Thermal modelling of semiconductor switches in three-level Neutral Point Clamped Medium Voltage DTC-inverter

The aim of this thesis is to investigate the thermal loading of medium voltage three-level NPC inverter’s semiconductor IGCT switches in different operation points. The objective is to reach both a fairly accurate off-line simulation program and also so simple a simulation model that its implementation into an embedded system could be reasonable in practice and a real time use should become feasible. Active loading limitation of the inverter can be realized with a thermal model which is practical in a real time use. Determining of the component heating has been divided into two parts; defining of component losses and establishing the structure of a thermal network. Basics of both parts are clarified. The simulation environment is Matlab-Simulink. Two different models are constructed – a more accurate one and a simplified one. Potential simplifications are clarified with the help of the first one. Simplifications are included in the latter model and the functionalities of both models are compared. When increasing the calculation time step a decreased number of considered components and time constants of the thermal network can be used in the simplified model. Heating of a switching component is dependent on its topological position and inverter’s operation point. The output frequency of the converter defines mainly which one of the switching components is – because of its losses and heating – the performance limiting component of the converter. Comparison of results given by different thermal models demonstrates that with larger time steps, describing of fast occurring switching losses becomes difficult. Generally articles and papers dealing with this subject are written for two-level inverters. Also inverters which apply direct torque control (DTC) are investigated rarely from the heating point of view. Hence, this thesis completes the former material.

Diagnostiikkayksikön kehittäminen rautatiesovellukseen

Suomessa rautatiellä käytetään muutamia tuhansia sähköisesti ohjattavia vaihteita, joiden toiminta varmistetaan määräajoin tehtävillä huolloilla. Työssä on tutkittu, onko kehitteillä olevalla vaihteenohjaimella mahdollista mitata ja analysoida vaihteen kunnonvalvontaan liittyviä suureita. Tutkimuksessa on tutustuttu rautatietekniikkaan sekä vaihdetta ohjaavaan vaihteenkääntölaitteeseen. Tutkimuksen perusteella on kehitetty sulautettuun järjestelmään perustuva mittaus- ja analysointijärjestelmäsovellus, joka tekee mittauksia, havaintoja ja johtopäätöksiä vaihteen toiminnasta. Mittaukset on suoritettu moottoria ohjaavista johtimista ja mittaustulokset on tallennettu analysointia ja jatkokäsittelyä varten. Ohjelmiston toimintaa on varmistettu mittauksilla sekä laboratorio-olosuhteissa että oikealla vaihteella testausympäristössä. Saatujen tulosten perusteella voidaan todeta, että kehitetyllä laitteistolla on mahdollista toteuttaa vaihdetta diagnosoivia mittauksia riittävän laadukkaasti ja tarkasti. Työssä kehitetty järjestelmäalusta soveltuu käytettäväksi vaihteen diagnostiikan jatkokehittämiselle.

Kielikeskuksissa toimivien kieltenopettajien käsityksiä ja kokemuksia massayliopiston luomista haasteista

