A Middleware architecture for Unmanned Aircraft Avionics

An Unmanned Aerial Vehicle is a non-piloted airplane designed to operate in dangerous and repetitive situations. With the advent of UAV's civil applications, UAVs are emerging as a valid option in commercial scenarios. If it must be economically viable, the same platform should implement avariety of missions with little reconguration time and overhead.This paper presents a middleware-based architecture specially suited to operate as a exible payload and mission controller in a UAV. The system is composed of low-costcomputing devices connected by network. The functionality is divided into reusable services distributed over a number ofnodes with a middleware managing their lifecycle and communication.Some research has been done in this area; yetit is mainly focused on the control domain and in its realtime operation. Our proposal differs in that we address the implementation of adaptable and reconfigurable unmannedmissions in low-cost and low-resources hardware.

GPS-paikkatiedonliittäminen matkapuhelinpalveluihin

2000-luvun vaihteessa paikkatietoa hyödyntävistä matkapuhelinpalveluista odotettiin muodostuvan eräs merkittävimmistä kilpailuvalteista eri matkapuhelinoperaattoreiden välillä. Kiinnostusta paikkatietoa hyödyntäviin palveluihin lisäsi kaupallisten sovellusten lisäksi Yhdysvaltojen liittovaltioiden liikenneministeriön säätämä laki, joka velvoittaa paikantamaan yleiseen hätänumeroon soitetut puhelut. Erityisesti laite- ja verkkotoimittajat odottivat tämänluovan heille uusia markkinoita. Markkinoille tuli useita kilpailevia menetelmiä, joilla matkapuhelimia voitiin paikantaa. Suurin osa näistä menetelmistä hyödynsi GSM-verkon signalointia paikannuksen tekemiseen. Samaan aikaan kohonnut matkapuhelinten suorituskyky mahdollisti GPS-vastaanottimien integroinnin matkapuhelimiin ja ensimmäiset tällaiset matkapuhelimet ilmestyivät markkinoille. Matkapuhelinten paikantamiseen liittyvä standardointi on melko hajanaista. ETSI on standardoinut joukon erilaisia menetelmiä, joilla matkapuhelin paikkatieto voidaan selvittää. Nämä standardit eivät kuitenkaan määrittele sitä, kuinka paikkatieto siirretään sitä hyödyntävien palveluiden käyttöön. Paikkatiedonsiirtämiseen ja esittämiseen liittyvässä standardoinnissa eri laite- ja ohjelmistovalmistajat ovat tehneet liittoutumia keskenään ja esitelleet keskenään kilpailevia standardeja ja suosituksia. Tälläkään osa-alueella mikään liittoutuma ei ole saavuttanut määräävää markkina-asemaa. Tässä työssä suunniteltiin ja toteutettiin järjestelmä, jonka avulla voidaan paikantaa sellaisia GSM-päätelaitteita, joihin on integroitu GPS-vastaanotin. Toteutettu järjestelmä liitettiin uudeksi paikannusmenetelmäksi solupaikannuksen rinnalle Sonera Pointer paikannusjärjestelmään. Työn aikana testattiin joukko markkinoilla olleita GSM-puhelimia, joihin oli integroitu GPS-vastaanotin. Matkapuhelinten testauksessa erityinen huomio kiinnittyi siihen, kuinka GPS-paikkatieto saadaan siirrettyä matkapuhelimesta verkossa sijaitsevien sovellusten käyttöön. Toteutetun järjestelmän suunnittelussa täkein lähtökohta oli järjestelmän joustavuus. Standardien hajanaisuus ja osittainen puuttuminen aiheuttivat sen, että järjestelmästä oli tehtävä mahdollisimman helposti laajennettava. Toinen merkittävä suunnitteluun vaikuttanut tekijä oli operaattoririippumattomuus, koska Sonera Pointer järjestelmää oli tarkoitus myydä myös muille matkapuhelinoperaattoreille.

Supporting knowledge creation and sharing in the early phases of the strategic innovation process

