Design and implementation of FPGA-based LQ control of active magnetic bearings

The need for high performance, high precision, and energy saving in rotating machinery demands an alternative solution to traditional bearings. Because of the contactless operation principle, the rotating machines employing active magnetic bearings (AMBs) provide many advantages over the traditional ones. The advantages such as contamination-free operation, low maintenance costs, high rotational speeds, low parasitic losses, programmable stiffness and damping, and vibration insulation come at expense of high cost, and complex technical solution. All these properties make the use of AMBs appropriate primarily for specific and highly demanding applications. High performance and high precision control requires model-based control methods and accurate models of the flexible rotor. In turn, complex models lead to high-order controllers and feature considerable computational burden. Fortunately, in the last few years the advancements in signal processing devices provide new perspective on the real-time control of AMBs. The design and the real-time digital implementation of the high-order LQ controllers, which focus on fast execution times, are the subjects of this work. In particular, the control design and implementation in the field programmable gate array (FPGA) circuits are investigated. The optimal design is guided by the physical constraints of the system for selecting the optimal weighting matrices. The plant model is complemented by augmenting appropriate disturbance models. The compensation of the force-field nonlinearities is proposed for decreasing the uncertainty of the actuator. A disturbance-observer-based unbalance compensation for canceling the magnetic force vibrations or vibrations in the measured positions is presented. The theoretical studies are verified by the practical experiments utilizing a custom-built laboratory test rig. The test rig uses a prototyping control platform developed in the scope of this work. To sum up, the work makes a step in the direction of an embedded single-chip FPGA-based controller of AMBs.

IN DUBIO PRO NATURA? A Philosophical Analysis of the Precautionary Principle in Environmental and Health Risk Governance

In this book, I apply a philosophical approach to study the precautionary principle in environmental (and health) risk decision-making. The principle says that unacceptable environmental and health risks should be anticipated, and they ought to be forestalled before the damage comes to fruition even if scientific understanding of the risks is inadequate. The study consists of introductory chapters, summary and seven original publications which aim at explicating the principle, critically analysing the debate on the principle, and constructing a basis for the well-founded use of the principle. Papers I-V present the main thesis of this research. In the two last papers, the discussion is widened to new directions. The starting question is how well the currently embraced precautionary principle stands up to critical philosophical scrutiny. The approach employed is analytical: mainly conceptual, argumentative and ethical. The study draws upon Anglo-American style philosophy on the one hand, and upon sources of law as well as concrete cases and decision-making practices at the European Union level and in its member countries on the other. The framework is environmental (and health) risk governance, including the related law and policy. The main thesis of this study is that the debate on the precautionary principle needs to be shifted from the question of whether the principle (or its weak or strong interpretation) is well-grounded in general to questions about the theoretical plausibility and ethical and socio-political justifiability of specific understandings of the principle. The real picture of the precautionary principle is more complex than that found (i.e. presumed) in much of the current academic, political and public debate surrounding it. While certain presumptions and interpretations of the principle are found to be sound, others are theoretically flawed or include serious practical problems. The analysis discloses conceptual and ethical presumptions and elementary understandings of the precautionary principle, critically assesses current practices invoked in the name of the precautionary principle and public participation, and seeks to build bridges between precaution, engagement and philosophical ethics. Hence, it is intended to provide a sound basis upon which subsequent academic scrutiny can build.

