Dynamic modelling of an underwater vehicle

Nessie is an Autonomous Underwater Vehicle (AUV) created by a team of students in the Heriot Watt University to compete in the Student Autonomous Underwater Competition, Europe (SAUC-E) in August 2006. The main objective of the project is to find the dynamic equation of the robot, dynamic model. With it, the behaviour of the robot will be easier to understand and movement tests will be available by computer without the need of the robot, what is a way to save time, batteries, money and the robot from water inside itself. The object of the second part in this project is setting a control system for Nessie by using the model

Embedding objects into Matlab/Simulink for process supervision

This paper introduces how artificial intelligence technologies can be integrated into a known computer aided control system design (CACSD) framework, Matlab/Simulink, using an object oriented approach. The aim is to build a framework to aid supervisory systems analysis, design and implementation. The idea is to take advantage of an existing CACSD framework, Matlab/Simulink, so that engineers can proceed: first to design a control system, and then to design a straightforward supervisory system of the control system in the same framework. Thus, expert systems and qualitative reasoning tools are incorporated into this popular CACSD framework to develop a computer aided supervisory system design (CASSD) framework. Object-variables an introduced into Matlab/Simulink for sharing information between tools

MTS2-kokoonpanolinjan ohjauksen modernisointi

Tämä insinöörityö tehtiin Helsingin ammattikorkeakoululle kesän 2006 ja lukuvuoden 2006 - 2007 aikana. Työn tarkoituksena oli yhdistää MTS2-kokoonpanolinjaston kuljetinjärjestelmän erilliset toimilaite- ja anturiväylät yhdeksi hallittavaksi kokonaisuudeksi sekä ottaa käyttöön RFID-saattomuistit kuljetinpalettien ohjauksessa. Työssä tutustuttiin teollisuudessa käytettävien kenttäväylien eri tasoihin, näihin liitettäviin laitteisiin sekä väylien toisiinsa liittämiseen. Linjaston alkuperäistä fyysistä rakennetta muutettiin niin, että se mahdollistaa kahden erillisen ohjausjärjestelmän käytön. AS-iväylään asennettiin IFM DTA 100 -saattomuistinlukijat ja paletteihin RFID-tunnisteet. Työssä onnistuttiin osoittamaan, että kahden rinnakkaisen ohjauksen luominen linjastoon on mahdollista. Toteutuksessa joudutaan kumminkin tilanteisiin, joissa pitää tehdä kompromisseja toisen ohjausjärjestelmän toiminnan yksinkertaisuuden kustannuksella.

Executive Order Number Forty, November 1, 1990

The Governor's Alliance on Substance Abuse is the designed agency to receive Drug Control& System Improvement Grant Program funding.

Evaluation of a Bridge Constructed using High Performance Steel, May 2006

Of the approximately 25,000 bridges in Iowa, 28% are classified as structurally deficient, functionally obsolete, or both. Because many Iowa bridges require repair or replacement with a relatively limited funding base, there is a need to develop new bridge materials that may lead to longer life spans and reduced life-cycle costs. In addition, new and effective methods for determining the condition of structures are needed to identify when the useful life has expired or other maintenance is needed. Due to its unique alloy blend, high-performance steel (HPS) has been shown to have improved weldability, weathering capabilities, and fracture toughness than conventional structural steels. Since the development of HPS in the mid-1990s, numerous bridges using HPS girders have been constructed, and many have been economically built. The East 12th Street Bridge, which replaced a deteriorated box girder bridge, is Iowa’s first bridge constructed using HPS girders. The new structure is a two-span bridge that crosses I-235 in Des Moines, Iowa, providing one lane of traffic in each direction. A remote, continuous, fiber-optic based structural health monitoring (SHM) system for the bridge was developed using off-the-shelf technologies. In the system, sensors strategically located on the bridge collect raw strain data and then transfer the data via wireless communication to a gateway system at a nearby secure facility. The data are integrated and converted to text files before being uploaded automatically to a website that provides live strain data and a live video stream. A data storage/processing system at the Bridge Engineering Center in Ames, Iowa, permanently stores and processes the data files. Several processes are performed to check the overall system’s operation, eliminate temperature effects from the complete strain record, compute the global behavior of the bridge, and count strain cycles at the various sensor locations.

