A control framework for a remotely operated vehicle

A control framework enabling the automated maneuvering of a Remotely Operate Vehicle (ROV) is presented. The control architecture is structured according to the principle of composition of vehicle motions from a minimal set of elemental maneuvers that are designed and verified independently. The principled approach is based on distributed hybrid systems techniques, and spans integrated design, simulation and implementation as the same model is used throughout. Hybrid systems control techniques are used to synthesize the elemental maneuvers and to design protocols, which coordinate the execution of elemental maneuvers within a complex maneuver. This work is part of the Inspection of Underwater Structures (IES) project whose main objective is the implementation of a ROV-based system for the inspection of underwater structures.

Adaptação do programa PAC-Pórticos ao EC2 e sua integração com o conceito BIM

Atualmente existe uma grande variedade de programas de cálculo automático de estruturas de betão armado disponíveis no mercado, pois estes, cada vez mais, são inerentes ao desenvolvimento de cada projeto de estruturas. O PAC-Pórticos foi um dos primeiros a chegar ao mercado nacional surgindo no início da década de noventa. Foi totalmente desenvolvido em Portugal, tendo tido bastante sucesso nas suas vendas a nível nacional. O PAC-Pórticos não está preparado para operar diretamente nos mais recentes sistemas operativos nem foi programado para dimensionar os diversos elementos de betão armado seguindo os termos das normas mais recentes (Eurocódigos). O tema do presente trabalho vai de encontro aos atuais problemas do programa, assim sendo, definiu-se como primeiro objetivo a adaptação do PAC-Pórticos à regulamentação europeia para o betão armado. Numa 1ª fase, para a adaptação do PAC-Pórticos aos novos códigos, foi necessário estudar o programa em si, perceber o seu funcionamento e posteriormente realizar uma comparação entre a legislação para qual o software está programado, o Regulamento de Estruturas de Betão Armado e Pré-Esforçado (ainda em vigor) e a Norma Europeia correspondente a EN 1992-1-1 (Eurocódigo 2). Seguidamente, procedeu-se ao estudo e adaptação de todas as sub-rotinas de cálculo do PAC-Pórticos para o dimensionamento de vigas e pilares, tendo finalmente sido testado o novo código e comprovados os resultados obtidos com o mesmo. Na realização do presente trabalho, não foi ignorada a importância crescente da metodologia BIM que, nos dias de hoje, tende a ser implementada nos programas de cálculo de engenharia civil. Neste âmbito, o segundo objetivo é o de conseguir visualizar uma solução obtida do PAC-Pórticos numa qualquer ferramenta tridimensional BIM. Para tal, foram ponderadas várias hipóteses, mas optou-se por criar dois plug-in para o programa AutoCAD da Autodesk. O primeiro destes plug-in contempla o desenho das vigas e o segundo para os pilares, ambos em 3D e elaborados de forma automática.

Design, development and testing of a CAD integrated design for environment software tool.

The research described in this thesis was developed as part o f the Information Management for Green Design (IMA GREE) Project. The 1MAGREE Project was founded by Enterprise Ireland under a Strategic Research Grant Scheme as a partnership project between Galway Mayo Institute o f Technology and C1MRU University College Galway. The project aimed to develop a CAD integrated software tool to support environmental information management for design, particularly for the electronics-manufacturing sector in Ireland.

Manejo de históricos en clusters

CISNE es un sistema de cómputo en paralelo del Departamento de Arquitectura de Computadores y Sistemas Operativos (DACSO). Para poder implementar políticas de ordenacción de colas y selección de trabajos, este sistema necesita predecir el tiempo de ejecución de las aplicaciones. Con este trabajo se pretende proveer al sistema CISNE de un método para predecir el tiempo de ejecución basado en un histórico donde se almacenarán todos los datos sobre las ejecuciones.

MAMOT: hidden Markov modeling tool.

