On the Analysis and Control of a Linear Synchronous Servomotor with a Flexible Load

Industry's growing need for higher productivity is placing new demands on mechanisms connected with electrical motors, because these can easily lead to vibration problems due to fast dynamics. Furthermore, the nonlinear effects caused by a motor frequently reduce servo stability, which diminishes the controller's ability to predict and maintain speed. Hence, the flexibility of a mechanism and its control has become an important area of research. The basic approach in control system engineering is to assume that the mechanism connected to a motor is rigid, so that vibrations in the tool mechanism, reel, gripper or any apparatus connected to the motor are not taken into account. This might reduce the ability of the machine system to carry out its assignment and shorten the lifetime of the equipment. Nonetheless, it is usually more important to know how the mechanism, or in other words the load on the motor, behaves. A nonlinear load control method for a permanent magnet linear synchronous motor is developed and implemented in the thesis. The purpose of the controller is to track a flexible load to the desired velocity reference as fast as possible and without awkward oscillations. The control method is based on an adaptive backstepping algorithm with its stability ensured by the Lyapunov stability theorem. As a reference controller for the backstepping method, a hybrid neural controller is introduced in which the linear motor itself is controlled by a conventional PI velocity controller and the vibration of the associated flexible mechanism is suppressed from an outer control loop using a compensation signal from a multilayer perceptron network. To avoid the local minimum problem entailed in neural networks, the initial weights are searched for offline by means of a differential evolution algorithm. The states of a mechanical system for controllers are estimated using the Kalman filter. The theoretical results obtained from the control design are validated with the lumped mass model for a mechanism. Generalization of the mechanism allows the methods derived here to be widely implemented in machine automation. The control algorithms are first designed in a specially introduced nonlinear simulation model and then implemented in the physical linear motor using a DSP (Digital Signal Processor) application. The measurements prove that both controllers are capable of suppressing vibration, but that the backstepping method is superior to others due to its accuracy of response and stability properties.

Omistus, kontrolli ja päämies-agentti- ongelmat osakeyhtiössä

Tutkielman tavoitteena on selvittää osakeyhtiön määräysvaltasuhteet ja miten päämies-agentti- ongelmat vaikeuttavat määräysvallan käyttöä. Tutkimusmetodi on lainopillinen ja lähestyminen aiheeseen tapahtuu sekä yhtiöoikeudellisesta, että oikeustaloustieteellisestä näkökulmasta. Aineistona tutkielmassa käytetään lähinnä voimassa olevaa lainsäädäntöä ja oikeuskirjallisuutta. Päämies-agentti- ongelmalla tarkoitetaan osakeyhtiössä määräysvallan osittaista luisumista omistajalta (päämies) yritysjohdolle (agentti) tai vähemmistöomistajalta (päämies) kontrolloivalle omistajalle (agentti). Tärkeimpiä ongelman lähteitä ovat epäsymmetrinen informaatio ja intressiristiriidat yhtiön johdon ja omistajien välillä tai toisaalta yhtiötä lähellä olevien omistajien ja muiden omistajien välillä. Epäsymmetrinen informaatio luo osaltaan puitteet agenttitahojen opportunistiselle käyttäytymiselle. Ratkaisuja päämies-agentti- ongelmiin ovat ennen kaikkea päämiestahoja suojaava lainsäädäntö ja ulkoiset yritysjohtajien käyttäytymistä ohjaavat keinot, kuten erilaiset kannustinjärjestelmät ja hyvät hallintotavat. Kontrolloivien omistajien käyttäytymistä on puolestaan vaikea ohjata ja erilaisilla määräysvaltaa keskittävillä omistusrakenteilla onkin taipumus voimistaa päämies-agentti- ongelmien vaikutusta. Erityisiä tilanteita osaltaan luovat myös luonteiltaan erilaiset omistajatahot, kuten institutionaaliset omistajat.

Practices of place-making through locative media artworks

Peer-reviewed

Mode of interaction of the Gαo subunit of heterotrimeric G proteins with the GoLoco1 motif of Drosophila Pins is determined by guanine nucleotides.