Controlo interno na prevenção de erros e fraudes

Atualmente, as situações de erros e fraudes, têm ocorrido com muita frequência a nível mundial. Por exemplo em Cabo Verde estas têm vindo a ganhar espaço nos mídias, onde a todo momento aparece casos de erros e fraudes, como por exemplo, os casos da Sociedade Cabo-verdiana de Tabacos, Banco Comercial do Atlântico, Caixa Económica, Câmara Municipal da Ribeira Brava, Associação Sport Club Moreirense, Sociedade de Segurança Industrial, Marítima e Comercial, Ministério das Finanças entre outros. Essas situações desfavoráveis para qualquer empresa, são derivadas de uma gestão menos cuidada dos recursos, e dos valores e princípios éticos cultivados pelas pessoas. O triângulo de fraude criada por Donald Cressey demonstra os motivos que leva um individuo a cometer atos fraudulentos, como sendo a motivação, a pressão e a oportunidade. Neste sentido, o controlo interno surge como uma ferramenta muito importante e fundamental para mitigar os riscos advenientes da ocorrência de erros e fraudes, suscetíveis de acontecer nas empresas. O controlo interno traduz num conjunto de medidas que protegem o património da empresa e garantem o cumprimento dos seus objetivos entretanto, como qualquer outra ferramenta de gestão está possui determinadas limitações que podem ser ultrapassadas com a utilização de alguns procedimentos básicos e, ou alternativos de controlo interno. É imprescindível que um sistema de controlo interno, para além de implementado, adequado e em funcionamento, seja mantido e acompanhado. O estudo dos casos da SILMAC, SA e da SCT, SA, mostram a importância que o controlo interno tem na prevenção e deteção de erros e fraudes, pois denota-se que as fraudes cometidas aconteceram na sequência de fraquezas de controlo interno e no excesso de confiança depositada nos colaboradores. Currently, the situations of errors and fraud have occurred very often in the world. Cape Verde in these situations have gained ground in the media, where every moment appears to errors and fraud cases, such as cases of “Sociedade cabo-verdiana de tabacos, Banco Comercial do Atlântico, Caixa Económica, Câmara Municipal da Ribeira Brava, Associação Sport Club Moreirense, Sociedade de segurança industrial, marítima e comercial, Ministério de finanças” amongst others. These situations which unfavorable for any company, are derived from a less carefully management of resources and ethical principles and values cultivated by people. The fraud triangle created by Donald Cressey, demonstrates reasons that lead an individual to commit fraudulent acts, such as motivation, opportunity and pressure. In this sense, internal control emerges as a very important tool to mitigate the risks arising from situations of errors and fraud, which are likely to happen in companies. The internal control translates into a set of measures that protect the assets of the business and ensure the fulfillment of its objectives however, like any other management tool is has limitations, however these can be overcome with the use of basic procedures, or alternative internal control. It is essential that an internal control system, in addition to implemented, adequate and functioning is maintained and monitored. The case studies of SILMAC and SCT, show the importance of internal control is the prevention and detection of errors and fraud. For note that the fraud occurred following oversights in its internal control and confidence in their employees.

A Implementação de um Sistema de Controlo Interno na Área de Recursos Humanos: O Caso da Universidade de Cabo Verde – Uni-CV-Reitoria da praia

Os recentes acontecimentos verificados em algumas organizações nacionais e estrangeiras, remetem um fraco grau de transparência no que refere a fiabilidade no desempenho e responsabilidades dos seus colaboradores. Este trabalho tem como objectivo propor a implementação de um sistema de controlo interno na Uni-CV, Reitoria da Praia, na área de recursos humanos. Para chegar ao resultado esperado foi realizada uma pesquisa explicativa, com abordagem qualitativa e quantitativa desenvolvendo-se através de fontes já existentes, com a análise dos dados resultantes do questionário aplicado. A fundamentação teórica abordou os aspectos mais importantes do controlo interno e recursos humanos. O caso prático foi realizado, pelas suas características, se considera de grande relevância não só para com a organização em si, mas também, para a administração pública cabo-verdiana, de forma que, quando implementadas, contribuirão para o bom desempenho das instituições. A análise dos dados obtidos com a aplicação do questionário, ao Director Administrativo e Financeiro da Reitoria da Praia e a observação participante dos procedimentos na área de recursos humanos possibilitaram verificar a necessidade de implementação de um sistema de controlo interno adequado e rigoroso, e um internal controller, que será o responsável pelo controlo das rotinas na área dos RH (Auditor interno) e modelar o tipo de controlo interno a ser aplicado na referida área.

