Robottisolun servotekniikan kehittäminen

Työn kehityksen kohteena toimii CIRB 500i –robottisolu, jonka sisällä työskentelee korkeaan tuotantokapasiteettiin kehitetty näköjärjestelmällä ohjattu sähköservomanipulaattori. Kokonaisuutena ajatellen työ tekee servotekniikan osalta poikkileikkauksen CIRB 500i –robottisolun matkasta prototyypistä tuotteeksi erilaisine kehitysvaiheineen. Työn alkutaipaleella perehdytään pitkälle pelkkään teoriaan nojautuen mitä on servotekniikka, miten se toimii ja kuinka se viritetään. Tämän jälkeen edellä opitut teoriat konkretisoidaan CIRB 500i –robottisoluun ja siinä käytettävään servotekniikkaan. Robottisolun komponenttien ja laitteistojen tullessa tutuiksi mietitään ja kehitetään kuinka robottisolusta saataisiin entistä kehittyneempi ja käytännöllisempi teknillisestä näkökulmasta katsoen kuitenkaan valmistamisen kustannustehokkuutta unohtamatta. Loppupuolella analysoidaan miten edellä tehdyt kehitystoimenpiteet ovat vaikuttaneet robottisolun toimintaan ja valmistamiseen. Lopuksi sovelletaan teoriaosuuden virityskeinoja servojen virittämiseen käytännössä ja analysoidaan saavutettuja kehittämistyön tuloksia. Lisäksi tehdään katsaus CIRB 500i –robottisolun tulevaisuuden näkymiin.

Supersaturation-controlled crystallization

Identification of product requirements and quality, together with the management of production are key issues in chemical engineering. Quality control of crystalline products is part of the quality of many industrially manufactured products like paper, paintings, medicines and fertilizers. In most crystallization cases, quality is described with the size, polymorph, shape and purity of the crystal. The chemical composition, hydrodynamics and driving force, together with the operating temperature are in a key position when the properties of a crystalline product are controlled with the crystallization process. This study concentrates on managing the identified properties of a crystalline product with the control of a driving force. The controlling of the driving force can be based on the change of solubility or the change of concentration. Solubility can be changed with temperature, pressure and an antisolvent. The concentration of crystallizing compound, the solute can be changed with the evaporation of the solvent and with the addition of a reagent. The present study focuses on reagent addition and temperature change as methods of changing the level of the driving force. Three control structures for direct control of supersaturation are built, one for cooling crystallization and two for reactive crystallization. Closed loop feedback control structures are based on the measurement of the solute concentration with attenuated total reflection - Fourier transform infrared spectrometer. The details of the reagent feed are analyzed with experimental studies and with results of computational fluid dynamic simulations of the inert particle pulse in the premixer and inert particle injection to the mixing tank. Nucleation in conditions of controlled reactive crystallization is analyzed with Nielsen’s equation of homogeneous nucleation. The resulting control systems, based on regulation of supersaturation, can be used to produce the desired polymorph of an organic product. The polymorph composition of product crystals is controlled repeatably with the decision of a set value of supersaturation level.

