Design and implementation of FPGA-based LQ control of active magnetic bearings

The need for high performance, high precision, and energy saving in rotating machinery demands an alternative solution to traditional bearings. Because of the contactless operation principle, the rotating machines employing active magnetic bearings (AMBs) provide many advantages over the traditional ones. The advantages such as contamination-free operation, low maintenance costs, high rotational speeds, low parasitic losses, programmable stiffness and damping, and vibration insulation come at expense of high cost, and complex technical solution. All these properties make the use of AMBs appropriate primarily for specific and highly demanding applications. High performance and high precision control requires model-based control methods and accurate models of the flexible rotor. In turn, complex models lead to high-order controllers and feature considerable computational burden. Fortunately, in the last few years the advancements in signal processing devices provide new perspective on the real-time control of AMBs. The design and the real-time digital implementation of the high-order LQ controllers, which focus on fast execution times, are the subjects of this work. In particular, the control design and implementation in the field programmable gate array (FPGA) circuits are investigated. The optimal design is guided by the physical constraints of the system for selecting the optimal weighting matrices. The plant model is complemented by augmenting appropriate disturbance models. The compensation of the force-field nonlinearities is proposed for decreasing the uncertainty of the actuator. A disturbance-observer-based unbalance compensation for canceling the magnetic force vibrations or vibrations in the measured positions is presented. The theoretical studies are verified by the practical experiments utilizing a custom-built laboratory test rig. The test rig uses a prototyping control platform developed in the scope of this work. To sum up, the work makes a step in the direction of an embedded single-chip FPGA-based controller of AMBs.

Toms-ilmiön vaikutuksen mallinnus turbulenssivirtauksessa

Diplomityön tavoitteena oli laatia putkivirtaukselle laskentamalli, joka huomioi turbulenssin vaimentamiseen käytetyn lisäaineen vaikutuksen. Kirjallisuusosassa käsitellään turbulenssiin ja putkiston painehäviön laskentaan liittyviä asioita. Lisäksi käydään läpi virtausvastusta alentavien aineiden (DRA-aineiden) ominaisuuksia, vaikutusmekanismia ja niiden vaikutusta virtausominaisuuksiin sekä laskentamalleihin. Kokeellisessa osassa laadittiin kaksi Excel-pohjaista laskentamallia, joilla huomioitiin lisäaineen vaikutus putkiston virtausmäärien parantumiseen ja painehäviöihin. Malli I laskee ensin virtausvastuksen alenemisen (DR-efektin) annetuista lähtötiedoista. DR-efektien perusteella saadaan laskettua putkiston painehäviötiedot. Malli II laskee ensin virtausvastuskertoimet ilman DRA-ainetta ja DRA-aineen kanssa. Tämän jälkeen malli II laskee DR-efektin. Mallien vaatimat lähtötiedot koostuvat virtausmääristä, fluidin ominaisuuksista, polymeerin ominaisuuksista, lisäaineen annostelutiedoista ja putkiston tiedoista.

Comportamento dinâmico-mecânico e relaxações em polímeros e blendas poliméricas

Dynamic mechanical analysis (DMA) is widely used in materials characterization. In this work, we briefly introduce the main concepts related to this technique such as, linear and non-linear viscoelasticity, relaxation time, response of material when it is submitted to a sinusoidal or other periodic stress. Moreover, the main applications of this technique in polymers and polymer blends are also presented. The discussion includes: phase behavior, crystallization; spectrum of relaxation as a function of frequency or temperature; correlation between the material damping and its acoustic and mechanical properties.

Estudio de la adherencia entre armaduras de materiales compuestos de matriz polimérica (FRP) y hormigón

En este artículo se presentan los resultados del estudio del comportamiento adherente de barras de materiales compuestos de matriz polímero (FRP), con fibras de vidrio (GFRP) y con fibras de carbono (CFRP), como armadura de hormigón. Se realizan un total de 91 ensayos según las normas ACI 440.3R-04 y CSA S806-02. Los parámetros considerados en los ensayos son la resistencia del hormigón,e l acabado superficial,e l tipo de fibra y el diámetro de la barra. Los resultados dan una estimación de la capacidad de adherencia para diferentes tipos de hormigón y armaduras. La diferencia en las propiedades y en el comportamiento adherente se traduce en una respuesta adherencia-deslizamiento distinta