Hidden Markov models (HMMs) are probabilistic models that are well adapted to many tasks in bioinformatics, for example, for predicting the occurrence of specific motifs in biological sequences. MAMOT is a command-line program for Unix-like operating systems, including MacOS X, that we developed to allow scientists to apply HMMs more easily in their research. One can define the architecture and initial parameters of the model in a text file and then use MAMOT for parameter optimization on example data, decoding (like predicting motif occurrence in sequences) and the production of stochastic sequences generated according to the probabilistic model. Two examples for which models are provided are coiled-coil domains in protein sequences and protein binding sites in DNA. A wealth of useful features include the use of pseudocounts, state tying and fixing of selected parameters in learning, and the inclusion of prior probabilities in decoding. AVAILABILITY: MAMOT is implemented in C++, and is distributed under the GNU General Public Licence (GPL). The software, documentation, and example model files can be found at http://bcf.isb-sib.ch/mamot

El juego seguro de la Oca

L'objectiu d'aquest projecte és desenvolupar una aplicació que implementi la funcionalitat del joc de l'oca de manera segura, amb n jugadors distribuïts en diferents ordinadors amb adreces IP i ports diferents connectats per mitjà d'una xarxa, que pot ser Internet, una intranet o una xarxa corporativa.

Gestió de pressupostos per a la construcció

En els últims anys el sector de la construcció ha experimentat un creixement exponencial. Aquest creixement ha repercutit sobre molts aspectes: des de la necessitat de tenir més personal a les obres, la implantació d’unes oficines per a poder gestionar la compatibilitat i portar un control sobre les obres fins a la necessitat d’haver de disposar de programes informàtics específics que ajudin a realitzar la feina de la manera més còmode i àgil possible. El projecte que s’ha dut a terme consisteix a cobrir una d’aquestes necessitats, que és la de la gestió dels pressupostos en les diferents obres que els constructors realitzen. Utilitza la base de dades de l’ITEC (institut de Tecnologia de la Construcció de Catalunya) sobre la qual treballen la immensa majoria dels arquitectes quan dissenyen les obres, però també permet entrar les pròpies dades que el constructor vulgui. L’usuari de l’aplicació podrà fer pressupostos per obres de nova construcció, reformes ... agrupant cada una d’elles per capítols. Aquests capítols els podem entendre com les diferents fases a dur a terme, per exemple: la construcció dels fonaments, l’aixecament de les parets o fer la teulada. Dins dels capítols hi trobem les partides, que és un conjunt de materials i hores de feina i maquinària per a dur a terme una part de l’obra, com per exemple seria fer un envà de separació entre habitacions. En aquest cas hi tindríem els diferents materials que necessitaríem, totxanes, morter; les hores de manobre necessàries per aixecar-la, el transport de tot el material fins a l’obra... Tots aquests paràmetres (materials, hores, transport...) s’anomenen articles i van inclosos a dins de les partides. Aquesta aplicació està dissenyada per funcionar en un entorn client/servidor, utilitzant com a servidor un Linux OpenSuse 10.2 i com a clients estacions de treball amb Windows XP, tot i que també podríem utilitzar d’altres versions dels sistemes operatius de Microsoft. L’entorn de desenvolupament utilitzat és el del llenguatge FDS , el qual ja porta integrat un gestor de fitxers que és el que es farà servir.

AssociationViewer: a scalable and integrated software tool for visualization of large-scale variation data in genomic context.

SUMMARY: We present a tool designed for visualization of large-scale genetic and genomic data exemplified by results from genome-wide association studies. This software provides an integrated framework to facilitate the interpretation of SNP association studies in genomic context. Gene annotations can be retrieved from Ensembl, linkage disequilibrium data downloaded from HapMap and custom data imported in BED or WIG format. AssociationViewer integrates functionalities that enable the aggregation or intersection of data tracks. It implements an efficient cache system and allows the display of several, very large-scale genomic datasets. AVAILABILITY: The Java code for AssociationViewer is distributed under the GNU General Public Licence and has been tested on Microsoft Windows XP, MacOSX and GNU/Linux operating systems. It is available from the SourceForge repository. This also includes Java webstart, documentation and example datafiles.