Applications and Benefits of Adaptive Pulsed GMAW

In ship and offshore terminal construction, welded cross sections are thick and the number of welds very high. Consequently, there are two aspects of great importance; cost and heat input. Reduction in the welding operation time decreases the costs of the work force and avoids excessive heat, preventing distortion and other weld defects. The need to increase productivity while using a single wire in the GMAW process has led to the use of a high current and voltage to improve the melting rate. Unfortunately, this also increases the heat input. Innovative GMAW processes, mostly implemented for sheet plate sections, have shown significant reduction in heat input (Q), low distortion and increase in welding speed. The aim of this study is to investigate adaptive pulsed GMAW processes and assess relevant applications in the high power range, considering possible benefits when welding thicker sections and high yield strength steel. The study experimentally tests the usability of adaptive welding processes and evaluates their effects on weld properties, penetration and shapes of the weld bead.The study first briefly reviews adaptive GMAW to evaluate different approaches and their applications and to identify benefits in adaptive pulsed. Experiments are then performed using Synergic Pulsed GMAW, WiseFusionTM and Synergic GMAW processes to weld a T-joint in a horizontal position (PB). The air gap between the parts ranges from 0 to 2.5 mm. The base materials are structural steel grade S355MC and filler material G3Si1. The experiment investigates heat input, mechanical properties and microstructure of the welded joint. Analysis of the literature reveals that different approaches have been suggested using advanced digital power sources with accurate waveform, current, voltage, and feedback control. In addition, studies have clearly indicated the efficiency of lower energy welding processes. Interest in the high power range is growing and a number of different approaches have been suggested. The welding experiments in this study reveal a significant reduction of heat input and a weld microstructure with the presence of acicular ferrite (AF) beneficial for resistance to crack propagation. The WiseFusion bead had higher dilution, due to the weld bead shape, and low defects. Adaptive pulse GMAW processes can be a favoured choice when welding structures with many welded joints. The total heat reduction mitigates residual stresses and the bead shape allows a higher amperage limit. The stability of the arc during the process is virtually spatter free and allows an increase in welding speed.

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.

Just how capitalist is China?

In this paper, we review old and modern conceptions of "capitalism" and then we evaluate how "well" China fares on three touchstones of capitalism: competitive markets, generalization of wage-labour, and private ownership of the means of production. While we accept that China has come a long way under the first two criteria since the 1980s, we do not deem China yet to be a full-fledged capitalist economy for the State still wields great power through the allocation of massive state resources and control of large and highly profitable state enterprises, which dominate key sectors of the economy.

Vers un rééchelonnement de la citoyenneté en France et au Québec : les politiques de gestion de la diversité ethnique à Marseille et Montréal

La thèse analyse les recompositions de la citoyenneté dans un contexte de rééchelonnement de l’État en France et au Québec. L’argument est que, dans un tel contexte, la citoyenneté nationale se rééchelonne. Le cadre théorique consiste en une relecture institutionnelle du concept de rééchelonnement de l’État développé par N. Brenner ainsi que certains apports des travaux de J. Jenson et S. Phillips sur les régimes de citoyenneté. La thèse compare les évolutions de politiques de gestion de la diversité ethnique - centrales dans l’analyse de la citoyenneté - à Marseille et Montréal au travers des reconfigurations des rapports entre acteurs institutionnels prenant place à l’échelle locale. Nous montrons que l’État national reste un acteur important de la régulation de la citoyenneté et que les villes et les échelons locaux de l’État ont acquis une marge de manœuvre par rapport à l’État central dans la mise en place de politiques régulant la citoyenneté à l’échelle locale. Néanmoins, à l’issue de la comparaison, des différences se font jour. Au Québec, l’État central conserve un contrôle important sur les politiques instaurées à l’échelle locale alors que ceci est moins le cas en France. Ces résultats indiquent que le rééchelonnement de l’État est plus fortement institutionnalisé en France qu’au Québec. Les apports de la thèse sont triples. En premier lieu, nous montrons que l’approche institutionnelle du rééchelonnement de l’État permet de mieux décrire les processus à l’œuvre dans différents contextes nationaux que ne le permet la perspective de N. Brenner. En second lieu, nous démontrons que le concept de citoyenneté urbaine ne permet pas de rendre compte des mutations actuelles de la citoyenneté. Enfin, nous montrons que le rééchelonnement de la citoyenneté s’est institutionnalisé en France, dans un État où la conception de la citoyenneté est traditionnellement considérée comme « unitaire », nuançant ainsi cette catégorie classique en science politique.

Le développement d’une grille d’évaluation du risque d’agression physique en communauté. L’implantation de G.E.R.A.C. à l’Urgence-Psychosociale-Justice.

Rapport de stage présenté à la Faculté des arts et des sciences en vue de l’obtention du grade de maîtrise en criminologie (option intervention).

