Self-tuning algorithm for dsp-based motion control in cnc applications

This thesis describes the development of an adaptive control algorithm for Computerized Numerical Control (CNC) machines implemented in a multi-axis motion control board based on the TMS320C31 DSP chip. The adaptive process involves two stages: Plant Modeling and Inverse Control Application. The first stage builds a non-recursive model of the CNC system (plant) using the Least-Mean-Square (LMS) algorithm. The second stage consists of the definition of a recursive structure (the controller) that implements an inverse model of the plant by using the coefficients of the model in an algorithm called Forward-Time Calculation (FTC). In this way, when the inverse controller is implemented in series with the plant, it will pre-compensate for the modification that the original plant introduces in the input signal. The performance of this solution was verified at three different levels: Software simulation, implementation in a set of isolated motor-encoder pairs and implementation in a real CNC machine. The use of the adaptive inverse controller effectively improved the step response of the system in all three levels. In the simulation, an ideal response was obtained. In the motor-encoder test, the rise time was reduced by as much as 80%, without overshoot, in some cases. Even with the larger mass of the actual CNC machine, decrease of the rise time and elimination of the overshoot were obtained in most cases. These results lead to the conclusion that the adaptive inverse controller is a viable approach to position control in CNC machinery.

Facies model for a coarse-grained, tide-influenced delta : Gule Horn Formation (Early Jurassic), Jameson Land, Greenland

Acknowledgements: Funding for this project was provided from the Research Council of Norway through the Petromaks project 193059 and the FORCE Safari Project. Arild Andresen (University of Oslo) and Aka Lynge (POLOG) are thanked for logistical support, Björn Nyberg (Uni Research CIPR and University of Bergen) for assistance in the field, Arve Næss (Statoil) for providing data and assistance during the planning phase, Julien Vallet and Huges Fournier (Helimap Systems SA) for data acquisition. Riegl LMS GmbH is acknowledged for software support. We thank Brian Willis and an anonymous reviewer for their insightful and thorough reviews and Mariano Marzo for editorial comments.

Facies model for a coarse-grained, tide-influenced delta : Gule Horn Formation (Early Jurassic), Jameson Land, Greenland

Acknowledgements: Funding for this project was provided from the Research Council of Norway through the Petromaks project 193059 and the FORCE Safari Project. Arild Andresen (University of Oslo) and Aka Lynge (POLOG) are thanked for logistical support, Björn Nyberg (Uni Research CIPR and University of Bergen) for assistance in the field, Arve Næss (Statoil) for providing data and assistance during the planning phase, Julien Vallet and Huges Fournier (Helimap Systems SA) for data acquisition. Riegl LMS GmbH is acknowledged for software support. We thank Brian Willis and an anonymous reviewer for their insightful and thorough reviews and Mariano Marzo for editorial comments.

aiTutor : um etutor de agentes inteligentes

Relatório de estágio apresentado para a obtenção do grau de mestre em Educação e Comunicação Multimédia

Date adjustment tools : Date rollover and Individual date adjustment

Learning Management Systems (LMSs) have become a larger part of teaching and learning in the modern world. Therefore has Moodle, a free and open source e-learning tool surfaced and gained a lot of attraction and downloads. A purpose of this study has been to develop a new local plugin in Moodle with guidelines from Magnus Eriksson and Tsedey Terefe. A purpose for this project has also been to build a plugin which has the functions Date rollover and Individual date adjustment. Mid Sweden University (Miun) stated that WebCT/Blackboard was in use before Moodle and some other LMSs and the dissatisfaction with WebCT/Blackboard was rife, however some teachers liked it. Therefore WebCT/Blackboard was abandoned and Moodle was embraced. The methods of gaining information has generally been web based sources and three interviews, likewise called user tests. Programs and other aids that have been used include but are not limited to: Google Drive, LTI Provider, Moodle, Moodle documentation, Notepad++, PHP and XAMPP. The plugin has been implemented as a local plugin. The result has shown that the coded plugin, Date adjustment tools could be improved and that it was changed. In the plugin, support for old American English dates were added and the code for using the two functions “Date rollover” and “Individual date adjustment” were rewritten to not interfere with one another. A conclusion to draw from the result is that the plugin has been improved from Terefe’s implementation, although more work can be made with the plugin Date adjustment tools.