Three essays on major trends in a slow clockspeed industry : the case of industrial automation

The motivation for this research initiated from the abrupt rise and fall of minicomputers which were initially used both for industrial automation and business applications due to their significantly lower cost than their predecessors, the mainframes. Later industrial automation developed its own vertically integrated hardware and software to address the application needs of uninterrupted operations, real-time control and resilience to harsh environmental conditions. This has led to the creation of an independent industry, namely industrial automation used in PLC, DCS, SCADA and robot control systems. This industry employs today over 200'000 people in a profitable slow clockspeed context in contrast to the two mainstream computing industries of information technology (IT) focused on business applications and telecommunications focused on communications networks and hand-held devices. Already in 1990s it was foreseen that IT and communication would merge into one Information and communication industry (ICT). The fundamental question of the thesis is: Could industrial automation leverage a common technology platform with the newly formed ICT industry? Computer systems dominated by complex instruction set computers (CISC) were challenged during 1990s with higher performance reduced instruction set computers (RISC). RISC started to evolve parallel to the constant advancement of Moore's law. These developments created the high performance and low energy consumption System-on-Chip architecture (SoC). Unlike to the CISC processors RISC processor architecture is a separate industry from the RISC chip manufacturing industry. It also has several hardware independent software platforms consisting of integrated operating system, development environment, user interface and application market which enables customers to have more choices due to hardware independent real time capable software applications. An architecture disruption merged and the smartphone and tablet market were formed with new rules and new key players in the ICT industry. Today there are more RISC computer systems running Linux (or other Unix variants) than any other computer system. The astonishing rise of SoC based technologies and related software platforms in smartphones created in unit terms the largest installed base ever seen in the history of computers and is now being further extended by tablets. An underlying additional element of this transition is the increasing role of open source technologies both in software and hardware. This has driven the microprocessor based personal computer industry with few dominating closed operating system platforms into a steep decline. A significant factor in this process has been the separation of processor architecture and processor chip production and operating systems and application development platforms merger into integrated software platforms with proprietary application markets. Furthermore the pay-by-click marketing has changed the way applications development is compensated: Three essays on major trends in a slow clockspeed industry: The case of industrial automation 2014 freeware, ad based or licensed - all at a lower price and used by a wider customer base than ever before. Moreover, the concept of software maintenance contract is very remote in the app world. However, as a slow clockspeed industry, industrial automation has remained intact during the disruptions based on SoC and related software platforms in the ICT industries. Industrial automation incumbents continue to supply systems based on vertically integrated systems consisting of proprietary software and proprietary mainly microprocessor based hardware. They enjoy admirable profitability levels on a very narrow customer base due to strong technology-enabled customer lock-in and customers' high risk leverage as their production is dependent on fault-free operation of the industrial automation systems. When will this balance of power be disrupted? The thesis suggests how industrial automation could join the mainstream ICT industry and create an information, communication and automation (ICAT) industry. Lately the Internet of Things (loT) and weightless networks, a new standard leveraging frequency channels earlier occupied by TV broadcasting, have gradually started to change the rigid world of Machine to Machine (M2M) interaction. It is foreseeable that enough momentum will be created that the industrial automation market will in due course face an architecture disruption empowered by these new trends. This thesis examines the current state of industrial automation subject to the competition between the incumbents firstly through a research on cost competitiveness efforts in captive outsourcing of engineering, research and development and secondly researching process re- engineering in the case of complex system global software support. Thirdly we investigate the industry actors', namely customers, incumbents and newcomers, views on the future direction of industrial automation and conclude with our assessments of the possible routes industrial automation could advance taking into account the looming rise of the Internet of Things (loT) and weightless networks. Industrial automation is an industry dominated by a handful of global players each of them focusing on maintaining their own proprietary solutions. The rise of de facto standards like IBM PC, Unix and Linux and SoC leveraged by IBM, Compaq, Dell, HP, ARM, Apple, Google, Samsung and others have created new markets of personal computers, smartphone and tablets and will eventually also impact industrial automation through game changing commoditization and related control point and business model changes. This trend will inevitably continue, but the transition to a commoditized industrial automation will not happen in the near future.

