Tree and Brush Control For County Road Right-of-Way, Ocotober 2002

This manual summarizes the roadside tree and brush control methods used by all of Iowa's 99 counties. It is based on interviews conducted in Spring 2002 with county engineers, roadside managers and others. The target audience of this manual is the novice county engineer or roadside manager. Iowa law is nearly silent on roadside tree and brush control, so individual counties have been left to decide on the level of control they want to achieve and maintain. Different solutions have been developed but the goal of every county remains the same: to provide safe roads for the traveling public. Counties in eastern and southern Iowa appear to face the greatest brush control challenge. Most control efforts can be divided into two categories: mechanical and chemical. Mechanical control includes cutting tools and supporting equipment. A chain saw is the most widely used cutting tool. Tractor mounted boom mowers and brush cutters are used to prune miles of brush but have significant safety and aesthetic limitations and boom mowers are easily broken by inexperienced operators. The advent of tree shears and hydraulic thumbs offer unprecedented versatility. Bulldozers are often considered a method of last resort since they reduce large areas to bare ground. Any chipper that violently grabs brush should not be used. Chemical control is the application of herbicide to different parts of a plant: foliar spray is applied to leaves; basal bark spray is applied to the tree trunk; a cut stump treatment is applied to the cambium ring of a cut surface. There is reluctance by many to apply herbicide into the air due to drift concerns. One-third of Iowa counties do not use foliar spray. By contrast, several accepted control methods are directed toward the ground. Freshly cut stumps should be treated to prevent resprouting. Basal bark spray is highly effective in sensitive areas such as near houses. Interest in chemical control is slowly increasing as herbicides and application methods are refined. Fall burning, a third, distinctly separate technique is underused as a brush control method and can be effective if timed correctly. In all, control methods tend to reflect agricultural patterns in a county. The use of chain saws and foliar sprays tends to increase in counties where row crops predominate, and boom mowing tends to increase in counties where grassland predominates. For counties with light to moderate roadside brush, rotational maintenance is the key to effective control. The most comprehensive approach to control is to implement an integrated roadside vegetation management (IRVM) program. An IRVM program is usually directed by a Roadside Manager whose duties may be shared with another position. Funding for control programs comes from the Rural Services Basic portion of a county's budget. The average annual county brush control budget is about $76,000. That figure is thought not to include shared expenses such as fuel and buildings. Start up costs for an IRVM program are less if an existing control program is converted. In addition, IRVM budgets from three different northeastern Iowa counties are offered for comparison in this manual. The manual also includes a chapter on temporary traffic control in rural work zones, a summary of the Iowa Code as it relates to brush control, and rules on avoiding seasonal disturbance of the endangered Indiana bat. Appendices summarize survey and forest cover data, an equipment inventory, sample forms for record keeping, a sample brush control policy, a few legal opinions, a literature search, and a glossary.

Highway Runoff Study, HR-1037, Progress Report, 1984

The focus of highway runoff monitoring programs is on the identification of highway contributions to nonpoint source degradation of surface and groundwater quality. The results of such studies will assist the Iowa Department of Transportation (DOT) in the development of maintenance practices that will minimize the impact of highway transportation networks on water quality while at the same time maintaining public safety. Highway runoff monitoring research will be useful in developing a basis to address issues in environmental impact statements for future highway network expansions. Further, it will lead to optimization of cost effectiveness/environmental factors related to de-icing, weed and dust control, highway drainage, construction methods, etc. In this report, the authors present the data accumulated to date with a preliminary interpretation of the significance of the data. The report will discuss the site setup, operational aspects of data collection, and problems encountered. In addition, recommendations are included to optimize information gained from the study.