La résolution en ligne des conflits de consommation à l'aune de l'accès à la justice

Dans son sens le plus courant, mais aussi le plus étroit, la résolution des conflits en ligne (RCL) réfère à la migration, vers Internet, des modes alternatifs de règlement des conflits. Notre mémoire se concentre sur la transposition, en ligne, des seuls modes amiables de règlement des différends, dont font notamment partie la négociation et la médiation. La question guidant notre étude consiste à savoir si la résolution en ligne permet d’accroître l’accès du consommateur québécois à la justice. La première partie répond par l’affirmative, en démontrant en quoi la RCL permet de surmonter plusieurs obstacles à la fois objectifs et subjectifs auxquels se heurte le consommateur québécois souhaitant obtenir justice. Nous y présentons également certaines critiques récurrentes en matière de RCL et y répondons. Si cette première partie aborde essentiellement la question du pourquoi il est opportun de recourir au règlement électronique des litiges de consommation dans une perspective d’accès à la justice, la seconde s’intéresse à celle du comment. Notre hypothèse est que si le recours à la RCL est souhaitable pour améliorer l’accès du consommateur québécois à la justice, ce mode de règlement ne pourra véritablement porter ses fruits que s’il est encadré par l’État. Nous démontrons ainsi l’opportunité d’une intervention étatique en matière de règlement en ligne des différends de consommation. Selon nous, seule l’institutionnalisation de la RCL permettra de lever, en partie du moins, les barrières qui ont freiné, jusqu’à maintenant, le déploiement à grande échelle de ce procédé de règlement novateur.

«Et ferez justice» : le métier d’intendant au Canada et dans les généralités de Bretagne et de Tours au 18e siècle (1700-1750)

Cette thèse consiste en une étude comparative du métier d’intendant au Canada et dans les généralités de Bretagne et de Tours dans la première moitié du 18e siècle (1700-1750). Elle s’appuie sur l’intendant pour s’interroger sur l’existence de spécificités dans l’exercice du pouvoir en contexte colonial par rapport au contexte métropolitain. Considéré par la plupart des historiens de la France d’Ancien Régime comme le personnage clé de l’évolution politique qui aurait fait passer la monarchie de sa phase judiciaire jusqu’à sa phase dite « administrative », l’intendant de justice, police et finance ou commissaire départi est au coeur des débats sur l’absolutisme et son rôle de première ligne dans l’oeuvre de centralisation monarchique en fait le sujet idéal pour observer la portée réelle de ce régime sur le terrain. L’examen du fonctionnement de l’intendance est un préalable obligé pour qui veut comprendre les rapports entre administrateurs et administrés et mieux cerner la capacité de régulation de l’État. Dans le cadre des attributions définies par sa commission, quelles sont les tâches qui l’occupent concrètement ? Cette thèse s’intéresse à l’intendant du point de vue de sa pratique, en s’appuyant sur la description interne des sources produites par l’intendant pour décortiquer ses mécanismes d’intervention. Deux types de documents sont analysés successivement, soit la correspondance, incluant les pièces jointes et les documents de travail, et les actes de portée réglementaire, incluant les ordonnances et les arrêts du Conseil d’État. Chemin faisant, nous avons fait la rencontre des individus et groupes qui sollicitent l’intervention de l’intendant, levant le voile sur les rapports de pouvoir et les interactions qui le lient à ses supérieurs, aux justiciables et aux institutions locales. L’exercice permet de poser en des termes nouveaux l’action de ce personnage dont on connaissait les attributions et principales décisions, mais beaucoup moins leur logique sous-jacente.

Nonlinear Dynamics of Semiconductor LasersControl and Synchronization of Chaos:

Nonlinear dynamics of laser systems has become an interesting area of research in recent times. Lasers are good examples of nonlinear dissipative systems showing many kinds of nonlinear phenomena such as chaos, multistability and quasiperiodicity. The study of these phenomena in lasers has fundamental scientific importance since the investigations on these effects reveal many interesting features of nonlinear effects in practical systems. Further, the understanding of the instabilities in lasers is helpful in detecting and controlling such effects. Chaos is one of the most interesting phenomena shown by nonlinear deterministic systems. It is found that, like many nonlinear dissipative systems, lasers also show chaos for certain ranges of parameters. Many investigations on laser chaos have been done in the last two decades. The earlier studies in this field were concentrated on the dynamical aspects of laser chaos. However, recent developments in this area mainly belong to the control and synchronization of chaos. A number of attempts have been reported in controlling or suppressing chaos in lasers since lasers are the practical systems aimed to operated in stable or periodic mode. On the other hand, laser chaos has been found to be applicable in high speed secure communication based on synchronization of chaos. Thus, chaos in laser systems has technological importance also. Semiconductor lasers are most applicable in the fields of optical communications among various kinds of laser due to many reasons such as their compactness, reliability modest cost and the opportunity of direct current modulation. They show chaos and other instabilities under various physical conditions such as direct modulation and optical or optoelectronic feedback. It is desirable for semiconductor lasers to have stable and regular operation. Thus, the understanding of chaos and other instabilities in semiconductor lasers and their xi control is highly important in photonics. We address the problem of controlling chaos produced by direct modulation of laser diodes. We consider the delay feedback control methods for this purpose and study their performance using numerical simulation. Besides the control of chaos, control of other nonlinear effects such as quasiperiodicity and bistability using delay feedback methods are also investigated. A number of secure communication schemes based on synchronization of chaos semiconductor lasers have been successfully demonstrated theoretically and experimentally. The current investigations in these field include the study of practical issues on the implementations of such encryption schemes. We theoretically study the issues such as channel delay, phase mismatch and frequency detuning on the synchronization of chaos in directly modulated laser diodes. It would be helpful for designing and implementing chaotic encryption schemes using synchronization of chaos in modulated semiconductor laser

Nonlinear Dynamics of Multiple Quantum Well Lasers: Chaos and Multistability

This thesis presents analytical and numerical results from studies based on the multiple quantum well laser rate equation model. We address the problem of controlling chaos produced by direct modulation of laser diodes. We consider the delay feedback control methods for this purpose and study their performance using numerical simulation. Besides the control of chaos, control of other nonlinear effects such as quasiperiodicity and bistability using delay feedback methods are also investigated.A number of secure communication schemes based on synchronization of chaos semiconductor lasers have been successfully demonstrated theoretically and experimentally. The current investigations in these field include the study of practical issues on the implementations of such encryption schemes. We theoretically study the issues such as channel delay, phase mismatch and frequency detuning on the synchronization of chaos in directly modulated laser diodes. It would be helpful for designing and implementing chaotic encryption schemes using synchronization of chaos in modulated semiconductor lasers.

Das Einzugsgebiet der Fulda - Untersuchung der Methoden der Hochwasserstatistik im Zeichen des Klimawandels

Numerous studies have proven an effect of a probable climate change on the hydrosphere’s different subsystems. In the 21st century global and regional redistribution of water has to be expected and it is very likely that extreme weather phenomenon will occur more frequently. From a global view the flood situation will exacerbate. In contrast to these discoveries the classical approach of flood frequency analysis provides terms like “mean flood recurrence interval”. But for this analysis to be valid there is a need for the precondition of stationary distribution parameters which implies that the flood frequencies are constant in time. Newer approaches take into account extreme value distributions with time-dependent parameters. But the latter implies a discard of the mentioned old terminology that has been used up-to-date in engineering hydrology. On the regional scale climate change affects the hydrosphere in various ways. So, the question appears to be whether in central Europe the classical approach of flood frequency analysis is not usable anymore and whether the traditional terminology should be renewed. In the present case study hydro-meteorological time series of the Fulda catchment area (6930 km²), upstream of the gauging station Bonaforth, are analyzed for the time period 1960 to 2100. At first a distributed catchment area model (SWAT2005) is build up, calibrated and finally validated. The Edertal reservoir is regulated as well by a feedback control of the catchments output in case of low water. Due to this intricacy a special modeling strategy has been necessary: The study area is divided into three SWAT basin models and an additional physically-based reservoir model is developed. To further improve the streamflow predictions of the SWAT model, a correction by an artificial neural network (ANN) has been tested successfully which opens a new way to improve hydrological models. With this extension the calibration and validation of the SWAT model for the Fulda catchment area is improved significantly. After calibration of the model for the past 20th century observed streamflow, the SWAT model is driven by high resolution climate data of the regional model REMO using the IPCC scenarios A1B, A2, and B1, to generate future runoff time series for the 21th century for the various sub-basins in the study area. In a second step flood time series HQ(a) are derived from the 21st century runoff time series (scenarios A1B, A2, and B1). Then these flood projections are extensively tested with regard to stationarity, homogeneity and statistical independence. All these tests indicate that the SWAT-predicted 21st-century trends in the flood regime are not significant. Within the projected time the members of the flood time series are proven to be stationary and independent events. Hence, the classical stationary approach of flood frequency analysis can still be used within the Fulda catchment area, notwithstanding the fact that some regional climate change has been predicted using the IPCC scenarios. It should be noted, however, that the present results are not transferable to other catchment areas. Finally a new method is presented that enables the calculation of extreme flood statistics, even if the flood time series is non-stationary and also if the latter exhibits short- and longterm persistence. This method, which is called Flood Series Maximum Analysis here, enables the calculation of maximum design floods for a given risk- or safety level and time period.