Efeito do tratamento de sementes de algodão com fungicidas no controle do tombamento de plântulas causado por Rhizoctonia solani

Este trabalho foi desenvolvido na Embrapa Agropecuária Oeste, em Dourados, MS, e teve por objetivo avaliar a eficiência de alguns fungicidas, aplicados no tratamento de sementes de algodão (Gossypium hirsutum), no controle do tombamento de plântulas causado por Rhizoctonia solani. Foi realizado teste em casa de vegetação, utilizando a cultivar DeltaOpal. Sementes tratadas e não tratadas com fungicidas foram semeadas em areia contida em bandejas plásticas, dispostas em orifícios individuais, eqüidistantes e a 3 cm de profundidade. A inoculação com R. solani foi feita pela distribuição homogênea do inóculo do fungo na superfície do substrato. O fungo foi cultivado por 35 dias em sementes de aveia autoclavadas e trituradas em moinho (1 mm). Foram utilizados 9 g de inóculo por bandeja de areia. Foi observado efeito do tratamento fungicida na emergência inicial e final de plântulas, com destaque para triadimenol + pencycuron + tolylfluanid e triadimenol + tolylfluanid, seguidos de carboxin + thiram, triadimenol e carboxin + thiram + carbendazim. Os tratamentos mais eficientes no controle do tombamento de pós-emergência do algodoeiro foi obtido com a mistura triadimenol + pencycuron + tolylfluanid, seguida de triadimenol, triadimenol + tolylfluanid e carboxin+thiram. Nenhum dos fungicidas testados foi fitotóxico ao algodão.

Seleção de plantas resistentes e de fungicidas para o controle da podridão do colo do maracujazeiro causada por Nectria haematococca

A podridão do colo do maracujazeiro (Passiflora edulis f. flavicarpa), causada por Nectria haematococca e Phytophthora spp., é um dos principais problemas da cultura no Brasil, sendo responsável pelo decréscimo da produtividade e constantes migrações da cultura. O controle da doença é basicamente preventivo, visando a não introdução dos patógenos na área. O presente trabalho visou 1) avaliar métodos de inoculação de N. haematococca e a suscetibilidade do maracujazeiro amarelo ao patógeno em diferentes idades; 2) a ocorrência de "damping-off"; 3) o comportamento de diferentes espécies do gênero Passiflora e de genótipos de P. edulis f. flavicarpa ao patógeno; e 4) realizar testes de controle químico. Inoculações no colo de maracujazeiro amarelo proporcionaram maiores níveis de doença comparadas às inoculações no sistema radicular. Os resultados sugerem que N. haematococca seja um patógeno que penetra por ferimentos. A mortalidade foi maior quando a inoculação foi realizada em plantas mais jovens e quando N. haematococca e Phytophthora nicotianae estavam associados. Dentre as 17 espécies do gênero Passiflora avaliadas para resistência a N. haematococca, P. nitida, P. laurifolia e P. alata foram as menos lesionadas. Os genótipos de P. edulis f. flavicarpa mais resistentes ao patógeno foram os procedentes de Morretes (PR), Sapucaí (SP) e a cultivar Maguari. Os fungicidas prochloraz, thiabendazole, thiram+thiabendazole, carbendazim, triflumizole e captan exerceram controle erradicante em solo infestado com N. haematococca. Os fungicidas prochloraz e carbendazim evitaram a morte de plantas em tratamento curativo, com os melhores resultados quando aplicados dois dias após a inoculação, comparado a sete dias.

Dried powders of velvetbean and pine bark added to soil reduce Rhizoctonia solani-induced disease on soybean

Diseases induced by Rhizoctonia solani, like damping-off and root and stem rot on soybean (Glycine max), are a serious problem around the world. The addition of some organic material to soil is an alternative control for these diseases. In this study, benzaldehyde and dried powders of kudzu (Pueraria lobata), velvetbean or mucuna (Mucuna deeringiana), and pine bark (Pinus spp.) were used in an attempt to improve soybean plant growth and to reduce the disease R. solani (AG-4) causes on soybean. Benzaldehyde (0.1-0.4 mL/kg of soil) and velvetbean (25-100 g/kg) significantly (P < 0.05) reduced mycelial growth of R. solani in laboratory tests. In greenhouse experiments, the percentage of non-diseased plants was higher in treatments with pine bark and velvetbean (50-100 g/kg). In soil treated with kudzu (r²=0.91) or velvetbean (r²=0.94), increasing rates of these amendments tended to increase plant fresh mass. In microplot field conditions, soil amended with velvetbean (r²=0.85) and pine-bark (r²=0.61) significantly reduced disease on soybean. Numbers of Bacillus megaterium (r²=0.87) and Trichoderma hamatum (r²=0.92) and hydrolysis of fluorescein diacetate (r²=0.91) were higher in soil amended with increasing rates of velvetbean, indicating an increase in microbial activity. From this study it is concluded that dried powders of velvetbean and pine bark added to soil can reduce Rhizoctonia-induced disease on soybean.