Converter-flux-based current control of voltage source PWM rectifiers - analysis and implementation

Pulsewidth-modulated (PWM) rectifier technology is increasingly used in industrial applications like variable-speed motor drives, since it offers several desired features such as sinusoidal input currents, controllable power factor, bidirectional power flow and high quality DC output voltage. To achieve these features,however, an effective control system with fast and accurate current and DC voltage responses is required. From various control strategies proposed to meet these control objectives, in most cases the commonly known principle of the synchronous-frame current vector control along with some space-vector PWM scheme have been applied. Recently, however, new control approaches analogous to the well-established direct torque control (DTC) method for electrical machines have also emerged to implement a high-performance PWM rectifier. In this thesis the concepts of classical synchronous-frame current control and DTC-based PWM rectifier control are combined and a new converter-flux-based current control (CFCC) scheme is introduced. To achieve sufficient dynamic performance and to ensure a stable operation, the proposed control system is thoroughly analysed and simple rules for the controller design are suggested. Special attention is paid to the estimationof the converter flux, which is the key element of converter-flux-based control. Discrete-time implementation is also discussed. Line-voltage-sensorless reactive reactive power control methods for the L- and LCL-type line filters are presented. For the L-filter an open-loop control law for the d-axis current referenceis proposed. In the case of the LCL-filter the combined open-loop control and feedback control is proposed. The influence of the erroneous filter parameter estimates on the accuracy of the developed control schemes is also discussed. A newzero vector selection rule for suppressing the zero-sequence current in parallel-connected PWM rectifiers is proposed. With this method a truly standalone and independent control of the converter units is allowed and traditional transformer isolation and synchronised-control-based solutions are avoided. The implementation requires only one additional current sensor. The proposed schemes are evaluated by the simulations and laboratory experiments. A satisfactory performance and good agreement between the theory and practice are demonstrated.

Sliding Mode Control for Switched Mode Power Supplies

Control applications of switched mode power supplies have been widely investigated. The main objective ofresearch and development (R&D) in this field is always to find the most suitable control method to be implemented in various DC/DC converter topologies. Inother words, the goal is to select a control method capable of improving the efficiency of the converter, reducing the effect of disturbances (line and load variation), lessening the effect of EMI (electro magnetic interference), and beingless effected by component variation. The main objective of this research work is to study different control methods implemented in switched mode power supplies namely (PID control, hysteresis control, adaptive control, current programmed control, variable structure control (VSC), and sliding mode control (SMC). The advantages and drawbacks of each control method are given. Two control methods, the PID and the SMC are selected and their effects on DC/DC (Buck, Boost, and Buck-Boost) converters are examined. Matlab/SimulinkTM is used to implement PID control method in DC/DC Buck converter and SMC in DC/DC (Buck, and Buck Boost) converters. For the prototype, operational amplifiers (op-amps) are used to implement PID control in DC/DC Buck converter. For SMC op-amps are implemented in DC/DC Buck converter and dSPACETM is used to control the DC/DC Buck-Boost converter. The SMC can be applied to the DC/DC (Buck, Boost, and Buck-Boost) converters. A comparison of the effects of the PID control and the SMC on the DC/DC Buck converter response in steady state, under line variations, load variations, and different component variations is performed. Also the Conducted RF-Emissions between the PID and SMC DC/DC Buck Converter are compared. The thesis shows that, in comparison with the PID control, the SMC provides better steady-state response, better dynamic response, less EMI, inherent order reduction, robustness against system uncertainty disturbances, and an implicit stability proof. Giving a better steady-state and dynamic response, the SMC is implemented in a DC/DC resonant converter. The half-wave zero current switching (HWZCS) DC/DC Buck converter is selected as a converter topology. A general guideline to select the tank component values, needed for the designing of a HWZCS DC/DC Buck, is obtained. The implementation of the SMC to a HWZCS DC/DC Buck converter is analysed. The converter response is investigated in the steady-state region and in the dynamic region.

Resultados de la aplicación en parcelas comerciales de un programa de control integrado de plagas de manzano en Lleida

Se describen los métodos de muestreo, los umbrales de tolerancia y los métodos de control utilizados en un programa de control integrado de plagas de manzano basado en el control biológico de Panonychus ulmi Koch mediante Amblyseius andersoni Chant y en el empleo de productos selectivos cuando existen, contra el resto de las plagas, en Lleida. El programa se ha llevado a cabo en 6 fincas en las campañas 1989-90 y 1990-91. Sólo en un caso no se produjo control biológico de P. ulmi, siendo necesario un tratamiento acaricida. En general, los métodos de control del resto de las plagas han funcionado correctamente, aunque en algunos casos son tácticas conservadoras. Se discuten finalmente los distintos componentes del programa de control integrado y se señalan los objetivos del plan de trabajo futuro.