An LMI approach to H∞ synchronization of second-order neutral master-slave systems

The H∞ synchronization problem of the master and slave structure of a second-order neutral master-slave systems with time-varying delays is presented in this paper. Delay-dependent sufficient conditions for the design of a delayed output-feedback control are given by Lyapunov-Krasovskii method in terms of a linear matrix inequality (LMI). A controller, which guarantees H∞ synchronization of the master and slave structure using some free weighting matrices, is then developed. A numerical example has been given to show the effectiveness of the method

Transformaciones discursivas en el proceso de securitización del narcotráfico. Un análisis de los actos discursivos oficiales de Colombia y Estados Unidos en la Guerra contra las drogas 1986 - 1990

El tema de las drogas suscita un debate entre quienes defienden la prohibición y la represión, y aquellos que defienden alternativas como la legalización y/o regulación y otras más moderadas como la descriminalización y la despenalización. Aunque ambas posturas muestran datos empíricos que las soportan, desde el ámbito discursivo la visión represiva se ha posicionado como la más aceptada en el continente americano, más específicamente, en Latinoamérica. El presente trabajo, hace un estudio de caso del proceso de securitización del narcotráfico entre los presidentes de Estados Unidos y Colombia durante el período 1986-1990. A lo largo del texto, se analizan discursos oficiales de los presidentes de ambos Estados, resaltando las estrategias retóricas y sus transformaciones que legitimaron acciones represivas de tipo político-militar contra las drogas. Al final se apunta a reivindicar el discurso como un instrumento para reproducir creencias sobre fenómenos, en este caso, la creencia de que las drogas son una amenaza existencial a la seguridad política y militar para los Estados.

Convergencia de vías de señalización en un modelo de apoptosis

La sepsis es un evento inflamatorio generalizado del organismo inducido por un daño causado generalmente por un agente infeccioso. El patógeno más frecuentemente asociado con esta entidad es el Staphylococcus aureus, responsable de la inducción de apoptosis en células endoteliales debida a la producción de ceramida. Se ha descrito el efecto protector de la proteína C activada (PCA) en sepsis y su relación con la disminución de la apoptosis de las células endoteliales. En este trabajo se analizó la activación de las quinasas AKT, ASK1, SAPK/JNK y p38 en un modelo de apoptosis endotelial usando las técnicas de Western Blotting y ELISA. Las células endoteliales (EA.hy926), se trataron con C2-ceramida (130μM) en presencia de inhibidores químicos de cada una de estas quinasas y PCA. La supervivencia de las células en presencia de inhibidores químicos y PCA fue evaluada por medio de ensayos de activación de las caspasas 3, 7 y 9, que verificaban la muerte celular por apoptosis. Los resultados evidencian que la ceramida reduce la activación de AKT y aumenta la activación de las quinasas ASK, SAPK/JNK y p38, en tanto que PCA ejerce el efecto contrario. Adicionalmente se encontró que la tiorredoxina incrementa la activación/fosforilación de AKT, mientras que la quinasa p38 induce la defosforilación de AKT.