Diplomityössä perehdytään tuuliturbineissa käytettyjen täystehokonvertterien tehohäviöihin ja hyötysuhteeseen. Täystehokonvertterissa generaattorin tuottama sähköteho tasasuunnataan hyvällä hyötysuhteella aktiivisella geenraattorisillalla konvertterin välipiiriin ja edelleen vaihtosuunnataan aktiivisella verkkovaihtosuuntaajasillalla siirtoverkkoon. Työn tarkoituksena on antaa yleiskuva tehohäviöiden jakautumisesta ja yksinkertaistaa niiden laskentaa. Häviömekanismit ja häviöiden määräytyminen esitellään pääkomponenttitasolla. Tehohäviöiden osalta keskitytään erityisesti muuntajateräksestä valmistettujen sinisuotimien ja du/dt-suotimien rautahäviöihin. Ongelmana rautahäviöiden määrittämisessä on korkeilla taajuuksilla tapahtuvat häviöt, joiden laskentaan ei ole yleensä saatavilla tarvittavia materiaaliparametrejä. Tehohäviöiden laskentaa varten toteutettu laskentasovellus on esitelty periaatteellisina vuokaavioina ja sovelluksella saatavia tuloksia on esitetty ja vertailtu mitattuihin tuloksiin.

Web-makrot ja käyttäjäautomaatio web-sovelluksessa: prototyypin suunnittelu ja toteutus

Tämän kandidaatintyön aiheena on web-sovelluksen käyttäjäautomaatio web-makrojen avulla. Työssä esitellään prototyyppitoteutus SaaS-sovellukseen kohdistetusta web-makrojärjestelmästä. Työn teoriaosa esittelee web-automaation ja web-ympäristön keskeisen teknologian. Ratkaisuosa pohjustaa ratkaisuun käytetyn lähestymistavan, esittelee työn prototyyppiratkaisun ja arvioi ratkaisun lopputulosta. Lopputuloksena havaitaan, että prototyyppiratkaisu onnistuu selvittämään makrotoiminnallisuuden toteuttamiseen liittyvät tekniset haasteet. Ratkaisun merkittävimmäksi tekniseksi haasteeksi arvioidaan selainyhteensopivuuden saavutus ja ylläpito. Ratkaisun hyödynnettävyys koko web-sovelluksen mittakaavassa todetaan kuitenkin heikoksi, koska sovelluksen liiketoimintalogiikka rajoittaa makroparadigman käyttöä.

AMB system for high-speed motors using automatic commissioning

The general trend towards increasing e ciency and energy density drives the industry to high-speed technologies. Active Magnetic Bearings (AMBs) are one of the technologies that allow contactless support of a rotating body. Theoretically, there are no limitations on the rotational speed. The absence of friction, low maintenance cost, micrometer precision, and programmable sti ness have made AMBs a viable choice for highdemanding applications. Along with the advances in power electronics, such as signi cantly improved reliability and cost, AMB systems have gained a wide adoption in the industry. The AMB system is a complex, open-loop unstable system with multiple inputs and outputs. For normal operation, such a system requires a feedback control. To meet the high demands for performance and robustness, model-based control techniques should be applied. These techniques require an accurate plant model description and uncertainty estimations. The advanced control methods require more e ort at the commissioning stage. In this work, a methodology is developed for an automatic commissioning of a subcritical, rigid gas blower machine. The commissioning process includes open-loop tuning of separate parts such as sensors and actuators. The next step is to apply a system identi cation procedure to obtain a model for the controller synthesis. Finally, a robust model-based controller is synthesized and experimentally evaluated in the full operating range of the system. The commissioning procedure is developed by applying only the system components available and a priori knowledge without any additional hardware. Thus, the work provides an intelligent system with a self-diagnostics feature and an automatic commissioning.

Integrating Student Learning into the Repository Ecosystem

Presentation at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

The Dynamic Relationship between Finnish Stock Market and Commodities

Since different stock markets have become more integrated during 2000s, investors need new asset classes in order to gain diversification benefits. Commodities have become popular to invest in and thus it is important to examine whether the investors should use commodities as a part for portfolio diversification. This master’s thesis examines the dynamic relationship between Finnish stock market and commodities. The methodology is based on Vector Autoregressive models (VAR). The long-run relationship between Finnish stock market and commodities is examined with Johansen cointegration while short-run relationship is examined with VAR models and Granger causality test. In addition, impulse response test and forecast error variance decomposition are employed to strengthen the results of short-run relationship. The dynamic relationships might change under different market conditions. Thus, the sample period is divided into two sub-samples in order to reveal whether the dynamic relationship varies under different market conditions. The results show that Finnish stock market has stable long-run relationship with industrial metals, indicating that there would not be diversification benefits among the industrial metals. The long-run relationship between Finnish stock market and energy commodities is not as stable as the long-run relationship between Finnish stock market and industrial metals. Long-run relationship was found in the full sample period and first sub-sample which indicate less room for diversification. However, the long-run relationship disappeared in the second sub-sample which indicates diversification benefits. Long-run relationship between Finnish stock market and agricultural commodities was not found in the full sample period which indicates diversification benefits between the variables. However, long-run relationship was found from both sub-samples. The best diversification benefits would be achieved if investor invested in precious metals. No long-run relationship was found from either sample. In the full sample period OMX Helsinki had short-run relationship with most of the energy commodities and industrial metals and the causality was mostly running from equities to commodities. During the first sub period the number of short-run relationships and causality shrunk but during the crisis period the number of short-run relationships and causality increased. The most notable result found was unidirectional causality from gold to OMX Helsinki during the crisis period.