Challenges of mass university conceived and experienced by university language centre language teachers The massification of the university involved not only an expansion but also a transition from one period to another, from elite higher education to mass higher education. Massification cannot be viewed as expansion and structural change but it has to be viewed in a context of a number of changes involving universities, state, economy, society and culture as well as science, technology, education and research. In the Finnish academic context, massification is often associated with negative development and it may be used as an excuse for poor teaching. The objective of the present study is to find out how the mass context is manifested in the work of university language centre language teachers. The data were collected by means of semi-structured questionnaires from 32 language teachers working at language centres at the universities of Helsinki, Jyväskylä, Tampere and Turku in Finland. Both Finnish and native speakers, 6 male and 26 female teachers, were included. All the teachers in the study had taught more than 10 years. The data were complemented by interviews of four teachers and email data from one teacher. Phenomenographic analysis of the informants’ conceptions enabled a description of their experiences of students at a mass university, conceptions of teaching and learning and of issues related to work health. Some conceptions were consonant with earlier results. The conceptions revealed differences between two teacher groups, teachers of subject-specific language, or language for specific purposes (LSP), and teachers of elementary and advanced language courses (general language teachers). For the first, the conceptions of the investigated teachers provided a picture of the students as a member of a mass university. The students were seen as customers who demanded special services to facilitate their studies or were selective about the contents of the course. The finding that appeared only in the LSP teachers’ data was the unengaged attitude towards language study, which appeared as mere hunt for credits. On the other hand, the students were also seen as language learning individuals, but a clear picture of a truly interested language learner was evident in the data of general language teachers. The teachers’ conceptions of teaching and learning revealed a picture of experienced teachers with a long background of teaching, reflecting experiences from different time periods and influences from their own education and illustrating the increasing problems with organizing individual tutoring due to large, heterogeneous groups. It seemed, however, that in spite of the large student groups, general language teachers were able to support the students’ learning processes and to use learner-centred methods, whereas LSP teachers were frequently compelled to resort to knowledge transmission type of teaching. The conditions of the mass university were clearly manifested in the respondents’ conceptions about work satisfaction: there were a number of factors related to administration, teaching arrangements and the status of the language centres that were likely to add to the teachers’ work stress, whereas traditional characteristics of academic work were viewed as promoting work satisfaction. On the basis of the teachers’ conceptions, it is safe to assume that academic mass context and students’ orientations have an effect on the teacher’s approach to teaching, while there is no unequivocal association between mass university teaching and poor teaching.

Kannettavan kaasuilmaisimen suunnittelu ja toteutus

Työn tarkoituksena on suunnitella ja toteuttaa kannettava kaasuilmaisin, joka soveltuu erityisesti tavallisen kuluttajan tarpeisiin. Kaasuilmaisin on herkkä haihtuville palaville kaasuille, sekä orgaanisille kaasuille. Työssä käytetään Atmelin ATMega164P- mikrokontrolleria, piirin ohjelmointiin käytetään AVR-ISP-II, ja kehitystyökaluina AVRStudio 4:ää. Piirilevy on suunniteltu Cadsoftin Eagle- piirieditorilla. Työssä käydään läpi kokonaisvaltainen sulautetun järjestelmän suunnitteluprosessi, tuotteen spesifikaatioiden määrityksistä aina valmiin fyysisen tuotteen valmistuttamiseen asti. Tuote suunnitellaan Environics Oy:lle.

Sähköauto osana älykästä sähköverkkoa – Ohjaus ja toiminnallisuudet

Tulevaisuudessa sähköverkko kohtaa monia haasteita, kun sähköautot yleistyvät, vaatien suuren tehotarpeen. Uusiutuvan energiantuotannon epävarma huipputehon tuotanto ei välttämättä pysty kattamaan sähköautoista johtuvaa suurta tehopiikkiä, jos suuret määrät ajoneuvoista kytketään yhtä aikaa lataukseen. Jos sähköajoneuvot voidaan ladata ohjatusti, ei välttämättä tarvita lisäenergian tuotantoa kattamaan kasvanutta huipputehon tarvetta. Lisäksi sähköajoneuvojen akut toimivat koko sähköverkolle energiavarastoina, jollaista ei ole ennen ollut. Älykkäällä sähköverkolla voidaan ohjata sähköajoneuvon latausta, mikäli ajoneuvossa on ohjausjärjestelmä ja akkujen varaustilan mittaus. Tässä kandidaatin työssä ohjelmoidaan mittaus- ja ohjauskortti plug-in hybridiautoa varten, jossa on V2G-ominaisuus. Ohjainkortista toteutetaan toimintakuvaus, jonka mukaan se myös ohjelmoidaan. Ohjainkortti mittaa akkujen jännitettä ja virtaa, joista voidaan määrittää akkujen varaustilat. Ohjainkortti lähettää tiedot eteenpäin PC:lle, jolta ohjainkortti saa käskyn toimintatilasta. Mittaustietojen perusteella voidaan seurata mahdollisia vikatilanteita. Kandidaatintyön aikana ohjainkorttia ei ehditty asentamaan ajoneuvoon, mutta laboratoriotestien mukaan voidaan todeta, että ohjainkortti on ohjelmallisesti toimiva. Mittauksissa selvisi, että ohjainkortin mittaustulot eivät olleet tarpeeksi tarkkoja käyttökohteeseen. Todettiin, että ohjainkortti vaatii rakenteellisia muutoksia mittaustuloksien parantamista varten, ennen ohjainkortin käyttöönottoa, mutta kandidaatintyön tavoitteet saavutettiin.