Drosophila GoLoco motif-containing protein Pins is unusual in its highly efficient interaction with both GDP- and the GTP-loaded forms of the α-subunit of the heterotrimeric Go protein. We analysed the interactions of Gαo in its two nucleotide forms with GoLoco1-the first of the three GoLoco domains of Pins-and the possible structures of the resulting complexes, through combination of conventional fluorescence and FRET measurements as well as through molecular modelling. Our data suggest that the orientation of the GoLoco1 motif on Gαo significantly differs between the two nucleotide states of the latter. In other words, a rotation of the GoLoco1 peptide in respect with Gαo must accompany the nucleotide exchange in Gαo. The sterical hindrance requiring such a rotation probably contributes to the guanine nucleotide exchange inhibitor activity of GoLoco1 and Pins as a whole. Our data have important implications for the mechanisms of Pins regulation in the process of asymmetric cell divisions.

Oncobiguanides: Paracelsus" law and nonconventional routes for administering diabetobiguanides for cancer treatment

The dose makes the poison, the common motto of toxicology first expressed by Paracelsus more than 400 years ago, may effectively serve to guide potential applications for metformin and related biguanides in oncology. While Paracelsus' law for the dose-response effect has been commonly exploited for the use of some anti-cancer drugs at lower doses in non-neoplastic diseases (e.g., methotrexate), the opposite scenario also holds true; in other words, higher doses of non-oncology drugs, such as anti-diabetic biguanides, might exert direct anti-neoplastic effects. Here, we propose that, as for any drug, there is a dose range for biguanides that is without any effect, one corresponding to"diabetobiguanides" with a pharmacological effect (e.g., insulin sensitization in type 2 diabetes, prevention of insulin-dependent carcinogenesis, indirect inhibition of insulin and growth factor-dependent cancer growth) but with minimal toxicity and another corresponding to 'oncobiguanides' with pharmacological (i.e., direct and strong anticancer activity against cancer cells) as well as toxic effects. Considering that biguanides demonstrate a better safety profile than most oncology drugs in current use, we should contemplate the possibility of administering biguanides through non-conventional routes (e.g., inhaled for carcinomas of the lung, topical for skin cancers, intravenous as an adjunctive therapy, rectal suppositories for rectal cancer) to unambiguously investigate the therapeutic value of high-dose transient biguanide exposure in cancer. Perhaps then, the oncobiguanides, as we call them here, could be viewed as a mechanistically different type of anti-cancer drugs employed at doses notably higher than those used chronically when functioning as diabetobiguanides

La construcción narrativa de la identidad a través del conflicto y la ventrilocuación

El objetivo del siguiente trabajo es analizar el discurso de indígenas y mestizos a partir de una perspectiva pragmática. En particular, vamos a explorar la idea de que estos discursos están constituidos por muchas voces. En otras palabras, se muestra la polifonía, para utilizar una idea de Bakhtin. Según este enfoque, la identidad se desarrolla a través de la integración de voces ajenas que se produce a través de narraciones. En este sentido, la identidad surge de rellenar con la propia intención las palabras de los demás. Siguiendo la etnografía de la comunicación nuestra unidad de análisis es el acto de habla (el acto de significado) que se produce en un contexto. Sugerimos que la ventrilocuación de las ideas de otras personas y los conflictos son temas relevantes para el estudio de la construcción narrativa de la identidad.

PK-YRITYKSET INNOVAATTOREINA : Satunnaisista parannuksista kohti innovaatioiden virtaa. Yhteenveto tutkimusraportista, 3/2009