Microwave Plasma Assisted ALD Development for the Deposition of Gate Oxides & ALD of High-k Dielectrics

The semiconductor industry's urge towards faster, smaller and cheaper integrated circuits has lead the industry to smaller node devices. The integrated circuits that are now under volume production belong to 22 nm and 14 nm technology nodes. In 2007 the 45 nm technology came with the revolutionary high- /metal gate structure. 22 nm technology utilizes fully depleted tri-gate transistor structure. The 14 nm technology is a continuation of the 22 nm technology. Intel is using second generation tri-gate technology in 14 nm devices. After 14 nm, the semiconductor industry is expected to continue the scaling with 10 nm devices followed by 7 nm. Recently, IBM has announced successful production of 7 nm node test chips. This is the fashion how nanoelectronics industry is proceeding with its scaling trend. For the present node of technologies selective deposition and selective removal of the materials are required. Atomic layer deposition and the atomic layer etching are the respective techniques used for selective deposition and selective removal. Atomic layer deposition still remains as a futuristic manufacturing approach that deposits materials and lms in exact places. In addition to the nano/microelectronics industry, ALD is also widening its application areas and acceptance. The usage of ALD equipments in industry exhibits a diversi cation trend. With this trend, large area, batch processing, particle ALD and plasma enhanced like ALD equipments are becoming prominent in industrial applications. In this work, the development of an atomic layer deposition tool with microwave plasma capability is described, which is a ordable even for lightly funded research labs.

Grading mit Grappa - Ein Werkstattbericht

„Grappa“ ist eine Middleware, die auf die Anbindung verschiedener Autobewerter an verschiedene E-Learning-Frontends respektive Lernmanagementsysteme (LMS) spezialisiert ist. Ein Prototyp befindet sich seit mehreren Semestern an der Hochschule Hannover mit dem LMS „moodle“ und dem Backend „aSQLg“ im Einsatz und wird regelmäßig evaluiert. Dieser Beitrag stellt den aktuellen Entwicklungsstand von Grappa nach diversen Neu- und Weiterentwicklungen vor. Nach einem Bericht über zuletzt gesammelte Erfahrungen mit der genannten Kombination von Systemen stellen wir wesentliche Neuerungen der moodle-Plugins, welche der Steuerung von Grappa aus moodle heraus dienen, vor. Anschließend stellen wir eine Erweiterung der bisherigen Architektur in Form eines neuentwickelten Grappa-php-Clients zur effizienteren Anbindung von LMS vor. Weiterhin berichten wir über die Anbindung eines weiteren Autobewerters „Graja“ für Programmieraufgaben in Java. Der Bericht zeigt, dass bereits wichtige Schritte für eine einheitliche Darstellung automatisierter Programmbewertung in LMS mit unterschiedlichen Autobewertern für die Studierenden absolviert sind. Die praktischen Erfahrungen zeigen aber auch, dass sowohl bei jeder der Systemkomponenten individuell, wie auch in deren Zusammenspiel via Grappa noch weitere Entwicklungsarbeiten erforderlich sind, um die Akzeptanz und Nutzung bei Studierenden sowie Lehrenden weiter zu steigern.

Magnetophotoresistance in Pr 1–x CaxMnO3 Thin Films

In this work, a colossal magnetoresistive (CMR) Pr1−xCaxMnO3 (PCMO) man- ganite thin films and polycrystalline samples were studied with the main focus on the properties of the insulator to metal Mott phase transition. The polycrystalline PCMO samples were fabricated with the solid state reaction method. The polycrystalline sam- ples were further processed into the epitaxial thin films with the pulsed laser deposition method (PLD). The structural and magnetic properties of the samples were systemat- ically investigated and the thin films samples were further investigated with magneto- transport measurement where the thin films response to illumination was also studied. After the successful synthesis of polycrystalline PCMO samples with varying x = between 0.0 - 0.5, the magnetic characterization of the samples showed rich magnetic properties having the signatures of the magnetic phase coexistence of antiferromag- netic (AFM) and ferromagnetic (FM) ordering and cluster glass behaviour. With the increased doping concentration from x = 0.3 to 0.5, the AFM charge-order (CO) phase started to form up being strongest on the sample x = 0.5. This AFM CO phase could be melted with the high external magnetic field at temperatures below Neel’s tempera- ture TN inducing an irreversible first order metamagnetic AFM to FM phase transition. The strength of the AFM CO phase decreased with decreasing Ca concentration and increasing temperature. The polycrystalline PCMO samples with Ca concentrations of 0.3 - 0.5, showing metamagnetic behaviour, were selected for the fabrication of the thin film samples. The films were grown using two different in situ oxygen treatment temperatures at 500 ◦C and 700 ◦C in the PLD system. The films with x = 0.4 and 0.5 showed weaker AFM CO phase with greatly reduced melting fields when compared to polycrystalline samples. Also, the robustness of the AFM CO phase was further decreased in thin films with the lower oxygen treatment temperature of 500 ◦C. The magneto-transport measurements made on the thin films showed that the melting of AFM CO phase was connected to CMR effect where the increasing magnetic field induced an insulator to metal phase transition, which reduces the resistivity of the film around nine orders of magnitude. The use of illumination during the magneto-transport measurements showed a vari- ety of intriguing phenomena including magnetophotoresistance. The illumination had a huge effect to the insulator to metal transition (IMT) reducing the transition magnetic field significantly. Moreover, by magnetically biasing the thin films with the constant external magnetic field, the IMT could be induced by switching on the illumination.