Differential Evolution approach and parameter estimation of chaotic

Parameter estimation still remains a challenge in many important applications. There is a need to develop methods that utilize achievements in modern computational systems with growing capabilities. Owing to this fact different kinds of Evolutionary Algorithms are becoming an especially perspective field of research. The main aim of this thesis is to explore theoretical aspects of a specific type of Evolutionary Algorithms class, the Differential Evolution (DE) method, and implement this algorithm as codes capable to solve a large range of problems. Matlab, a numerical computing environment provided by MathWorks inc., has been utilized for this purpose. Our implementation empirically demonstrates the benefits of a stochastic optimizers with respect to deterministic optimizers in case of stochastic and chaotic problems. Furthermore, the advanced features of Differential Evolution are discussed as well as taken into account in the Matlab realization. Test "toycase" examples are presented in order to show advantages and disadvantages caused by additional aspects involved in extensions of the basic algorithm. Another aim of this paper is to apply the DE approach to the parameter estimation problem of the system exhibiting chaotic behavior, where the well-known Lorenz system with specific set of parameter values is taken as an example. Finally, the DE approach for estimation of chaotic dynamics is compared to the Ensemble prediction and parameter estimation system (EPPES) approach which was recently proposed as a possible solution for similar problems.

Ohjelmistotuotannon menetelmien käyttö sulautetuissa järjestelmissä

Sulautettujen järjestelmien tekemisessä käytettävät metodit ovat moninaiset. Tämä johtuu siitä, että sulautettuja järjestelmiä on tuhansia erilaisia, sekä laitteiston ja ohjelmiston rakentamisen eroavaisuuksista. Sovellukset vaihtelevat kännyköistä aina avaruusluotaimiin. Näihin projekteihin on sovellettu metodeita joita ei ole alun perin suunniteltu laitteiston ja ohjelmiston yhteissuunnitteluun ja toteuttamiseen. Ohjelmistotuotannon menetelmistä oikean valinta nimenomaan tietylle sulautetulle järjestelmälle on haasteellista. Viimeisimpinä ovat tulleet erilaiset ketterät menetelmät ja niitäkin on olemassa useita erilaisia. Ketteriä ja perinteisempiä ohjelmistotuotannon menetelmiä esitellään tässä kandidaatin työssä. Tässä työssä on tarkoituksena selvittää mitkä olisivat parhaiten soveltuvia sulautetun järjestelmän projektille.

Ketterien menetelmien hyödyntäminen sulautettujen järjestelmien kehityksessä

Sulautettujen järjestelmien projekti voidaan toteuttaa monella tavalla. Projektiin liittyy aina ohjelmiston, sekä laitteiston kehittäminen. Ohjelmiston suunnittelulla on suuri painoarvo ja tämä näkyy erityisesti varsinkin kulutuselektroniikassa. Kannettavien laitteiden räjähdysmäisesti lisääntynyt myynti ja käyttö ovat tuoneet markkinoille lisää rahaa ja mielenkiintoa. Tästä johtuen markkinoille tulee joka vuosi entistä kehittyneempiä laitteita. Laitteiston kehittymisen sekä asiakkaiden vaatimusten lisääntyessä ohjelmistojen koko on kasvanut. Tämä on luonut tarpeen myös sulautettujen järjestelmien projekteille ottaa käyttöön jokin tietty metodi ohjelmistojen tuotannossa. Ongelmana on kuitenkin se, että sulautettujen järjestelmien projekteihin on sovellettu metodeita, joita ei ole alun perin suunniteltu laitteiston ja ohjelmiston yhteissuunnitteluun ja toteuttamiseen. Miten voidaan valita oikea metodi sulautettujen järjestelmien projektiin? Tässä työssä esitellään perinteisiä ohjelmistotuotannon metodeita, sekä keskitytään eri ketterien metodien tutkimiseen. Tämä työ selvittää mikä vaikuttaa metodin valintaan sulautetun järjestelmän projektille. Tässä tutkimuksessa päädytään siihen johtopäätökseen, että sulautetuin järjestelmän suunnittelussa ja toteutuksessa ketterien menetelmien käyttö parantaa projektin mahdollisuutta onnistua täyttämään asiakkaan vaatimukset. Ketterien menetelmien käyttö ei poista tarvetta kehittää menetelmää, joka lähtökohtaisesti ottaa huomioon laitteiston ja ohjelmiston yhteissuunnittelun.