Typen oksidien mittausepävarmuuden määrittäminen ilmanlaatumittauksille

Euroopan unionin direktiiveissä ja kansallisessa lainsäädännössä on asetettu tavoitteita, velvoitteita ja raja-arvoja ilmanlaadun mittauksille. Ilmanlaatua on seurattava, ilmanlaatumittaukset on tehtävä laadukkaasti sekä luotettavasti ja mittaustuloksista on tiedotettava väestölle. Mittausten epävarmuus on tunnettava ja sen on oltava alle 15 %, jotta epävarmuudelle asetettu kriteeri täyttyy. Tässä työssä perehdyttiin Euroopan unionin ilmastopolitiikkaan ja kansalliseen ilmanlaatua koskevaan lainsäädäntöön, käytiin läpi menetelmiä ja tapoja, joilla ilmanlaadusta tiedotetaan väestölle sekä selvitettiin ilmanlaadun mittausjärjestelmiä koskevia vaatimuksia. Ennen varsinaista mittausepävarmuuden selvittämistä käytiin läpi tutkimuksen kohteena olevan typen oksidien analysaattorin mittausperiaate ja merkittävimmät komponentit. Mittausepävarmuus määritettiin standardia SFS-EN 14211 noudattamalla. Mittausepävarmuuden selvittämiseksi analysaattorille tehtiin erilaisia sen toimintaa kuvaavia testejä Ilmatieteen laitoksen kalibrointilaboratoriossa. Saatujen tuloksien perusteella voitiin laskea analysaattorin mittausepävarmuus, joka tuntiraja-arvopitoisuudessa oli 15,5 % ja vuosiraja-arvopitoisuudessa 10,5 %. Kaikkia testejä ei voitu tehdä standardissa määrätyllä tavalla, joten tuloksiin pitää suhtautua kriittisesti. Tulosten perusteella mittausepävarmuus tuntiraja-arvopitoisuudessa ei aivan täytä direktiivin kriteeriä, mutta vuosiraja-arvopitoisuudessa kriteeri täyttyy (< 15 %).

Reaktoreiden termisen tehon laskennan epävarmuuksien kartoitus

Diplomityössä selvitettiin Fortum Power and Heat Oy:n Loviisan VVER-440 painevesireaktorilaitosten termisen tehon laskentaan liittyviä epävarmuuksia. Laitoksen turvallisuusteknisissä käyttöehdoissa (TTKE) määrätään reaktorin suurimmaksi sallituksi lämpötehoksi 1500 MW. Tähän perustuen haluttiin selvittää nykyiseen RT1 laskentaan liittyvät epävarmuudet tarkastamalla nykyinen laskenta ja siinä käytetyt termohydrauliset laskentasovitteet. Työn alussa selostetaan lyhyesti Loviisan voimalaitoksen toimintaperiaate, jonka jälkeen esitellään laskentaan osallistuvat prosessimittaukset ja niihin liittyvät epävarmuustekijät. Mittauksille määritettiin epävarmuudet käyttäen hyödyksi komponenttivalmistajien tietoja sekä laitoksen kalibrointitodistuksia ja näiden lisäksi laskettiin standardin mukainen virhe virtauslaipoille. Edellä mainittujen virheiden perusteella voitiin laskea tehon epävarmuudet yksittäiselle höyrystimelle, josta edelleen varianssien summamenetelmällä saatiin reaktorin termiselle teholle 0,78 %:n epävarmuus 95 % luottamustasolla. Laskettua tehon epävarmuutta verrattiin Monte Carlo -menetelmällä suoritettuun tarkistuslaskentaan, jolla termisen tehon epävarmuudeksi saatiin 0,53 %, luottamustason ollessa 95 %. Työssä tarkasteltiin keskiarvotuksen vaikutusta mittausdataan. Näissä tarkasteluissa havaittiin pinnansäädöstä aiheutuva reaktoritehon huojunta, joka oli työn merkittävin havainto.

Learning Robot Environment through Simulation

Traditionally simulators have been used extensively in robotics to develop robotic systems without the need to build expensive hardware. However, simulators can be also be used as a “memory”for a robot. This allows the robot to try out actions in simulation before executing them for real. The key obstacle to this approach is an uncertainty of knowledge about the environment. The goal of the Master’s Thesis work was to develop a method, which allows updating the simulation model based on actual measurements to achieve a success of the planned task. OpenRAVE was chosen as an experimental simulation environment on planning,trial and update stages. Steepest Descent algorithm in conjunction with Golden Section search procedure form the principle part of optimization process. During experiments, the properties of the proposed method, such as sensitivity to different parameters, including gradient and error function, were examined. The limitations of the approach were established, based on analyzing the regions of convergence.