Management of major accidents with on-site 144 dispatcher

Introduction: An excellent coordination between firefighters, policemen and medical rescue is the key to success in the management of major accidents. In order to improve and assist the medical teams engaged on site, the Swiss "medical command and control system" for rescue operations is based on a binomial set up involving one head emergency doctor and one head rescue paramedic, both trained in disaster medicine. We have recently experimented an innovative on-site "medical command and control system", based on the binomial team, supported by a dedicated 144 dispatcher. Methods: A major road traffic accident took place on the highway between Lausanne and Vevey on April 9th 2008. We have retrospectively collected all data concerning the victims as well as the logistics and dedicated structures, reported by the 144, the Hospitals, the Authority of the State and the Police and Fire Departments. Results: The 72-car pileup caused one death and 26 slightly injured patients. The management on the accident site was organized around a tripartite system, gathering together the medical command and control team with the police and fire departments. On the medical side, 16 ambulances, 2 medical response teams (SMUR), the Rega crew and the medical command and control team were dispatched by the 144. On that occasion an advanced medical command car equipped with communication devices and staffed with a 144 dispatcher was also engaged, allowing efficient medical regulation directly from the site. Discussion: The specific skills of one doctor and one paramedic both trained for disaster's management proved to be perfectly complementary. The presence of a dispatcher on site with a medical command car also proved to be useful, improving orders transmission from the medical command team to all other on- and off-site partners. It relieved the need of repeated back-and-forth communication with the 144, allowing both paramedic and doctor to focus on strategy and tactics rather than communication and logistics.

Contribución al diseño de GNSS-SDR, un receptor GNSS de código abierto

[ANGLÈS] This project introduces GNSS-SDR, an open source Global Navigation Satellite System software-defined receiver. The lack of reconfigurability of current commercial-of-the-shelf receivers and the advent of new radionavigation signals and systems make software receivers an appealing approach to design new architectures and signal processing algorithms. With the aim of exploring the full potential of this forthcoming scenario with a plurality of new signal structures and frequency bands available for positioning, this paper describes the software architecture design and provides details about its implementation, targeting a multiband, multisystem GNSS receiver. The result is a testbed for GNSS signal processing that allows any kind of customization, including interchangeability of signal sources, signal processing algorithms, interoperability with other systems, output formats, and the offering of interfaces to all the intermediate signals, parameters and variables. The source code release under the GNU General Public License (GPL) secures practical usability, inspection, and continuous improvement by the research community, allowing the discussion based on tangible code and the analysis of results obtained with real signals. The source code is complemented by a development ecosystem, consisting of a website (http://gnss-sdr.org), as well as a revision control system, instructions for users and developers, and communication tools. The project shows in detail the design of the initial blocks of the Signal Processing Plane of the receiver: signal conditioner, the acquisition block and the receiver channel, the project also extends the functionality of the acquisition and tracking modules of the GNSS-SDR receiver to track the new Galileo E1 signals available. Each section provides a theoretical analysis, implementation details of each block and subsequent testing to confirm the calculations with both synthetically generated signals and with real signals from satellites in space.

Automatització d'una planta de processos químics

Resum L’any 1969 es van començar a comercialitzar els sistemes digitals programables coneguts com autòmats programables o PLC’s, utilitzats per controlar qualsevol tipus de procés industrial. Al llarg de tots aquests anys, aquests sistemes i tota la tecnologia en general han evolucionat molt, i només és qüestió de temps que la tecnologia que utilitzem avui en dia quedi obsoleta i substituïda per una de millors característiques i amb més avantatges. Aquest és el motiu de l’elaboració d’aquest treball, que com a objectiu pretén modernitzar un procés de fabricació d’una industria química que ha quedat molt limitat a causa de l’antiguitat de la instal•lació. Per dur a terme aquesta modernització, s’introdueixen sistemes de control amb majors prestacions, s’utilitzen xarxes de comunicacions per facilitar el muntatge elèctric de la instal•lació i un sistema de supervisió i adquisició de dades per poder obtenir un control més estricte del procés de fabricació i de tots els factors que intervenen. El funcionament del procés de fabricació és que a partir d’unes matèries primeres líquides emmagatzemades en dipòsits, es dosifiquin aquestes matèries en l’ordre i la quantitat desitjada dins un o diversos recipients per barrejar-les i aplicar els tractaments que siguin necessaris. Tot aquest procés està controlat per un autòmat programable, i disposa de diferents terminals operadors per poder interactuar amb el sistema. També té implementat un sistema SCADA en diversos ordinadors per aportar una visió general de la planta en temps real, un registre de dades dels paràmetres que es controlen i alhora serveix per enllaçar amb la xarxa d’ordinadors existent. Com annex d’aquest treball, es presenten els esquemes elèctrics i el programa de l’autòmat programable per veure totes les característiques elèctriques dels dispositius i el mètode de funcionament del procés. S’ha aconseguit donar un salt tecnològic i poder gaudir de tots els avantatges que ofereixen les noves tecnologies, que com a resultat s’ha optimitzat i millorat el procés de fabricació. De totes les conclusions, la més destacada és la d’haver dissenyat un sistema de control basat en una estructura descentralitzada molt flexible, que es pot expandir i adaptar fàcilment als possibles canvis.