Design of User Authentication System for Multi-operator wireless LANs

Langattomat lähiverkot ovat viime vuosikymmeninä saavuttaneet suuren suosion. Tässä työssä käsitellään käyttäjien todentamisjärjestelmän suunnittelua ja kehitystä langattomaan monioperaattoriverkkoon. Langattomassa monioperaattoriverkossa käyttäjillä on mahdollisuus käyttää eri operaattoreiden palveluita. Aluksi käsitellään olemassa olevia todentamismenetelmiä ja -järjestelmiä. minkä jälkeen kuvaillaan todentamisjärjestelmä langattomille monioperaattoriverkoille. Todentamisjärjestelmän ratkaisuvaihtoehtoja esitellään kaksi, niin sanotut moni- istunto - ja yksittäisistuntomalli. Moni-istuntomalli on normaali lähestymistapa käyttäjien todentamiseen tietokonejärjestelmissä. Siinä käyttäjän pitää tunnistautua ja todentaa itsensä jokaiselle verkon palvelulle erikseen. Yksittäisistuntomallissa pyritään parempaan luotettavuuteen ja käytettävyyteen. Siinä käyttäjä todentaa itsensä vain kerran ja voi sen jälkeen päästä useisiin palveluihin. Työn loppuosassa kuvaillaan suunnitellun järjestelmän toteutusta. Lisäksi ehdotetaan vaihtoehtoisia toteutustapoja, analysoidaan järjestelmän heikkouksia ja kerrotaan jatkokehitysmahdoillisuuksista.

On Transmission System Design for Wireless Broadcasting

This thesis considers aspects related to the design and standardisation of transmission systems for wireless broadcasting, comprising terrestrial and mobile reception. The purpose is to identify which factors influence the technical decisions and what issues could be better considered in the design process in order to assess different use cases, service scenarios and end-user quality. Further, the necessity of cross-layer optimisation for efficient data transmission is emphasised and means to take this into consideration are suggested. The work is mainly related terrestrial and mobile digital video broadcasting systems but many of the findings can be generalised also to other transmission systems and design processes. The work has led to three main conclusions. First, it is discovered that there are no sufficiently accurate error criteria for measuring the subjective perceived audiovisual quality that could be utilised in transmission system design. Means for designing new error criteria for mobile TV (television) services are suggested and similar work related to other services is recommended. Second, it is suggested that in addition to commercial requirements there should be technical requirements setting the frame work for the design process of a new transmission system. The technical requirements should include the assessed reception conditions, technical quality of service and service functionalities. Reception conditions comprise radio channel models, receiver types and antenna types. Technical quality of service consists of bandwidth, timeliness and reliability. Of these, the thesis focuses on radio channel models and errorcriteria (reliability) as two of the most important design challenges and provides means to optimise transmission parameters based on these. Third, the thesis argues that the most favourable development for wireless broadcasting would be a single system suitable for all scenarios of wireless broadcasting. It is claimed that there are no major technical obstacles to achieve this and that the recently published second generation digital terrestrial television broadcasting system provides a good basis. The challenges and opportunities of a universal wireless broadcasting system are discussed mainly from technical but briefly also from commercial and regulatory aspect

Assessment of facilitators' design thinking

Meeting design is one of the most critical prerequisites of the success of facilitated meetings but how to achieve the success is not yet fully understood. This study presents a descriptive model of the design of technology supported meetings based on literature findings about the key factors contributing to the success of collaborative meetings, and linking these factors to the meeting design steps by exploring how facilitators consider the factors in practice in their design process. The empirical part includes a multiple-case study conducted among 12 facilitators. The case concentrates on the GSS laboratory at LUT, which has been working on facilitation and GSS for the last fifteen years. The study also includes ‘control’ cases from two comparable institutions. The results of this study highlight both the variances and commonalities among facilitators in how they design collaboration processes. The design thinking of facilitators of all levels of experience is found to be largely consistent wherefore the key design factors as well as their role across the design process can be outlined. Session goals, group composition, supporting technology, motivational aspects, physical constraints, and correct design practices were found to outline the key factors in design thinking. These factors are further categorized into three factor types of controllable, constraining, and guiding design factors, because the study findings indicate the factor type to have an effect on the factor’s importance in design. Furthermore, the order of considering these factors in the design process is outlined.