Tämän tutkimuksen tarkoituksena oli selvittää, minkälaisia innovaatioita eri toimialojen pienissä yrityksissä on kehitetty ja minkälaisia kyvykkyyksiä se on edellyttänyt. Lisäksi tavoitteena oli selvittää, kuinka suotuisana ympäristönä yritykset kokivat oman alueensa ja miten alueiden kehittämistyö on vaikuttanut yritysten kykyyn kilpailla. Teoreettiset oletukset perustuvat aikaisempiin tutkimuksiin innovaatiojohtamisen, yrittäjyyden ja pk-yritysten liiketoiminnan kehittämisen alueilta. Empiirinen aineisto on kerätty sähköpostikyselyllä tuottaen 733 kriteerit täyttävää vastausta. Kyselytutkimusta edelsi neljän alueen tapaustutkimus, jonka aikana luotiin teoreettinen rakennelma pienten yritysten innovaatiokyvykkyyden arvioimiseksi. Tämän tutkimuksen aineisto ei tue yleistä väitettä, jonka mukaan innovaatiotoiminta olisi harvinaisempaa tai vähäisempää kooltaan pienemmissä yrityksissä. Kokoa enemmän näyttäisi vaikuttavan innovaatiotoiminnan luonne ja siihen kytkeytyvä kyvykkyys. Yritysten innovaatio-toiminnan luonteen ja laajuuden perusteella tuloksista nousee neljä erilaista innovaattoriprofiilia: satunnainen parantaja, jatkuva parantaja, radikaali uudistaja ja monipuolinen kehittäjä. Innovaatiokyvykkyyttä tutkittiin seitsemän eri osatekijän suhteen. Eri profiilit omaavien yritysten kyvykkyyden tasot erosivat toisistaan merkittävästi. Tulokset vahvistavat käsityksiä siitä, että yksittäisen kyvykkyystekijän sijaan kyvykkyyskombinaatio vaikuttaa enemmän innovatiotoiminnan monipuolisuuteen. Innovaatiotoiminnan lisääntyessä ja monipuolistuessa, yritysten kyvykkyys-vaatimukset kasvavat kaikkien osatekijöiden suhteen. Yritykset ovat tiedostaneet innovaatio-kyvykkyyden kehittämisen tarpeet. Kyvykkyys on ajuri, jonka kyydissä pienet ja suuret innovaatiot syntyvät. Tämä tutkimus suosittelee, että innovaatiokyvykkyyden kehittäminen nostetaan näkyväm-mäksi tavoitteeksi. Pienissä yrityksissä luontevin tapa vahvistaa kyvykkyyksiä on integroida se yrityksen kehittämistoimintaan johtaen itse itseään ruokkivaksi prosessiksi. Haasteelliset kehittämis-tavoitteet edellyttävät monipuolista kyvykkyyksien vahvistamista ja vahvistuneet kyvykkyydet mahdollistavat entistä haastavampien kehittämistavoitteiden asettamisen. Parhaimmillaan tämä prosessi johtaa pienelle yritykselle soveltuvaan onnistumisen spiraaliin, joka samanaikaisesti kiihdyttää sekä kyvykkyyksien että innovaatioiden kehittämistä - tuotoksena jatkuva ja monipuolinen innovaatioiden virta. Tulokset vahvistavat ensimmäisessa vaiheessa toteutetun tapaustutkimuksen havaintoja siitä, että alueiden kehittämistyöstä hyötyvät yritykset, joiden kyvykkyystekijät ovat entuudestaan korkeaa tasoa. Pitkälle tuotteistetut julkiset palvelut soveltuvat parhaiten suuremmille yrityksille, joissa kehittämistoiminta on projektoitu ja kehittämistyö tehdään erillisten resurssien turvin. Sitä vastoin, valtaosassa pieniä yrityksiä kehittämistyö tapahtuu tavanomaisen liiketoiminnan ohessa ja samoilla resursseilla. Alueet tarjoavat varsin runsaasti luonteeltaan epäjatkuvia palveluja kohdistuen yksittäisten kyvykkyystekijöiden parantamiseen tai prosessin yksittäiseen vaiheeseen, usein innovaatioprosessin alkupäähän radikaalin innovaation kehittämiseksi. Tämän kyselyn tulokset suosittelevat myös toista reittiä: vahvistetaan ensin yritysten innovaatiokyvykkyyttä jatkuvaan pieniä askelia ottavaan innovaatiotoimintaan, josta matka jatkuu radikaalien uudistusten kautta moni-puoliseksi kehittämiseksi.