Real-time simulation of multibody systems with applications for working mobile vehicles

This dissertation describes an approach for developing a real-time simulation for working mobile vehicles based on multibody modeling. The use of multibody modeling allows comprehensive description of the constrained motion of the mechanical systems involved and permits real-time solving of the equations of motion. By carefully selecting the multibody formulation method to be used, it is possible to increase the accuracy of the multibody model while at the same time solving equations of motion in real-time. In this study, a multibody procedure based on semi-recursive and augmented Lagrangian methods for real-time dynamic simulation application is studied in detail. In the semirecursive approach, a velocity transformation matrix is introduced to describe the dependent coordinates into relative (joint) coordinates, which reduces the size of the generalized coordinates. The augmented Lagrangian method is based on usage of global coordinates and, in that method, constraints are accounted using an iterative process. A multibody system can be modelled as either rigid or flexible bodies. When using flexible bodies, the system can be described using a floating frame of reference formulation. In this method, the deformation mode needed can be obtained from the finite element model. As the finite element model typically involves large number of degrees of freedom, reduced number of deformation modes can be obtained by employing model order reduction method such as Guyan reduction, Craig-Bampton method and Krylov subspace as shown in this study The constrained motion of the working mobile vehicles is actuated by the force from the hydraulic actuator. In this study, the hydraulic system is modeled using lumped fluid theory, in which the hydraulic circuit is divided into volumes. In this approach, the pressure wave propagation in the hoses and pipes is neglected. The contact modeling is divided into two stages: contact detection and contact response. Contact detection determines when and where the contact occurs, and contact response provides the force acting at the collision point. The friction between tire and ground is modelled using the LuGre friction model, which describes the frictional force between two surfaces. Typically, the equations of motion are solved in the full matrices format, where the sparsity of the matrices is not considered. Increasing the number of bodies and constraint equations leads to the system matrices becoming large and sparse in structure. To increase the computational efficiency, a technique for solution of sparse matrices is proposed in this dissertation and its implementation demonstrated. To assess the computing efficiency, augmented Lagrangian and semi-recursive methods are implemented employing a sparse matrix technique. From the numerical example, the results show that the proposed approach is applicable and produced appropriate results within the real-time period.

Defects in Persistent Luminescence Materials

Persistent luminescence materials can store energy from solar radiation or artificial lighting and release it over a period of several hours without a continuous excitation source. These materials are widely used to improve human safety in emergency and traffic signalization. They can also be utilized in novel applications including solar cells, medical diagnostics, radiation detectors and structural damage sensors. The development of these materials is currently based on methods based on trial and error. The tailoring of new materials is also hindered by the lack of knowledge on the role of their intrinsic and extrinsic lattice defects in the appropriate mechanisms. The goal of this work was to clarify the persistent luminescence mechanisms by combining ab initio density functional theory (DFT) calculations with selected experimental methods. The DFT approach enables a full control of both the nature of the defects and their locations in the host lattice. The materials studied in the present work, the distrontium magnesium disilicate (Sr₂MgSi₂O₇) and strontium aluminate (SrAl₂O₄) are among the most efficient persistent luminescence hosts when doped with divalent europium Eu²⁺ and co-doped with trivalent rare earth ions R³⁺ (R: Y, La-Nd, Sm, Gd-Lu). The polycrystalline materials were prepared with the solid state method and their structural and phase purity was confirmed by X-ray powder diffraction. Their local crystal structure was studied by high-resolution transmission electron microscopy. The crystal and electronic structure of the nondoped as well as Eu²⁺, R^2+/3+ and other defect containing materials were studied using DFT calculations. The experimental trap depths were obtained using thermoluminescence (TL) spectroscopy. The emission and excitation of Sr₂MgSi₂O₇:Eu²+,Dy³⁺ were also studied. Significant modifications in the local crystal structure due to the Eu²⁺ ion and lattice defects were found by the experimental and DFT methods. The charge compensation effects induced by the R³⁺ co-doping further increased the number of defects and distortions in the host lattice. As for the electronic structure of Sr₂MgSi₂O₇ and SrAl₂O₄, the experimental band gap energy of the host materials was well reproduced by the calculations. The DFT calculated Eu²⁺ and R^2+/3+ 4fn as well as 4f^n-15d¹ ground states in the Sr₂MgSi₂O₇ band structure provide an independent verification for an empirical model which is constructed using rather sparse experimental data for the R³⁺ and especially the R²⁺ ions. The intrinsic and defect induced electron traps were found to act together as energy storage sites contributing to the materials’ efficient persistent luminescence. The calculated trap energy range agreed with the trap structure of Sr₂MgSi₂O₇ obtained using TL measurements. More experimental studies should be carried out for SrAl₂O₄ to compare with the DFT calculations. The calculated and experimental results show that the electron traps created by both the rare earth ions and vacancies are modified due to the defect aggregation and charge compensation effects. The relationships between this modification and the energy storage properties of the solid state materials are discussed.