The driving forces of technology and globalization continuously transform the business landscape in a way which undermines the existing strategies and innovations of organizations. The challenge for organizations is to establish such conditions where they are able to create new knowledge for innovative business ideas in interaction between other organizations and individuals. Innovation processes continuously need new external stimulations and seek new ideas, new information and knowledge locating more and more outside traditional organizational boundaries. In several studies, the early phases of the innovation process have been considered as the most critical ones. During these phases, the innovation process can emerge or conclude. External knowledge acquirement and utilization are noticed to be important at this stage of the innovation process giving information about the development of future markets and needs for new innovative businessideas. To make it possible, new methods and approaches to manage proactive knowledge creation and sharing activities are needed. In this study, knowledge creation and sharing in the early phases of the innovation process has been studied, and the understanding of knowledge management in the innovation process in an open and collaborative context advanced. Furthermore, the innovation management methods in this study are combined in a novel way to establish an open innovation process and tested in real-life cases. For these purposes two complementary and sequentially applied group work methods - the heuristic scenario method and the idea generation process - are examined by focusing the research on the support of the open knowledge creation and sharing process. The research objective of this thesis concerns two doctrines: the innovation management including the knowledge management, and the futures research concerning the scenario paradigm. This thesis also applies the group decision support system (GDSS) in the idea generation process to utilize the converged knowledge during the scenario process.

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.

Measuring irregularities and surface defects from printed patterns

Quality inspection and assurance is a veryimportant step when today's products are sold to markets. As products are produced in vast quantities, the interest to automate quality inspection tasks has increased correspondingly. Quality inspection tasks usuallyrequire the detection of deficiencies, defined as irregularities in this thesis. Objects containing regular patterns appear quite frequently on certain industries and science, e.g. half-tone raster patterns in the printing industry, crystal lattice structures in solid state physics and solder joints and components in the electronics industry. In this thesis, the problem of regular patterns and irregularities is described in analytical form and three different detection methods are proposed. All the methods are based on characteristics of Fourier transform to represent regular information compactly. Fourier transform enables the separation of regular and irregular parts of an image but the three methods presented are shown to differ in generality and computational complexity. Need to detect fine and sparse details is common in quality inspection tasks, e.g., locating smallfractures in components in the electronics industry or detecting tearing from paper samples in the printing industry. In this thesis, a general definition of such details is given by defining sufficient statistical properties in the histogram domain. The analytical definition allowsa quantitative comparison of methods designed for detail detection. Based on the definition, the utilisation of existing thresholding methodsis shown to be well motivated. Comparison of thresholding methods shows that minimum error thresholding outperforms other standard methods. The results are successfully applied to a paper printability and runnability inspection setup. Missing dots from a repeating raster pattern are detected from Heliotest strips and small surface defects from IGT picking papers.

Kerrosleijukattilan sekundääri-ilmansyöttöjärjestelmän kehittäminen

Työn tarkoituksena oli kehittää kerrosleijukattilan sekundääri-ilmansyöttöä. Työssä tutkittiin tulipesässä ilmasuihkujen käyttäytymiseen vaikuttavia tekijöitä sekä eri ilmansyöttömallien vaikutuksia tulipesäolosuhteisiin. Sekundääri- ja tertiääri-ilmasuihkujen tehtävänä on sekoittaa tulipesän kaasuja sekä tuoda happi leijupetin yläpuolelle haihtuneiden aineiden palamisen loppuun saattamiseksi. Kaasujen sekoittumiseen vaikuttavat ilmasuihkun ja ristivirtauksen liikemäärien suhde, suutinten koko ja sijoittelu toisiinsa nähden. Ilmasuihku saavuttaa paremman tunkeutuvuuden ja siten tehokkaamman sekoittumisen suuttimen koon kasvaessa. Lisäksi tunkeutuvuus paranee suutinten välisen etäisyyden sekä ilmasuihkun ja ristivirtauksen liikemäärien suhteen kasvaessa. Optimaalisen suutinten välisen etäisyyden osoitettiin riippuvan suuttimen ja tulipesän koosta sekä ilmasuihkun ja ristivirtauksen liikemäärien suhteesta. Saatujen tulosten mukaan sekundääri- ja tertiääri-ilmatasoilla tulee suosia suuria harvaan ja lomittain sijoitettuja suuttimia. Ilmansyöttömalleja tutkittiin numeerisesti mallintamalla, ja saatujen tulosten perusteella tehokkain sekoittuminen saavutettiin sijoittamalla sekundääri-ilmasuuttimet tulipesän kahdelle vastakkaiselle seinälle.

Web Services In Symbian OS

This thesis presents different aspects of Web Services usage in Symbian OS that is an operating system for handheld devices. The practical part of the work was to develop Symbian OS client application for Web Services. It produced four reusable software components. XML enables platform and programming language independent services. Web Services use XML to create standardized message oriented services that are accessed through HTTP. Web Services are moving towards dynamic B2B interaction. Web Services increases the amount of transferred data, which is not desirable in mobile networks where transfer speed is slower than in the traditional networks. However the modern mobile networks are able to transfer the extra payload with reasonable time. XML processing is not a big problem. Web Services can be accessed from the modern mobile devices and they can cut down the development costs.

