Improving Dynamic Characteristics of Open-loop Controlled Log Crane

The improvement of the dynamics of flexible manipulators like log cranes often requires advanced control methods. This thesis discusses the vibration problems in the cranes used in commercial forestry machines. Two control methods, adaptive filtering and semi-active damping, are presented. The adaptive filter uses a part of the lowest natural frequency of the crane as a filtering frequency. The payload estimation algorithm, filtering of control signal and algorithm for calculation of the lowest natural frequency of the crane are presented. The semi-active damping method is basedon pressure feedback. The pressure vibration, scaled with suitable gain, is added to the control signal of the valve of the lift cylinder to suppress vibrations. The adaptive filter cuts off high frequency impulses coming from the operatorand semi-active damping suppresses the crane?s oscillation, which is often caused by some external disturbance. In field tests performed on the crane, a correctly tuned (25 % tuning) adaptive filter reduced pressure vibration by 14-17 % and semi-active damping correspondingly by 21-43%. Applying of these methods require auxiliary transducers, installed in specific points in the crane, and electronically controlled directional control valves.

Spectral characteristics of bacteriorhodopsin water solution

The object of the study is bacteriorhodopsin. This light-sensitive protein have been selected as perspective substance for optical and optoelectronic applications. Bacteriorhodopsin carries out pumping protons through the cell membrane. Biomolecule converts light into an electric signal when sandwiched between electrodes. These properties were utilized in this research to implement photosensors on the basis of BR layers. These properties were utilized in this research to the bR water solution. According to the absorption spectra and using Kramers – Kronig relation the extinction coefficient has been calculated, as well as the related change of the refractive index value.

Yields, plant characteristics, total N and fibre composition of timothy cultivars grown at two latitudes

Selostus: Timoteilajikkeiden sadot, kasvuominaisuudet sekä typpi- ja kuitupitoisuus kahdella leveysasteella

Contrasting tree-ring data with fire record in a pine-dominated landscape in the Komi Republic (Eastern European Russia) : recovering a common climate signal

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Red clover grown in a mixture with grasses : yield, persistence and dynamics of quality characteristics

Selostus: Puna-apilan pysyvyys apila-heinänurmessa sekä seosnurmen satoisuus ja laadun muutokset erilaisissa kasvuoloissa

Biodiversity value of potential forest fertilisation stands, as assessed by red-listed and "signal" bryophytes and lichens

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Influence of silvicultural regime on wood structure characteristics and mechanical properties of clear wood in Pinus sylvestris

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Historical logging, productivity, and structural characteristics of boreal coniferous forests in Norway

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Effect of thinning on stem form and wood characteristics of teak (Tectona grandis) in a humid tropical site in Costa Rica

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Landsat TM imagery and high altitude aerial photographs in estimation of forest characteristics

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