Sistema d'adquisició de temperatures de 2 canals via R.F.

Poder mesurar i enregistrar diferents tipus de magnituds com pressió, força, temperatura etc. s’ha convertit en una necessitat per moltes aplicacions actuals. Aquestes magnituds poden tenir procedències molt diverses, tals com l’entorn, o poden ser generades per sistemes mecànics, elèctrics, etc. Per tal de poder adquirir aquestes magnituds, s’utilitzen els sistemes d’adquisició de dades. Aquests sistemes, prenen mostres analògiques del món real, i les transformen en dades digitals que poden ser manipulades per un sistema electrònic. Pràcticament qualsevol magnitud es pot mesurar utilitzant el sensor adient. Una magnitud molt utilitzada en sistemes d’adquisició de dades, és la temperatura. Els sistemes d’adquisició de temperatures estan molt generalitzats, i podem trobar-los com a sistemes, on l’objectiu és mostrar les dades adquirides, o podem trobar-los formant part de sistemes de control, aportant uns inputs necessaris per el seu correcte funcionament, garantir-ne l’estabilitat, seguretat etc. Aquest projecte, promogut per l’empresa Elausa, s’encarregarà d’adquirir, el senyal d’entrada de 2 Termoparells. Aquests mesuraran temperatures de circuits electrònics, que es trobaran dintre la càmera climàtica de Elausa, sotmesos a diferents condicions de temperatura, per tal de rebre l’homologació del circuit. El sistema haurà de poder mostrar les dades adquirides en temps real, i emmagatzemar-les en un PC que estarà ubicat en una oficina, situada a uns 30 m de distància de la sala on es farà el test. El sistema constarà d’un circuit electrònic que adquirirà, i condicionarà el senyal de sortida dels termoparells, per adaptar-lo a la tensió d’entrada d’un convertidor analògic digital, del microcontrolador integrat en aquesta placa. Seguidament aquesta informació, s’enviarà a través d’un mòdul transmissor de radiofreqüència, cap al PC on es visualitzaran les dades adquirides. Els objectius plantejats són els següents: - Dissenyar el circuit electrònic d’adquisició i condicionament del senyal. - Dissenyar, fabricar i muntar el circuit imprès de la placa d’adquisició. - Realitzar el programa de control del microcontrolador. - Realitzar el programa per presentar i desar les dades en un PC. - El sistema ha d’adquirir 2 temperatures, a través de Termoparells amb un rang d’entrada de -40ºC a +240ºC - S’ha de transmetre les dades via R.F. Els resultats del projecte han estat satisfactoris i s’han complert els objectius plantejats.

Pediatric CT: how to compare the Present DRL Values? : 12.10

Purpose: To determine dose thresholds, in term of CTDIvol, where subtle anatomical structures of pediatric CT images becomes no more detectable and compare them to the most recent Reference Dose Levels (DRL) proposed in the UK, Germany and Switzerland. Materials and methods: A GE LightSpeed-Ultra scanner (MSCT 8 slices) was used to perform chest and abdomen acquisitions on 8 patients (age range 2 to 16 years old) to provide a set of gold standard images. Dose reductions were then simulated by introducing image noise on raw data to provide simulated CT images with CTDIvol ranging from 2 to 22 mGy. All images were reviewed and scored independently by four experienced radiologists using the VGA methodology (Visual Grading Analysis) to determine the dose threshold where a significant loss of normal anatomy conspicuity appeared. Data were analyzed with ANOVA and Tukey HSD tests, a p >0.05 was considered to be significant. Results: No significant difference in VGA scoring appeared for CTDIvol leading to image noise levels lower than 10 and 25 HU for respectively abdominal and chest acquisitions. These data can thus be used to set the AEC (automatic exposure control) system of units having similar noise properties than the GE LightSpeed-Ultra used in this study. The present DRLs proposed for pediatric CT acquisitions are compatible with an excellent image quality level. Conclusion: The differences of DRL values proposed in Europe for pediatric acquisitions are marginal and assure a very good image quality level. The results of this study allow to further optimize the acquisition protocol by giving Noise Index value to set the AEC device.