Estudi dels efectes de les plantes ornamentals en la qualitat ambiental de l'aire urbà : anàlisi ecològic i aerobiològic a Tiana

Pollen allergy has a remarkable clinical impact all over Europe, and there are evidences that the prevalence of allergic respiratory induced reactions by pollen in Europe has been increasing in recent decades. The presence of potentially allergenic ornamental species in the town of Tiana, representing 41% of total species recorded. Approximately 28% of these species are Platanus acerifolia. This study attempts to relate the effect it has on the people’s health, the presence of certain urban ornamental plants by identifying and locating the ornamental trees in the town.

Winner-Loser Performance and Macroeconomic Effects during three last Economic Crises in Finnish Stock Market

The main purpose of this thesis is to investigate winner-loser performance when financial markets are facing crisis. This is examined through the idea that does the prior loser portfolios outperform the prior winner portfolios during the three major crises: The depression of the 1990s, the IT-Bubble and the Subprime -crisis. Firstly, the winner and loser portfolios superiority is counted by using the cumulative excess returns from the examination period. The portfolios were formed by counting the excess returns and locating them in to the order of superiority. The excess returns are counted by using one year pre-data before the actual examination period. The results of this part did not support the results of De Bondt & Thaler’s (1985) paper. Secondly, it is investigated how the Finnish and the US macroeconomic factors are seen to be affecting the stock market valuation in Finnish Stock Markets during economic crises. This is done to explain better the changes in the successes of the winner-loser performance. The crises included different amount of selected macro factors. Two latest crises involved as well few selected US macro factors. Exclusively the IT-Bubble -crisis had the most statistically significant results with the US factors. Two other crises did not receive statistically significant results. An extra research was produced to study do the US macro factors impact more significantly on Finnish stock exchange after lags. The selected lags were three, six, nine and twelve months. Three and six month lagged US macro factors during the IT-Bubble -crisis improved the results. The extra research did not improve the results of the Subprime -crisis.

Z2Z4-Additive Perdect Codes in Steganography

Steganography is an information hiding application which aims tohide secret data imperceptibly into a cover object. In this paper, we describe anovel coding method based on Z2Z4-additive codes in which data is embeddedby distorting each cover symbol by one unit at most (+-1-steganography). Thismethod is optimal and solves the problem encountered by the most e cientmethods known today, concerning the treatment of boundary values. Theperformance of this new technique is compared with that of the mentionedmethods and with the well-known rate-distortion upper bound to conclude thata higher payload can be obtained for a given distortion by using the proposedmethod.

Saako historiasta selvää? Monikulttuuriset yläkoululaiset historian lähteillä historian taidot motiivien, seurauksien, historian tulkintojen ja lähteiden luotettavuuden arvioinneissa