Nosturin kuormauselimen liitynnän suunnittelu

Paperiteollisuuden prosessituotteista paperia varastoidaan erikokoisina rullina esim. pystyrullavarastoihin. Tämän diplomityön tavoitteena oli kehittää Konecranesin prosessinosturille liityntä paperirullia käsittelevän kuormauselimen ja nosturin välille. Tavoitteena oli löytää kiinnitysmenetelmä, joka mahdollistaa nosturien joustavan käytön mahdollisimman pienin muutoksin itse nosturin standardoituun rakenteeseen. Pääasiallisena syventymisen kohteena oli alipaineella paperirullia nostettavan kuormauselimen liityntä. Liitynnän on kyettävä joustamaan ja vaimentamaan paperirullia nostavaan kuormauselimeen nosturin liikkeelle lähdöstä ja pysähtymisestä syntyvät herätteet ja voimat. Nosturin liikenopeus on kyettävä pitämään mahdollisimman suurena lyhyen rullienkäsittelyajan saavuttamiseksi. Liitynnältä vaaditaan kykyä ottaa kuormauselin vastaan mahdollisimman suurella nostonopeudella. Lisäksi kuorman ja kuormauselimen oskillaatio on vaimennettava mahdollisimman nopeasti samalla rajoittaen heilunnasta aiheutuvaa maksimi siirtymää. Liitynnän suunnittelu pohjautuu nosturin, kuormauselimen ja paperirullan muodostaman systeemin teoreettiseen tarkasteluun. Systeemistä laadittiin dynaaminen malli, jonka avulla tutkittiin oskillaation ja syntyvien kiihtyvyyksien suuruutta. Näiden teoriaan perustuvien tuloksien pohjalta suunniteltiin vaimennukseen tarvittavat vaimennuselementit ja liitynnän rakenne. Suunnittelutyön tuloksena saatiin liitynnälle alustava rakenne, joka mahdollistaa käytettävien vaimennuselementtien vaihtamisen ja siten tehokkaan heilunnan vaimmennuksen. Suunnittelutyön lähtökohtana oleva teoreettinen tarkastelu vaatii tuekseen esim. prototyypin kokeellisten tulosten saamiseksi ennen lopullisen tuotteen valmistamista. Suunnitteluprosessissa noudatettiin järjestelmällisen tuotesuunnittelun vaiheita ja menetelmiä.

Learning Robot Motions from Visual Sensing

Learning from demonstration becomes increasingly popular as an efficient way of robot programming. Not only a scientific interest acts as an inspiration in this case but also the possibility of producing the machines that would find application in different areas of life: robots helping with daily routine at home, high performance automata in industries or friendly toys for children. One way to teach a robot to fulfill complex tasks is to start with simple training exercises, combining them to form more difficult behavior. The objective of the Master’s thesis work was to study robot programming with visual input. Dynamic movement primitives (DMPs) were chosen as a tool for motion learning and generation. Assuming a movement to be a spring system influenced by an external force, making this system move, DMPs represent the motion as a set of non-linear differential equations. During the experiments the properties of DMP, such as temporal and spacial invariance, were examined. The effect of the DMP parameters, including spring coefficient, damping factor, temporal scaling, on the trajectory generated were studied.