RTOS Framework for Real-Time Control System

This thesis is done as a complementary part for the active magnet bearing (AMB) control software development project in Lappeenranta University of Technology. The main focus of the thesis is to examine an idea of a real-time operating system (RTOS) framework that operates in a dedicated digital signal processor (DSP) environment. General use real-time operating systems do not necessarily provide sufficient platform for periodic control algorithm utilisation. In addition, application program interfaces found in real-time operating systems are commonly non-existent or provided as chip-support libraries, thus hindering platform independent software development. Hence, two divergent real-time operating systems and additional periodic extension software with the framework design are examined to find solutions for the research problems. The research is discharged by; tracing the selected real-time operating system, formulating requirements for the system, and designing the real-time operating system framework (OSFW). The OSFW is formed by programming the framework and conjoining the outcome with the RTOS and the periodic extension. The system is tested and functionality of the software is evaluated in theoretical context of the Rate Monotonic Scheduling (RMS) theory. The performance of the OSFW and substance of the approach are discussed in contrast to the research theme. The findings of the thesis demonstrates that the forged real-time operating system framework is a viable groundwork solution for periodic control applications.

Gestió de pressupostos per a la construcció

En els últims anys el sector de la construcció ha experimentat un creixement exponencial. Aquest creixement ha repercutit sobre molts aspectes: des de la necessitat de tenir més personal a les obres, la implantació d’unes oficines per a poder gestionar la compatibilitat i portar un control sobre les obres fins a la necessitat d’haver de disposar de programes informàtics específics que ajudin a realitzar la feina de la manera més còmode i àgil possible. El projecte que s’ha dut a terme consisteix a cobrir una d’aquestes necessitats, que és la de la gestió dels pressupostos en les diferents obres que els constructors realitzen. Utilitza la base de dades de l’ITEC (institut de Tecnologia de la Construcció de Catalunya) sobre la qual treballen la immensa majoria dels arquitectes quan dissenyen les obres, però també permet entrar les pròpies dades que el constructor vulgui. L’usuari de l’aplicació podrà fer pressupostos per obres de nova construcció, reformes ... agrupant cada una d’elles per capítols. Aquests capítols els podem entendre com les diferents fases a dur a terme, per exemple: la construcció dels fonaments, l’aixecament de les parets o fer la teulada. Dins dels capítols hi trobem les partides, que és un conjunt de materials i hores de feina i maquinària per a dur a terme una part de l’obra, com per exemple seria fer un envà de separació entre habitacions. En aquest cas hi tindríem els diferents materials que necessitaríem, totxanes, morter; les hores de manobre necessàries per aixecar-la, el transport de tot el material fins a l’obra... Tots aquests paràmetres (materials, hores, transport...) s’anomenen articles i van inclosos a dins de les partides. Aquesta aplicació està dissenyada per funcionar en un entorn client/servidor, utilitzant com a servidor un Linux OpenSuse 10.2 i com a clients estacions de treball amb Windows XP, tot i que també podríem utilitzar d’altres versions dels sistemes operatius de Microsoft. L’entorn de desenvolupament utilitzat és el del llenguatge FDS , el qual ja porta integrat un gestor de fitxers que és el que es farà servir.

Structural and operational optimisation : applications in energy systems

In this work mathematical programming models for structural and operational optimisation of energy systems are developed and applied to a selection of energy technology problems. The studied cases are taken from industrial processes and from large regional energy distribution systems. The models are based on Mixed Integer Linear Programming (MILP), Mixed Integer Non-Linear Programming (MINLP) and on a hybrid approach of a combination of Non-Linear Programming (NLP) and Genetic Algorithms (GA). The optimisation of the structure and operation of energy systems in urban regions is treated in the work. Firstly, distributed energy systems (DES) with different energy conversion units and annual variations of consumer heating and electricity demands are considered. Secondly, district cooling systems (DCS) with cooling demands for a large number of consumers are studied, with respect to a long term planning perspective regarding to given predictions of the consumer cooling demand development in a region. The work comprises also the development of applications for heat recovery systems (HRS), where paper machine dryer section HRS is taken as an illustrative example. The heat sources in these systems are moist air streams. Models are developed for different types of equipment price functions. The approach is based on partitioning of the overall temperature range of the system into a number of temperature intervals in order to take into account the strong nonlinearities due to condensation in the heat recovery exchangers. The influence of parameter variations on the solutions of heat recovery systems is analysed firstly by varying cost factors and secondly by varying process parameters. Point-optimal solutions by a fixed parameter approach are compared to robust solutions with given parameter variation ranges. In the work enhanced utilisation of excess heat in heat recovery systems with impingement drying, electricity generation with low grade excess heat and the use of absorption heat transformers to elevate a stream temperature above the excess heat temperature are also studied.