Morphological and morphometric evaluation of prepubertal gilt ovaries, uterine tubes and uterus at different oestrus cycle stages

Studies are performed in developing techniques/procedures that provide greater reproductive performance in farm animals, including pigs. In this sense, the study of gilts reproductive organs at different oestrus cycle stages for assessing the presence of abnormalities and/or other parameters that may affect the future animal fertility is important. In order to evaluate the morphological, morphometric and histomorphometric features of ovaries, uterus and uterine tubes (UTs) characteristics of prepubertal gilts at different oestrus cycle stages, reproductive tracts from 48 animals immediately after slaughter were obtained. After, the structures were dissected and removed, and the ovaries were used for classification of oestrus cycle stage of each gilt in follicular phase (FP) and luteal phase (FL). Then, morphometric evaluations of ovaries, UTs, uterine horns and uterine body were performed. Besides that, medial segments of UTs and uterus were fixed in Bouin solution, processed and included in paraffin, when histological sections of 5.0 micrometers (µm) were obtained and stained with Hematoxylin and Eosin. Histomorphometric analyzes using image capture system and specific software were performed. Afterwards, data were submitted to Student's t test for assessment the statistical differences (P<0.05) between the two different oestrus cycle stages (FP × LP) and between the placement of reproductive structures (right × left antimer). Among the gilts evaluated, 35 were in the FP and 13 in LP. There was no difference (P>0.05) between morphometric parameters of ovaries, UTs and uterus of gilts in FP and LP. Likewise, in respect to the placement of reproductive structures, both in the oestrus cycle stages, as in the general average, there was no difference (P>0.05). Regarding the histomorphometric variables, gilts classified in FP presented a higher (P<0.05) height of glandular and UT epithelium compared to animals in LP. On the other hand, the diameter of endometrial glands was higher (P<0.05) in gilts at LP compared to FP. Furthermore, gilts in LP presented a higher (P<0.05) proportion of endometrium occupied by glands, whereas animals in FP had a higher (P<0.05) proportion of connective tissue and blood vessels. In conclusion, in prepubertal gilts, the histomorphometric parameters as endometrial glands diameter, the height of glandular epithelium and of UT epithelium and the proportion of endometrium occupied by connective tissue, besides the glands and blood vessels varies through the oestrus cycle, possibly under the influence of ovarian steroids.

A Test Bed Applied Mobile Robot Navigation

It is presented a test bed applied to studies on dynamics, control, and navigation of mobile robots. A cargo ship scale model was chosen, which can be radio-controlled or operated autonomously through an embedded control system. A control program, which manages on board mission execution, is implemented on a microcontroller. Navigation is based on an electronic compass, which includes automatic compensation for pitch and roll motions. Heading control loop is based on this sensor, and on a rudder positioning system. A propulsion control system is also implemented. Typical manoeuvres as the turning test and "zig-zag", were implemented and tested. They are included on a manoeuvre library, and can be accessed independently or in combined modes. The embedded system is also in charge of signal acquisition and storing during the missions. It is possible to analyse experiments on identification of ship dynamics, control, and navigation, through the data transferred to a PC by serial communication. Navigation is going to be improved by including inertial sensors on board, and a DGPS. Preliminary tests are aimed to ship identification, and manoeuvrability, using free model tests. Future steps include extending this system for developing other mobile robots as, ROVs, AUVs, and aerial vehicles.