Magnetic and transport properties of LaMnO3+δ, La1-xCaxMnO3, La1-xCaxMn1-yFeyO3 and La1-xSrxMn1-yFeyO3

Interest to hole-doped mixed-valence manganite perovskites is connected to the ‘colossal’ magnetoresistance. This effect or huge drop of the resistivity, ρ, in external magnetic field, B, attains usually the maximum value near the ferromagnetic Curie temperature, TC. In this thesis are investigated conductivity mechanisms and magnetic properties of the manganite perovskite compounds LaMnO3+, La1-xCaxMnO3, La1-xCaxMn1-yFeyO3 and La1- xSrxMn1-yFeyO3. When the present work was started the key role of the phase separation and its influence on the properties of the colossal magnetoresistive materials were not clear. Our main results are based on temperature dependencies of the magnetoresistance and magnetothermopower, investigated in the temperature interval of 4.2 - 300 K in magnetic fields up to 10 T. The magnetization was studied in the same temperature range in weak (up to 0.1 T) magnetic fields. LaMnO3+δ is the parent compound for preparation of the hole-doped CMR materials. The dependences of such parameters as the Curie temperature, TC, the Coulomb gap, Δ, the rigid gap, γ, and the localization radius, a, on pressure, p, are observed in LaMnO3+δ. It has been established that the dependences above can be interpreted by increase of the electron bandwidth and decrease of the polaron potential well when p is increased. Generally, pressure stimulates delocalization of the electrons in LaMnO3+δ. Doping of LaMnO3 with Ca, leading to La1-xCaxMnO3, changes the Mn3+/Mn4+ ratio significantly and brings an additional disorder to the crystal lattice. Phase separation in a form of mixture of the ferromagnetic and the spin glass phases was observed and investigated in La1- xCaxMnO3 at x between 0 and 0.4. Influence of the replacement of Mn by Fe is studied in La0.7Ca0.3Mn1−yFeyO3 and La0.7Sr0.3Mn1−yFeyO3. Asymmetry of the soft Coulomb gap and of the rigid gap in the density of localized states, small shift of the centre of the gaps with respect to the Fermi level and cubic asymmetry of the density of states are obtained in La0.7Ca0.3Mn1−yFeyO3. Damping of TC with y is connected to breaking of the double-exchange interaction by doping with Fe, whereas the irreversibility and the critical behavior of the magnetic susceptibility are determined by the phase separation and the frustrated magnetic state of La0.7Sr0.3Mn1−yFeyO3.

Controle de Rhizoctonia solani e Fusarium oxysporum f.sp. phaseoli por biopreparados de isolados de Trichoderma spp.

Os experimentos objetivaram avaliar em condições de casa de vegetação o biocontrole dos fitopatógenos Rhizoctonia solani (RS) e Fusarium oxysporum f.sp. phaseoli (FOP) em alface (Lactuca sativa L.) cultivar Regina, e feijão-vagem (Phaseolus vulgaris L.) cultivar Alessa, respectivamente, utilizando como agentes antagonistas, 10 isolados de Trichoderma spp. selecionados em testes in vitro. Foram feitos biopreparados à base de arroz previamente colonizado por isolados de Trichoderma spp. e posteriormente triturados. Para a realização dos testes, os biopreparados foram inoculados previamente na proporção de 10(9) conídios.mL-1, em substrato comercial para produção de mudas. Após sete dias, os patógenos foram introduzidos separadamente em duas concentrações distintas: R. solani na proporção de 144 mg de meio de arroz por kg de substrato e F. oxysporum f.sp. phaseoli inoculado na forma de suspensão contendo 4,75 x 10(6) conídios.mL-1. Avaliou-se a influência dos biopreparados na % de damping-off de pós-emergência em plantas de alface e a severidade de murcha em plantas de feijão-vagem. O biopreparado referente ao isolado T-03 foi o mais eficiente no controle de R. solani em plantas de alface cultivar Regina, por ter reduzido a incidência de damping-off de pós-emergência nessa cultura. Por outro lado, nenhum dos biopreparados apresentou efeito antagonista satisfatório à F. oxysporum f.sp. phaseoli em plantas de feijão-vagem.

Vibration free machining tools

Appearance of the vibration is the very important problem in long tool turning and milling. Current solutions of minimizing vibrations provided by different tool suppliers are very expensive. This Master’s Thesis is presenting the new type of vibration free machining tools produced by Konepaja ASTEX Gear Oy that have cheaper production costs compare to competitors’ products. Vibration problems in machining and their today’s solutions are analyzed in this work. The new vibration damping invention is presented and described. Moreover, the production, laboratory experimental modal analysis and practical testing of the new vibration free prototypes are observed and analyzed on the pages of this Thesis. Based on the testing results the new invention is acknowledged to be successful and approved for further studies and developments.