Simulations of 3D Stripixel Detectors

Large Hadron Collider (LHC) is the main particle accelerator at CERN. LHC is created with main goal to search elementary particles and help science investigate our universe. Radiation in LHC is caused by charged particles circular acceleration, therefore detectors tracing particles in existed severe conditions during the experiments must be radiation tolerant. Moreover, further upgrade of luminosity (up to 1035 cm-2s-1) requires development of particle detector’s structure. This work is dedicated to show the new type 3D stripixel detector with serious structural improvement. The new type of radiation-hard detector has a three-dimensional (3D) array of the p+ and n+ electrodes that penetrate into the detector bulk. The electrons and holes are then collected at oppositely biased electrodes. Proposed 3D stripixel detector demonstrates that full depletion voltage is lower that that for planar detectors. Low depletion voltage is one of the main advantages because only depleted part of the device is active are. Because of small spacing between electrodes, charge collection distances are smaller which results in high speed of the detector’s response. In this work is also briefly discussed dual-column type detectors, meaning consisting both n+ and p+ type columnar electrodes in its structure, and was declared that dual-column detectors show better electric filed distribution then single sided radiation detectors. The dead space or in other words low electric field region in significantly suppressed. Simulations were carried out by using Atlas device simulation software. As a simulation results in this work are represented the electric field distribution under different bias voltages.

Els «criteris de visibilització de les dones» en català: límits sintacticosemàntics i discursius

L'objectiu d'aquest article és analitzar els principals criteris que les guies d'estil recomanen per visibilitzar les dones ¿o per fer un ús no sexista del llenguatge¿ des de dos punts de vista: el sintacticosemàntic i el discursiu. Des del punt de vista sintacticosemàntic, s'estudien bàsicament els fenòmens relacionats amb la coordinació, la concordança i la repetició o elisió d'elements (per exemple, especificadors del nom), i la manera com les diferents opcions afecten el significat oracional. Des del punt de vista discursiu, s'analitzen els fenòmens relacionats amb la coreferència; és a dir, la relació entre les diferents maneres d'expressar un mateix referent per mitjà d'elements nominals al llarg del text, i l'efecte que provoquen en el text en conjunt. Amb aquest objectiu, l'estudi analitza des d'un punt de vista qualitatiu les dades proporcionades per un corpus de textos procedents de tres àmbits (polític, administratiu i educatiu) en què s'apliquen sovint aquesta mena de criteris. Paraules clau: català, llenguatge no sexista, visibilització lingüística de les dones, sintaxi, cohesió, coreferència, llenguatge androcèntric, estil. The goal of this article is to analyse the main criteria recommended by style guides aimed at making women more visible or, in other words, to make a non-sexist use of language. I will concentrate on two main aspects: the syntactic-semantic and the discursive. From a syntactic-semantic point of view, the main elements being studied are those related to coordination, agreement and repetition or omission of elements (for instance, noun specifiers), and also the way the different options chosen affect the meaning of the sentence. From a discursive and stylistic point of view, the elements analysed are those related to coreference, that is, the relationship between the different ways of expressing a same referent through different elements in the text, and the effect they produce in the text as a whole. Having this as the main goal, the study analyses from a qualitative point of view the data from a corpus in three different areas (politics, administration and education), which often apply this kind of criteria. Keywords: Catalan, non-sexist language, female linguistic visibility, syntax, cohesion, co-reference, androcentric language, style

Especial Les Rambles

Since we routinely put questions forward for discussion that involve urban planning in Barcelona, let's begin with one that might seem too obvious: What to do about its main street? We solicited the views of 13 professional architects and geographers who have some connection to the Rambla, either because they live or work nearby or once did professionals, in other words, who are intimately familiar with it. The range of their responses surprised us. Issues like making the Rambla car-free or the street's physical design, recurring themes in recent years, here take a back seat. Instead, questions about underlying urban structures and street-level uses come up repeatedly

De More a Moore : de la utopia al cos, i a l’inrevés

Through the graphic novel V for Vendetta by Alan Moore and David Lloyd, I problematize here the act of classification of the subgenres within each genre. This is a literary study that aims to reflect on the utopian genre. It is a genre which requires in order to be understood a consideration of society and its organization. The concept of society cannot be properly discussed without mentioning the surface on which it is based: people with their selves and their bodies. Institutions and conventions act subtly and constantly on us, offering more or less free roles, usually related to a particular physical appearance, as may be the mode of dress, or gesture- and generating a negotiation between our desires and our duties. In other words, they act on us to transform us into people suitable for the smooth running of the community

Change of Electricity Distribution Industry: Drivers and Opening Business Opportunities