The research assesses the skills of upper comprehensive school pupils in history. The focus is on locating personal motives, assessing wider reasons hidden in historical sources and evaluating source reliability. The research also questions how a wide use of multiple sources affects pupils’ holistic understanding of historical phenomena. The participants were a multicultural group of pupils. The origins of their cultures can be traced to the Balkan, the Middle East, Asia and Europe. The number of native Finnish speakers and pupils speaking Finnish as their second language was almost equal. The multicultural composition provides opportunities to assess how culturally responsive learning history from sources is. The intercultural approach to learning in a multicultural setting emphasizes equality as a precondition for learning. In order to set assignments at least to some extent match with all participants only those answers were taken into account which were produced by pupils who had studied history for a similar period of time in the Finnish comprehensive school system. Due to the small number of participants (41), the study avoids wide generalizations. Nevertheless, possible cultural blueprints in pupils’ way of thinking are noted. The first test examined the skills of pupils to find motives for emigration. The results showed that for 7th graders finding reasons is not a problematic task. However, the number of reasons noticed and justifications varied. In addition, the way the pupils explained their choices was a distinguishing factor. Some pupils interpreted source material making use of previous knowledge on the issue, while other pupils based their analysis solely on the text handed and did not try to add their own knowledge. Answers were divided into three categories: historical, explanatory and stating. Historical answers combined smoothly previously learned historical knowledge to one’s own source analysis; explanatory answers often ignored a wider frame, although they were effective when explaining e.g. historical concepts. The stating answers only noticed motives from the sources and made no attempts to explain them historically. Was the first test culturally responsive? All pupils representing different cultures tackled the first source exam successfully, but there were some signs of how historical concepts are understood in a slightly different way if the pupil’s personal history has no linkage to the concepts under scrutiny. The second test focused on the history of Native Americans. The test first required pupils to recognize whether short source extracts (5) were written by Indians or Caucasians. Based on what they had already learned from North American history, the pupils did not find it hard to distinguish between the sources. The analysis of multiphase causes and consequences of the disputes between Native Americans and white Americans caused dispersion among pupils. Using two historical sources and combining historical knowledge from both of them simultaneously was cumbersome for many. The explanations of consequences can be divided into two groups: the ones emphasizing short term consequences and those placing emphasis on long term consequences. The short term approach was mainly followed by boys in every group. The girls mainly paid attention to long term consequences. The result suggests that historical knowledge in sources is at least to some extent read through role and gender lenses. The third test required pupils to explain in their own words how the three sources given differed in their account of living conditions in Nazi Germany, which turned out to be demanding for many pupils. The pupils’ stronghold was rather the assessment of source reliability and accounts why the sources approached the same events differently. All participants wrote critical and justified comments on reliability and aspects that might have affected the content of the sources. The pupils felt that the main reasons that affected source reliability were the authors’ ethnic background, nationality and profession. The assessment showed that pupils were well aware that position in a historical situation has an impact on historical accounts, but in certain cases the victim’s account was seen as a historical truth. The account of events by a historian was chosen most often as the most reliable source, but it was often justified leniently with an indication to professionalism rather than with clear ideas of how historians conduct accounts based on sources. In brief, the last source test demonstrates that pupils have a strong idea that the ethnicity or nationalism determines how people explained events of the past. It is also an implication that pupils understand how historical knowledge is interpretative. The results also imply that history can be analyzed from a neutral perspective. One’s own membership in an ethnical or religious group does not automatically mean that a person’s cultural identity excludes historical explanations if something in them contradicts with his or her identity. The second method of extracting knowledge of pupils’ historical thinking was an essay analysis. The analysis shows that an analytical account of complicated political issues, which often include a great number of complicated political concepts, leads more likely to an inconsistent structure in the written work of pupils. The material also demonstrates that pupils have a strong tendency to take a critical stance when assessing history. Historical empathy in particular is shown if history somehow has a linkage to young people, children or minorities. Some topics can also awake strong feelings, especially among pupils with emigrant background, if there is a linkage between one’s own personal history and that of the school; and occasionally a student’s historical experience or thoughts replaced school history. Using sources during history lessons at school seems to have many advantages. It enhances the reasoning skills of pupils and their skills to assess the nature of historical knowledge. Thus one of the main aims and a great benefit of source work is to encourage pupils to express their own ideas and opinions. To conclude, when assessing the skills of adolescents in history - their work with sources, comments on history, historical knowledge and finally their historical thinking - one should be cautious and avoid cut off score evaluations. One purpose of pursuing history with sources is to encourage pupils to think independently, which is a useful tool for further identity construction. The idea that pupils have the right to conduct their own interpretations of history can be partially understood as part of a wider learning process, justification to study history comes from extrinsic reasons. The intrinsic reason is history itself; in order to understand history one should have a basic understanding of history as a specific domain of knowledge. Using sources does not mean that knowing history is of secondary importance. Only a balance between knowing the contextual history, understanding basic key concepts and working with sources is a solid base to improve pupils’ historical understanding.

Estudio teórico de la isomerización del ácido maleico en ácido fumárico: un enfoque basado en el concepto de superficie de energía potencial

A comparative study based on potential energy surfaces (PES) of 2-butanedioic and hypothetic 2-butanedioic/HCl acids is useful for understanding the maleic acid isomerization. The PES enables locating conformers of minimum energy, intermediates of reactions and transition states. From contour diagrams, a set of possible reaction paths are depicted interconnecting the proposed structures. The study was carried out in absentia and in the presence of the catalyst (HCl), using an solvatation model provided by the Gaussian software package. Clearly, the effect of HCl is given by new reaction paths with lower energetic barriers in relation to the reaction without catalyzing.

Supply chain costs of a small board lot: sheet cutting and logistics

Succeeding in small board lot (0-20 tons) deliveries, is not always prosperous and failures as well as extra costs compared to standard costs arise. Failure deliveries from converting plants to customer locations tie a lot of unwanted and unexpected costs. Extra costs are handled as quality costs and more precise, internal failure costs. These costs revolve from unsuccessful truck payloads, redundant warehousing or unfavorable routing as examples. Quality costs are becoming more and more important factor in company’s financial decision making. Actual, realized truck payload correlates with the extra costs occurring, so filling the truck payload all get-out well is a key to lower the extra costs. Case company in this study is Corporation A, business segment Boards. Boards have outsourced half of their converting in order to gain better customer service via flexibility, lead time reductions and logistics efficiency improvements. Examination period of the study is first two quarters of year 2008 and deliveries examined are from converters to the customer locations. In Corporation A’s case, the total loss in failure deliveries is hundreds of thousands of Euros during the examination period. So, the logistics goal of getting the right product to the right place and right time for the least cost, does not completely realize.