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.

Kuivurin pölynhallintajärjestelmä

Lämminilmakuivaus on viljan kuivaamisen menetelmistä ylivoimaisesti käytetyin. Siinä kuivurissa olevan viljakerroksen läpi puhalletaan lämmintä ilmaa, kunnes viljan kosteuspitoisuus laskee tavoitetasoon. Viljan jyvistä irtoaa aina pölyä niiden hangatessa toisiaan vasten. Viljankuivaamoiden pölyisyyttä on normaalisti pyritty vähentämään poistamalla leijuvaa pölyä viljan liikkeen epäjatkuvuuskohdista. Pölyä kulkeutuu kuitenkin kuivaamon ulkopuolelle myös kuivaukseen käytetyn ilman mukana. Poistoilman pölypitoisuus ei tavallisesti ole korkea, mutta kuivaamiseen käytetyistä suurista ilmamääristä johtuen pölyä voi kertyä poistoilmakanavan ympäristöön huomattavia määriä. Tämän diplomityön tavoitteena onkin viljankuivurin poistoilman pölypitoisuuden vähentämiseen soveltuvan pölynhallintajärjestelmän kehittäminen. Selvityksessä tarkasteltiin ensinnäkin kuivurin poistoilman pölypitoisuuteen liittyvää kansallista ja kansainvälistä lainsäädäntöä sekä raja-arvoja. Lähdemateriaalin perusteella kartoitettiin pölypitoisuuden vähentämiseen soveltuvia menetelmiä sekä kilpailijoiden toteuttamia ratkaisuja. Myös muita pölynhallintajärjestelmän edellytyksiä selvitettiin. Teoreettisessa tarkastelussa teknistaloudellisesti parhaaksi osoittautunut pölynhallintaratkaisu jalostettiin prototyypiksi. Sen toimintakykyä testattiin erotustehokkuuden mittaamiseen soveltuvan koelaitteiston avulla. Testitulosten perusteella kyseinen pölynhallintajärjestelmä todettiin toimivaksi ja pienellä jatkokehittelyllä myös kaupalliseen käyttöön soveltuvaksi. Testitulosten hyödyntämismahdollisuuksien lisäksi diplomityössä esitetään myös muutamia jatkokehitysehdotuksia.

Analysis and Control of Excitation, Field Weakening and Stability in Direct Torque Controlled Electrically Excited Synchronous Motor Drives

Direct torque control (DTC) is a new control method for rotating field electrical machines. DTC controls directly the motor stator flux linkage with the stator voltage, and no stator current controllers are used. With the DTC method very good torque dynamics can be achieved. Until now, DTC has been applied to asynchronous motor drives. The purpose of this work is to analyse the applicability of DTC to electrically excited synchronous motor drives. Compared with asynchronous motor drives, electrically excited synchronous motor drives require an additional control for the rotor field current. The field current control is called excitation control in this study. The dependence of the static and dynamic performance of DTC synchronous motor drives on the excitation control has been analysed and a straightforward excitation control method has been developed and tested. In the field weakening range the stator flux linkage modulus must be reduced in order to keep the electro motive force of the synchronous motor smaller than the stator voltage and in order to maintain a sufficient voltage reserve. The dynamic performance of the DTC synchronous motor drive depends on the stator flux linkage modulus. Another important factor for the dynamic performance in the field weakening range is the excitation control. The field weakening analysis considers both dependencies. A modified excitation control method, which maximises the dynamic performance in the field weakening range, has been developed. In synchronous motor drives the load angle must be kept in a stabile working area in order to avoid loss of synchronism. The traditional vector control methods allow to adjust the load angle of the synchronous motor directly by the stator current control. In the DTC synchronous motor drive the load angle is not a directly controllable variable, but it is formed freely according to the motor’s electromagnetic state and load. The load angle can be limited indirectly by limiting the torque reference. This method is however parameter sensitive and requires a safety margin between the theoretical torque maximum and the actual torque limit. The DTC modulation principle allows however a direct load angle adjustment without any current control. In this work a direct load angle control method has been developed. The method keeps the drive stabile and allows the maximal utilisation of the drive without a safety margin in the torque limitation.