STRAINING ENGINEERING OF GRAPHENE AND GRAPHENE-BASED NANOSTRUCTURES

Graphene has emerged as an extraordinary material with its capability to accommodate an array of remarkable electronic, mechanical and chemical properties. Extra-large surface-to-volume ratio renders graphene a highly flexible morphology, giving rise to intriguing observations such as ripples, wrinkles and folds as well as the potential to transform into other novel carbon nanostructures. Ultra-thin, mechanically tough, electrically conductive graphene films promise to enable a wealth of possible applications ranging from hydrogen storage scaffolds, electronic transistors, to bottom-up material designs. Enthusiasm for graphene-based applications aside, there are still significant challenges to their realization, largely due to the difficulty of precisely controlling the graphene properties. Controlling the graphene morphology over large areas is crucial in enabling future graphene-based applications and material design. This dissertation aims to shed lights on potential mechanisms to actively manipulate the graphene morphology and properties and therefore enable the material design principle that delivers desirable mechanical and electronic functionalities of graphene and its derivatives.

La traducción del humor verbal finés-español en la literatura novelística: El caso de la novela finlandesa Ihmisen osa

En este trabajo de fin de máster estudiamos la traducción del humor en la literatura novelística. Nos interesa sobre todo en el lenguaje humorístico, y nos centramos en los recursos con los que cuenta un traductor para poder transmitir el humor lingüístico del texto fuente finlandés al texto de llegada español. Primero vemos las definiciones del humor y contemplamos las características del humor lingüístico expresado mediante el vocabulario y la aliteración. Después seguimos con los puntos de vista de algunos estudiosos sobre la traducción y la posibilidad de traducir humor en la literatura, o sea, cómo se traduce, cómo se debería traducir y a qué medida es posible mantener el efecto humorístico en el texto traducido. Las fuentes teoréticas más importantes son Salvatore Attardo sobre el humor lingüístico, Walter Nash sobre el análisis del lenguaje humorístico, y Peter Newmark sobre estrategias y métodos de traducción. En la parte empírica del trabajo realizamos una comparación entre la obra finlandesa Ihmisen osa de Kari Hotakainen y su traducción al español, Por partes, por Ursula Ojanen y Rafael García Anguita. Las principales observaciones de este trabajo de fin de máster están relacionadas con los procedimientos de traducción más útiles para un traductor de literatura humorística y con la naturaleza y del lenguaje humorístico en la obra finlandesa. Así, por ejemplo vimos que en la obra finlandesa Ihmisen osa la aliteración tiene un papel importante en la creación del efecto humorístico, y que la aliteración se puede traducir. Sin embargo, la traducción de la aliteración no suele ser el principal objetivo de la traducción, ya que eso supondría la anteposición de una característica estilística al contenido de la narrativa. También averiguamos que el procedimiento más utilizado por los traductores de esta obra, en cuanto a la traducción de las expresiones de estilo humorístico, es la sinonimia, que alude a la traducción de un término del texto fuente con un término de la lengua de llegada con un significado aproximadamente igual, pero no exactamente lo mismo. Cuando no se aspira a encontrar un equivalente exacto en el texto de llegada el traductor tiene más libertad de elegir una expresión estilísticamente adecuado en el contexto. Ocasionalmente no es posible encontrar una expresión humorística equivalente en ambos idiomas, y así el humor no se mantiene siempre en la traducción. La mayoría de los ejemplos analizados podían ser calificados como menos humorísticos que los del texto original. Al contrario de nuestra hipótesis de partida, la compensación no figura entre los procedimientos más utilizados en la traducción de esta obra.