Unitizing in Supply Chain – Case SECU Container

The aim of this thesis is to analyze how increasing the level of unitizing affects to the costs in the transport system of a Finnish paper and board company. The parts of the supply chain where costs are analyzed are limited to domestic inland transport and port operations. Supply Chain management is important aspect of modern day companies’ strategies. Intermodal transport and different transport systems are the key items which are studied in the theory part of this thesis. In the case study the payload simulations for SECU container (Stora Enso Cargo Unit) stuffed in mills sites are base of the cost analyze of this thesis. Thesis also makes a glance for the restrictions and development trends in Finnish railroads. In analyze SECU containers are moved up to the mill site for stuffing. This increases the level of unitizing in supply chain. Analyze is made for three variation of current traffic lines. Analyze shows that when idea of intermodalism is well used there is considerable cost savings to gather in pre-transportation and port operations. But also effects to mill sites and destination ports needs to be take under considering. In analyze the effects of increased axle weight for SECU container transportation in Finnish railroads is studied. When transport unit is stuffed in earliest possible point supply chain and unloaded the last possible point the savings made in chain can be considerable. In case study of this thesis almost 40% savings in total costs could be reached in pre transportation and port operations when unitizing level is increased in supply chain.

Asbestin tunnistaminen keinonenällä

Asbesti on yleisnimike kuitumaisille silikaattimineraaleille. Sillä on monia hyviä ominaisuuksia. Siksi sitä on käytetty useisiin eri käyttötarkoituksiin jo yli 4 000 vuoden ajan. Sisäänhengitettynä asbesti aiheuttaa kuitenkin vakavia terveyshaittoja, mm. asbestoosia, keuhkosyöpää ja mesotelioomaa. Vuosina 1918-1988 Suomessa käytettiin asbestia 300 000 tonnia. Yleisintä käyttö oli 1960-70-lukujen vaihteessa. Sairauksien viive altistumisesta on 10-40 vuotta. Sairauksien esiintyminen onkin nyt suurimmillaan. Suurin osa sairauksista on hyvänlaatuisia keuhkopussin paksuuntumia eli plakkeja. Vuosittain asbestin aiheuttamiin sairauksiin, etupäässä syöpiin, kuolee Suomessa noin 100 ihmistä. Yhteensä altistuneita arvellaan olevan 250 000. Heistä elossa on noin 50 000. Vaarallisuutensa vuoksi asbestin käyttö on useissa maissa kielletty, mutta maailmalla sitä käytetään edelleen suuria määriä. Suomessa asbestin käyttöä rajoitettiin jo 1970-luvulla. Pieniä poikkeuksia lukuun ottamatta täyskielto tuli voimaan 1.1.1994. Suomessa asbestia esiintyy edelleen vanhoissa rakennuksissa. Asbestipurkutyö on luvanvaraista. Asbestitöissä on huolehdittava siitä, että kukaan ei altistu asbestille. Asbestipitoisen materiaalin tunnistaminen silmämääräisesti on vaikeaa. Materiaali luokitellaan asbestipitoiseksi, jos siinä on asbestia yli 1 painoprosenttia tai jos sitä voidaan pölyävyytensä takia pitää vaarallisena. Asbestipitoisen materiaalin kartoituksessa voidaan käyttää rakennussuunnitelmia, vanhoja asiakirjoja kuten urakoitsijan laskuja sekä tuntemusta rakennusajan yleisistä rakennustavoista. Varmuus saadaan kuitenkin vain tutkimalla materiaali esimerkiksi laboratoriokokeissa. Tässä diplomityössä on pyritty selvittämään, voidaanko asbesti tunnistaa ChemPro 100 -keinonenällä. Laite perustuu ioniliikkuvuusspektrometriaan eli eri yhdisteiden erilaiseen liikkuvuuteen kaasumaisessa väliaineessa. Menetelmä on nopea ja yksinkertainen. Tutkimusta varten hankittiin asbestipitoisia materiaaleja, joista saatuja tuloksia vertailtiin toisiinsa. Nykyiset asbestintunnistusmenetelmät ovat monimutkaisia ja hitaita. Jos keinonenä pystyttäisiin kouluttamaan tunnistamaan asbestimateriaali, helpottaisi se asbestikartoituksen tekemistä.