Mitigating uncertainty in logistics outsourcing with ERP systems

Outsourcing is a common strategy for companies looking for cost savings and improvements in performance. This has been especially prevalent in logistics, where warehousing and transporting are typical targets for outsourcing. However, while the benefits from logistics outsourcing are clear on paper, there are several cases companies fail to reach these benefits. The most commonly cited reasons for this are poor information flow between the company and the third party logistics partner, and a lack of integration between the two partners. Uncertainty stems from lack of information, and it can cripple the whole outsourcing operation. This is where enterprise resource planning (ERP) systems step in, as they can have a significant role in improving the flow of information, and integration, which consequently mitigates uncertainty. The purpose of the study is to examine if ERP systems have an effect on a company's decision to outsource logistics operations. Along the rapid advancements in technology during the past decades, ERP systems have also evolved. Therefore, empirical research on the subject needs constant revision as it can quickly become outdated due to ERP systems having more advanced capabilities every year. The research was conducted using a qualitative single-case study of a Finnish manufacturing firm that had outsourced warehousing and transportation operations in the Swedish market. The empirical data was gathered with use of semi-structured interviews with three employees from the case company that were closely related to the outsourcing operation. The theoretical framework that was used to analyze the empirical data was based on Transaction Cost Economics theory. The results of the study were align with the theoretical framework, in that the ERP system of the case company was seen as an enabler for their logistics outsourcing operation. However, the full theoretical benefits from ERP systems concerning extended enterprise functionality and flexibility were not attained due to the case company having an older version of their ERP system. This emphasizes the importance of having up-to-date technology if you want to overcome the shortcomings of ERP systems in outsourcing situations.

Uncertainty of Efficiency Measurements in Electric Drives

The two central goals of this master's thesis are to serve as a guidebook on the determination of uncertainty in efficiency measurements and to investigate sources of uncertainty in efficiency measurements in the field of electric drives by a literature review, mathematical modeling and experimental means. The influence of individual sources of uncertainty on the total instrumental uncertainty is investigated with the help of mathematical models derived for a balance and a direct air cooled calorimeter. The losses of a frequency converter and an induction motor are measured with the input-output method and a balance calorimeter at 50 and 100 % loads. A software linking features of Matlab and Excel is created to process measurement data, calculate uncertainties and to calculate and visualize results. The uncertainties are combined with both the worst case and the realistic perturbation method and distributions of uncertainty by source are shown based on experimental results. A comparison of the calculated uncertainties suggests that the balance calorimeter determines losses more accurately than the input-output method with a relative RPM uncertainty of 1.46 % compared to 3.78 - 12.74 % respectively with 95 % level of confidence at the 93 % induction motor efficiency or higher. As some principles in uncertainty analysis are open to interpretation the views and decisions of the analyst can have noticeable influence on the uncertainty in the measurement result.

Is All Fair in Law and War? The Ambiguous Principle of Proportionality of Collateral Damage and the CIA Drone Attacks in Pakistan