As a result of the recent regulatory amendments and other development trends in the electricity distribution business, the sector is currently witnessing radical restructuring that will eventually impact the business logics of the sector. This report represents upcoming changes in the electricity distribution industry and concentrates on the factors that are expected to be the most fundamental ones. Electricity network companies nowadays struggle with legislative and regulatory requirements that focus on both the operational efficiency and the reliability of electricity distribution networks. The forces that have an impact on the distribution network companies can be put into three main categories that define the transformation at a general level. Those are: (1) a requirement for a more functional marketplace for energy, (2) environmental aspects (combating climate change etc.), and (3) a strongly emphasized requirement for the security of energy supply. The first point arises from the legislators’ attempt to increase competition in electricity retail markets, the second one concerns both environmental protection and human safety issues, and the third one indicates societies’ reduced willingness to accept interruptions in electricity supply. In the future, regulation of electricity distribution business may lower the threshold for building more weather-resistant networks, which in turn means increased underground cabling. This development pattern is reinforced by tightening safety and environmental regulations that ultimately make the overhead lines expensive to build and maintain. The changes will require new approaches particularly in network planning, construction, and maintenance. The concept for planning, constructing, and maintaining cable networks is necessary because the interdependencies between network operations are strong, in other words, the nature of the operation requires a linkage to other operations.

John Dewey i l’educació democràtica = John Dewey and democratic education

In Dewey, philosophy and education are inseparable. It is often forgotten that Dewey’s conception of school and education has only been possible because he conceived thought in terms of lived experience, of constantly tested experience, of incessant research; in other words, of 'continuous search' of 'effective means of action'. In addition, according to Dewey, true education is an education in democracy, and that means investing in an education that deals with thought. The service to democratic progress is done precisely through an education in reasonability and taking into account the experience

Processat de vídeo aplicat a la robòtica

Aquest projecte consisteix en acoblar una càmera web uEye en una de les extremitats d'un robot industrial (ABB Irc5). Aquest robot, es mourà en cas què es detecti una cara a través de la webcam. L'objectiu és intentar que la cara es situï sempre al mig de la imatge captada per la càmera. Podem dividir les tasques d'aquest projecte amb 4 fases diferents. A continuació expliquem les diferents etapes. La Càmera uEye s'encarrega de capturar imatges i passar-les a un PC utilitzant Python. La funció de Detecció de Cares ens indica la posició i dimensions de la cara. Tot seguit, la funció LabJack s'encarrega de canviar els valors digitals de les 5 senyals mitjançant programació amb Python. Per últim el Robot ABB interpreta el valor d'aquestes 5 senyals i es desplaça mitjançant petits increments amb l'objectiu de situar la cara al mig de la imatge capturada.

Advanced chemometric methods: Applicability on industrial data

Recent years have produced great advances in the instrumentation technology. The amount of available data has been increasing due to the simplicity, speed and accuracy of current spectroscopic instruments. Most of these data are, however, meaningless without a proper analysis. This has been one of the reasons for the overgrowing success of multivariate handling of such data. Industrial data is commonly not designed data; in other words, there is no exact experimental design, but rather the data have been collected as a routine procedure during an industrial process. This makes certain demands on the multivariate modeling, as the selection of samples and variables can have an enormous effect. Common approaches in the modeling of industrial data are PCA (principal component analysis) and PLS (projection to latent structures or partial least squares) but there are also other methods that should be considered. The more advanced methods include multi block modeling and nonlinear modeling. In this thesis it is shown that the results of data analysis vary according to the modeling approach used, thus making the selection of the modeling approach dependent on the purpose of the model. If the model is intended to provide accurate predictions, the approach should be different than in the case where the purpose of modeling is mostly to obtain information about the variables and the process. For industrial applicability it is essential that the methods are robust and sufficiently simple to apply. In this way the methods and the results can be compared and an approach selected that is suitable for the intended purpose. Differences in data analysis methods are compared with data from different fields of industry in this thesis. In the first two papers, the multi block method is considered for data originating from the oil and fertilizer industries. The results are compared to those from PLS and priority PLS. The third paper considers applicability of multivariate models to process control for a reactive crystallization process. In the fourth paper, nonlinear modeling is examined with a data set from the oil industry. The response has a nonlinear relation to the descriptor matrix, and the results are compared between linear modeling, polynomial PLS and nonlinear modeling using nonlinear score vectors.