Efeito da quitosana na emergência, desenvolvimento inicial e caracterização bioquímica de plântulas de Acacia mearnsii

A quitosana é um polímero que vem sendo testado na proteção e indução de resistência em frutos, contra patógenos causadores de podridões. O presente trabalho teve como objetivo principal testar o efeito do tratamento de sementes de Acacia mearnsii com esse produto, bem como seu efeito no desenvolvimento inicial e na caracterização bioquímica das plântulas. Para tanto realizou-se este trabalho na Unepe de Silvicultura e no Laboratório de Fitossanidade da Universidade Tecnológica Federal do Paraná - Câmpus Dois Vizinhos. As sementes de Acacia mearnsii foram tratadas com diferentes concentrações de quitosana (0; 0,25; 0,5; 1 e 2%) e plantadas em tubetes com o substrato contaminado com o fungo Rhizoctonia solani. Avaliou-se aos 22 dias após a semeadura, a porcentagem de emergência, o índice de velocidade de emergência, a altura das plântulas, o comprimento da radícula, a massa da matéria fresca, além das variáveis bioquímicas dos tecidos foliares, o teor de proteínas totais e de compostos fenólicos e a atividade da enzima fenilalanina amônia-liase (FAL). Os resultados obtidos demonstraram que o uso de concentrações de quitosana entre 0,6 e 0,9% foram mais favoráveis à emergência e ao desenvolvimento das plântulas. Bioquimicamente, a quitosana demonstrou capacidade de alteração do teor de proteínas e da atividade da FAL, enzima a qual, está no ponto de ramificação entre o metabolismo primário e o secundário, indicando a possibilidade de ter havido ativação do sistema de defesa vegetal das plântulas, pelo tratamento das sementes com quitosana.

Anatomical and histological characteristics of teeth in agouti (Dasyprocta prymnolopha Wagler, 1831)

The agouti species Dasyprocta prymnolopha (D. prymnolopha) is a medium-sized rodent, diurnal, and characteristic of northeastern Brazil, south of the Amazon. Several studies have been made on these rodents. However, there is a lack of analysis of masticatory system, in particular morphology of the teeth. Thus, this research seeks to describe anatomical and histological aspects of the agouti teeth. For this purpose, we used adult agouti, in which measurements and descriptions of teeth and dental tissues were made. It was observed that the dental arch of D. prymnolopha comprises of twenty teeth, evenly distributed in the upper and lower arch, being inferior teeth larger than their corresponding higher. The incisors are larger, and between the posterior premolars and molars, there is a gradual increase in length in the anterior-posterior arch. In microscopic examination, a prismatic appearance was observed consisting of enamel prisms arranged in different directions, behind the enamel and dentin with standard tubular dentinal tubules with variable diameter and far between, also showing a sinuous path from the inner portion to the junction with more superficial enamel. Morphological analysis of dental tissues showed that an enamel with structural organization adapted to the act of chewing and high impact dentin compatible with standard tubular function resilience and mechanical damping of masticatory forces, as found in larger animals, confirming the understanding of eating habits that define much of its ecological functions within the ecosystem they inhabit.

Bus bar aeolian vibration field tests

Large amplitude bus bar aeolian vibration may lead to post insulator damage. Different damping applications are used to decrease the risk of large amplitude aeolian vibration. In this paper the post insulator load caused by the bus bar aeolian vibration and the effect of damping methods are evaluated. The effects of three types of bus bar connectors and three types of primary structures are studied. Two actual damping devices, damping cable and their combinations are studied. The post insulator loads are studied with strain gage based custom made force sensors installed on the both ends of the post insulator and with the displacement sensor installed on the midpoint of the bus bar. The post insulator loads are calculated from the strain values and the damping properties are determined from the displacement history. The bus bar is deflected with a hanging weight. The weight is released and the bus bar is left to free damped vibration. Both actual bus bar vibration dampers RIBE and SBI were very effective against the aeolian vibration. Combining vibration damper with damping cable will increase the damping ratio but it may be unnecessary considering the extra effort. Bus bar connector type or primary structure have no effect on the vertical load. The bending moment at the post insulator with double sided bus bar connector is significantly higher than at the post insulator with single sided bus bar connector. No reliable conclusions about bus bar connector type effect can be done, but the roller bearing type or central bearing type connector may reduce the bending moment. The RHS steel frame as primary structure may increase the bending moment peak values since it is the least rigid primary structure type and it may start to vibrate as a response to the awakening force of the vibrating bus bar.