Tutkielma käsittelee Yhdysvaltain CIAn miehittämättömiä lennokki-iskuja Pakistanissa kansainvälisen humanitaarisen oikeuden suhteellisuusperiaatteen näkökulmasta. Suhteellisuusperiaatteen mukaan aseellisista iskuista saatavan sotilaallisen hyödyn tulee olla suhteellinen verrattuna siviileille aiheutuvaan haittaan. CIAn iskuja Pakistanissa on kritisoitu, että ne eivät täytä suhteellisuusperiaatteen asettamia vaatimuksia. Tutkielmassa perehdytään ensinnäkin selvittämään ne velvollisuudet, jotka suhteellisuusperiaate asettaa hyökkääjille. Sen jälkeen CIAn lennokki-iskuja tutkitaan näiden velvollisuuksien valossa. Tutkielmassa pyritään selvittämään antaako suhteellisuusperiaatteen luomat oikeudelliset velvollisuudet riittävää suojaa Pakistanin siviileille lennokki-iskujen tuhoja vastaan. Lisäksi pyritään selvittämään, onko lennokki-iskuissa viitteitä suhteellisuusperiaatteen vastaisista iskuista. Tutkimusmenetelmänä käytetään positivistista lainopin metodia, jonka avulla selvitetään voimassa olevaa kansainvälisen humanitaarisen tapaoikeuden suhteellisuusperiaatteen sisältöä. Oikeudellisina lähteinä käytetään pääasiassa humanitaarista tapaoikeutta, mutta tulkinnallisena apuna myös kansainvälisiä sopimuksia sekä oikeuden päätöksiä. Lisäksi oikeudellinen kirjallisuus on tutkimuksessa tärkeässä asemassa. Tutkimuksessa päädytään siihen, että suhteellisuusperiaatteen asettamat velvollisuudet hyökkääjälle ovat niin epämääräiset, että ne eivät anna riittävää suojaa siviileille. Ensinnäkin hyökkääjä voi määrittää sotilaallisen hyödyn omien päämääriensä mukaisesti suhteellisuusanalyysissä. Lisäksi kynnys sille, mikä katsotaan suhteellisuusperiaatteen vastaisuudeksi on hyvin epämääräinen ja korkea. Tämän vuoksi varotoimenpiteet iskujen suunnittelussa ovat hyvin tärkeässä asemassa myös suhteellisuusanalyysissä. Kuitenkin jos hyökkääjä edes jossain määrin osoittaa, että on tehnyt iskut hyvässä uskossa niiden laillisuudesta, iskujen katsotaan yleensä olevan suhteellisuusperiaatteen mukaisia. CIAn lennokki-iskuissa Pakistanissa on viitteitä suhteellisuusperiaatteen vastaisuudesta erityisesti ”tunnusmerkki-iskujen” osalta. ”Tunnusmerkki-iskut” johtavat yleensä vain vähäiseen sotilaalliseen hyötyyn aiheuttaen silti siviiliuhreja. Lisäksi erityisesti tunnusmerkki-iskuissa edellytetään korkeampaa tarkkuutta varotoimenpiteissä. Kuitenkin useat siviiliuhrit voivat merkitä sitä, että näitä varotoimenpiteitä ei ole noudatettu iskuissa.

Prospects of Bitcoin diffusion

Currency is something people deal with every day in their lives. The contemporary society is very much revolving around currencies. Even though technological development has been rapid, the principle of currency has stayed relatively unchanged for a long time. Bitcoin is a digital currency that introduced an alternative to other digital currencies, and to the traditional physical currencies. Bitcoin is peer-to-peer, open source, and it erases the need of a third party in transactions. Bitcoin has since inception gained certain fame, but it has not established itself as a common currency in the world. The purpose of this study was to analyse what kind of potential does Bitcoin have to become a widely accepted currency in day-to-day transactions. The main research question was divided into three sub questions: • What kind of a process is the diffusion of new innovations? • What kinds of factors speak for the wider adoption of Bitcoin? • What kinds of factors speak against the wider adoption of Bitcoin? The purpose of the study was approached by having diffusion of innovations as the theoretical framework. The four elements in diffusion of innovations are, innovation, communication, time, and social system. The theoretical framework is applied to Bitcoin, and the research questions answered by analysing Bitcoin’s potential diffusion prospects. The body of research data consisted of media texts and statistics. In this study, content analysis was the research method. The main findings of the study are that Bitcoin has clear strengths, but it faces a large amount of uncertainty. Bitcoin’s strong areas are the transactions. They are fast, easy, and cheap. From the innovation diffusion perspective Bitcoin is still relatively unknown, and the general public’s attitudes towards it are sceptical. The research findings purport that Bitcoin has potential demand especially when the financial system of a region is dysfunctional, or when there is a financial crisis. Bitcoin is not very trusted, and the majority of people do not see a reason to start using Bitcoin in the future. A large number of people associate it with illegal activities. In general people are largely unaware of what Bitcoin is or what are the strengths and weaknesses. Bitcoin is an innovative alternative currency. However, unless people see a major need for Bitcoin due to a financial crisis, or dysfunctionality in the financial system, Bitcoin will not become much more widespread as it is today. Bitcoin’s underlying technology can be harnessed to multiple uses. Developments in that field in the future are something that future researchers could look into.