Hands-On: Interlinking Institutional Repositories and Europe PubMed Central

Presentation at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

Guilt, shame, emotion regulation, and social cognition: Understanding their associations with preadolescents' social behavior

In this thesis, two negatively valenced emotions are approached as reflecting children’s self-consciousness, namely guilt and shame. Despite the notable role of emotions in the psychological research, empirical research findings on the links between guilt, shame, and children’s social behavior – and particularly aggression – have been modest, inconsistent, and sometimes contradictory. This thesis contains four studies on the associations of guilt, shame, emotion regulation, and social cognitions with children’s social behavior. The longitudinal material of the thesis was collected as a survey among a relatively large amount of Finnish preadolescents. In Study I, the distinctiveness of guilt and shame in children’s social behavior were investigated. The more specific links of emotions and aggressive behavior were explored in Study II, in which emotion regulation and negative emotionality were treated as the moderators between guilt, shame, and children’s aggressive behavior. The role of emotion management was further evaluated in Study III, in which effortful control and anger were treated as the moderators between domain-specific aggressive cognitions and children’s aggressive behavior. In the light of the results from the Studies II and III, it seems that for children with poor emotion management the effects of emotions and social cognitions on aggressive behavior are straight-forward, whereas effective emotion management allows for reframing the situation. Finally, in Study IV, context effects on children’s anticipated emotions were evaluated, such that children were presented a series of hypothetical vignettes, in which the child was acting as the aggressor. Furthermore, the identity of the witnesses and victim’s reactions were systematically manipulated. Children anticipated the most shame in situations, in which all of the class was witnessing the aggressive act, whereas both guilt and shame were anticipated the most in the situations, in which the victim was reacting with sadness. Girls and low-aggressive children were more sensitive to contextual cues than boys and high-aggressive children. Overall, the results of this thesis suggest that the influences of guilt, shame, and social cognition on preadolescents’ aggressive behavior depend significantly on the nature of individual emotion regulation, as well as situational contexts. Both theoretical and practical implications of this study highlight a need to acknowledge effective emotion management as enabling the justification of one’s own immoral behavior.

Aggrecan structure in amphibian cartilage

The structure of the large proteoglycan present in the bullfrog epiphyseal cartilage was studied by immunochemical and biochemical methods. The isolated monomer showed a polydisperse behavior on Sepharose CL2B, with a peak at Kav = 0.14. Chondroitin sulfate chains were identified by HPLC analysis of the products formed by chondroitinase digestion and mercuric acetate treatment. These chains have approximately 38 disaccharides, a Di45:Di68 ratio of 1.6 and GalNAc4S + GalNAc4,6S are the main non-reducing terminals. Keratan sulfate was identified by the use of two monoclonal antibodies in Western blots after chondroitinase ABC treatment. A keratan sulfate-rich region (~110 kDa) was isolated by sequential treatment with chondroitinase ABC and proteases. We also employed antibodies in Western blotting experiments and showed that the full length deglycosylated core protein is about 300 kDa after SDS-PAGE. Domain-specific antibodies revealed the presence of immunoreactive sites corresponding to G1/G2 and G3 globular domains and the characterization of this large proteoglycan as aggrecan. The results indicate the high conservation of the aggrecan domain structure in this lower vertebrate.

Partial characterization of nif genes from the bacterium Azospirillum amazonense

Azospirillum amazonense revealed genomic organization patterns of the nitrogen fixation genes similar to those of the distantly related species A. brasilense. Our work suggests that A. brasilense nifHDK, nifENX, fixABC operons and nifA and glnB genes may be structurally homologous to the counterpart genes of A. amazonense. This is the first analysis revealing homology between A. brasilense nif genes and the A. amazonense genome. Sequence analysis of PCR amplification products revealed similarities between the amino acid sequences of the highly conserved nifD and glnB genes of A. amazonense and related genes of A. brasilense and other bacteria. However, the A. amazonense non-coding regions (the upstream activator sequence region and the region between the nifH and nifD genes) differed from related regions of A. brasilense even in nitrogenase structural genes which are highly conserved among diazotrophic bacteria. The feasibility of the 16S ribosomal RNA gene-based PCR system for specific detection of A. amazonense was shown. Our results indicate that the PCR primers for 16S rDNA defined in this article are highly specific to A. amazonense and can distinguish this species from A. brasilense.