Die Verknüpfung von systematischem und fallorientiertem Lernen in Lern-Informationssystemen

Der vorliegende Aufsatz beschäftigt sich mit der Konzeption von Lern-Informationssystemen (LIS) unter besonderer Berücksichtigung der Verknüpfung von systematischem und fallorientiertem Lernen. Lern-Informationssysteme heben sich strukturell und funktional deutlich von den Lern-Managementsystemen (LMS) ab. Während ein LMS die administrativen Funktionalitäten stark betont, sehen die LIS ihren Schwerpunkt in der flexiblen und größtenteils dynamischen Bereitstellung von unterschiedlichen Anwendungsszenarien für den Lernenden. Erreicht wird die Dynamik und Flexibilität durch die Grundkonstrukte des LIS, die so genannten Module. Module enthalten neben dem zu vermittelnden Wissen Vor- und Nachbedingungen als logische Beschreibungen ihrer Inhalte bzw. der Voraussetzung ihrer Anwendbarkeit. Der Aufbau eines LIS wird anhand eines bestehenden und eingesetzten Lernsystems zum Thema der koronaren Herzkrankheit erklärt. Neben einer kurzen Einführung in die Theorie der LIS werden Anwendungsszenarien für systematisches Lernen und die Darstellung von Fällen und deren Verbindung zu Wissenseinheiten dargestellt. Für die Repräsentation der Daten eines Falles wird zurück gegriffen auf das an der Universität Regensburg entwickelte Fall-Schema MedicCaseML.(DIPF/Orig.)

aiTutor : um etutor de agentes inteligentes

Relatório de estágio apresentado para a obtenção do grau de mestre em Educação e Comunicação Multimédia

Construção da plataforma de e-Learning do Instituto Politécnico de Santarém

Relatório de estágio apresentado para obtenção do grau de mestre em Educação e Comunicação Multimédia.

Construção da plataforma de e-Learning do Instituto Politécnico de Santarém

Relatório de estágio apresentado para obtenção do grau de mestre em Educação e Comunicação Multimédia.

Characterization of Copper Covetic Bulk and Films: Copper with High Carbon Content

Incorporation of carbon nanostructures in metals is desirable to combine the strongly bonded electrons in the metal and the free electrons in carbon nanostructures that give rise to high ampacity and high conductivity, respectively. Carbon in copper has the potential to impact industries such as: building construction, power generation and transmission, and microelectronics. This thesis focuses on the structure and properties of bulk and thin films of a new material, Cu covetic, that contains carbon in concentrations up to 16 at.%. X-ray photoelectron spectroscopy (XPS) shows C 1s peak with both sp2 and sp3 bonded C measuring up to 3.5 wt.% (16 at.%). High resolution transmission electron microscopy and electron diffraction of bulk covetic samples show a modulated structure of ≈ 1.6 nm along several crystallographic directions in regions that have high C content suggesting that the carbon incorporates into the copper lattice forming a network. Electron energy loss spectra (EELS) from covetics reveal that the level of graphitization from the source material, activated carbon, is maintained in the covetic structure. Bulk Cu covetics have a slight increase in the lattice constant, as well as <111> texturing, or possibly a different structure, compared to pure Cu. Density functional theory calculations predict bonding between C and Cu at the edges and defects of graphene sheets. The electrical resistivity of bulk covetics first increases and then decreases with increasing C content. Cu covetic films were deposited using e-beam and pulsed laser deposition (PLD) at different temperatures. No copper oxide or any allotropes of carbon are present in the films. The e-beam films show enhanced electrical and optical properties when compared to pure Cu films of the same thickness even though no carbon was detected by XPS or EELS. They also have slightly higher ampacity than Cu metal films. EELS analysis of the C-K-edge in the PLD films indicate that graphitic carbon is transferred from the bulk into the films with uniform carbon distribution. PLD films exhibit flatter and higher transmittance curves and sheet resistance two orders of magnitude lower than e-beam films leading to a high figure of merit as transparent conductors.