Soil Compaction Curve of an Oxisol Under Sugarcane Planted After In-row Deep Tillage

ABSTRACT Soil tillage that maintains the productivity of sugarcane plantations, providing an area for the root development and without traffic on crop rows, has given rise to new technologies in rural areas. The purpose of this study was to evaluate the soil physical properties in two sugarcane plantations, one of which was prepared with deep tilling and the other with conventional tillage. The experiment was conducted in Lençóis Paulista, São Paulo State. Soil penetration resistance and relative density were analyzed. The cone index was lower in deep-tilled soil without traffic in all layers, than in deep-tilled soil with traffic and in conventional tillage. In both tillage treatments, the relative density values were acceptable in the 0.00-0.15 m soil layer, but considered detrimental for sugarcane development in the 0.15-0.30 and 0.30-0.45 m layers.

Obesity in Switzerland: a critical assessment of prevalence in children and adults.

The objective was to analyze the situation in Switzerland regarding the prevalence of overweight or obesity in children, adolescents and adults. The data were compared with France, an adjacent much larger country. The results showed that there is a definitive lack of objective information in Switzerland on the prevalence of obesity at different ages. As in other European studies, the fact that many national surveys are classically based on subject interviews (self-reported weights and heights rather than measured values) implies that the overweight/obesity prevalence is largely underestimated in adulthood. For example, in a recent Swiss epidemiological study, the prevalence of obesity (BMI greater than 30 kg/m(2)) averaged 6-7% in young men and women (25-34 y), the prevalence being underestimated by a factor of two to three when body weight was self-reported rather than measured. This phenomenon has already been observed in previous European studies. It is concluded that National Surveys based on telephone interviews generally produce biased obesity prevalence results, although the direction of the changes in prevalence of obesity and its evolution with repeated surveys using strict standardized methodology may be evaluated correctly. Therefore, these surveys should be complemented by large-scale epidemiological studies (based on measured anthropomeric variables rather than declared) covering the different linguistic areas of Switzerland. An epidemiological body weight (BMI) monitoring surveillance system, using a harmonized methodology among European countries, would help to accurately assess differences in obesity prevalence across Europe without methodological bias. It will permit monitoring of the dynamic evolution of obesity prevalence as well as the development of appropriate strategies (taking into account the specificity of each country) for obesity prevention and treatment.

Development of a Computer Controlled Underbody Plow: TR412, Final Report, January 2006

Underbody plows can be very useful tools in winter maintenance, especially when compacted snow or hard ice must be removed from the roadway. By the application of significant down-force, and the use of an appropriate cutting edge angle, compacted snow and ice can be removed very effectively by such plows, with much greater efficiency than any other tool under those circumstances. However, the successful operation of an underbody plow requires considerable skill. If too little down pressure is applied to the plow, then it will not cut the ice or compacted snow. However, if too much force is applied, then either the cutting edge may gouge the road surface, causing significant damage often to both the road surface and the plow, or the plow may ride up on the cutting edge so that it is no longer controllable by the operator. Spinning of the truck in such situations is easily accomplished. Further, excessive down force will result in rapid wear of the cutting edge. Given this need for a high level of operator skill, the operation of an underbody plow is a candidate for automation. In order to successfully automate the operation of an underbody plow, a control system must be developed that follows a set of rules that represent appropriate operation of such a plow. These rules have been developed, based upon earlier work in which operational underbody plows were instrumented to determine the loading upon them (both vertical and horizontal) and the angle at which the blade was operating.These rules have been successfully coded into two different computer programs, both using the MatLab® software. In the first program, various load and angle inputs are analyzed to determine when, whether, and how they violate the rules of operation. This program is essentially deterministic in nature. In the second program, the Simulink® package in the MatLab® software system was used to implement these rules using fuzzy logic. Fuzzy logic essentially replaces a fixed and constant rule with one that varies in such a way as to improve operational control. The development of the fuzzy logic in this simulation was achieved simply by using appropriate routines in the computer software, rather than being developed directly. The results of the computer testing and simulation indicate that a fully automated, computer controlled underbody plow is indeed possible. The issue of whether the next steps toward full automation should be taken (and by whom) has also been considered, and the possibility of some sort of joint venture between a Department of Transportation and a vendor has been suggested.