Modeling and Control of the Power Conversion Unit in a Solid Oxide Fuel Cell Environment

In this doctoral thesis, a power conversion unit for a 10 kWsolid oxide fuel cell is modeled, and a suitable control system is designed. The need for research was identified based on an observation that there was no information available about the characteristics of the solid oxide fuel cell from the perspective of power electronics and the control system, and suitable control methods had not previously been studied in the literature. In addition, because of the digital implementation of the control system, the inherent characteristics of the digital system had to be taken into account in the characteristics of the solid oxide fuel cell (SOFC). The characteristics of the solid oxide fuel cell as well the methods for the modeling and control of the DC/DC converter and the grid converter are studied by a literature survey. Based on the survey, the characteristics of the SOFC as an electrical power source are identified, and a solution to the interfacing of the SOFC in distributed generation is proposed. A mathematical model of the power conversion unit is provided, and the control design for the DC/DC converter and the grid converter is made based on the proposed interfacing solution. The limit cycling phenomenon is identified as a source of low-frequency current ripple, which is found to be insignificant when connected to a grid-tied converter. A method to mitigate a second harmonic originating from the grid interface is proposed, and practical considerations of the operation with the solid oxide fuel cell plant are presented. At the theoretical level, the thesis discusses and summarizes the methods to successfully derive a model for a DC/DC converter, a grid converter, and a power conversion unit. The results of this doctoral thesis can also be used in other applications, and the models and methods can be adopted to similar applications such as photovoltaic systems. When comparing the results with the objectives of the doctoral thesis, we may conclude that the objectives set for the work are met. In this doctoral thesis, theoretical and practical guidelines are presented for the successful control design to connect a SOFC-based distributed generation plant to the utility grid.

Adaptive control of Hydraulic Drive

Adaptive control systems are one of the most significant research directions of modern control theory. It is well known that every mechanical appliance’s behavior noticeably depends on environmental changes, functioning-mode parameter changes and changes in technical characteristics of internal functional devices. An adaptive controller involved in control process allows reducing an influence of such changes. In spite of this such type of control methods is applied seldom due to specifics of a controller designing. The work presented in this paper shows the design process of the adaptive controller built by Lyapunov’s function method for the Hydraulic Drive. The calculation needed and the modeling were conducting with MATLAB® software including Simulink® and Symbolic Math Toolbox™ etc. In the work there was applied the Jacobi matrix linearization of the object’s mathematical model and derivation of the suitable reference models based on Newton’s characteristic polynomial. The intelligent adaptive to nonlinearities algorithm for solving Lyapunov’s equation was developed. Developed algorithm works properly but considered plant is not met requirement of functioning with. The results showed confirmation that adaptive systems application significantly increases possibilities in use devices and might be used for correction a system’s behavior dynamics.

Teollisuuspuhaltimille tarkoitetun suunnittelujärjestelmän kehittäminen

Diplomityön tavoitteena oli kehittää Dust Control Systems Oy:n nykyistä suunnittelujärjestelmää yrityksen toiminnan laadun ja suunnittelun tehokkuuden parantamiseksi. Suunnittelun suurin pullonkaula on valmistusdokumenttien tuottaminen, joten keskeinen tehtävä oli dokumenttien laadun parantaminen ja tuottamisen nopeuttaminen. Lisäksi tärkeää oli selkeyttää nykyistä nimikkeiden hallintaa ja ylläpitoa. Kehitystyö keskittyi suurelta osin suunnittelujärjestelmän ohjelmistoympäristön päivittämiseen ja sen muokkaamiseen. Teoriaosuudessa käsiteltiin nykyaikaista suunnittelua ja sen kehittämismahdollisuuksia. Lisäksi tarkasteltiin suunnittelun automatisoinnin tuomia hyötyjä sekä erilaisia tuotannon tehostamismenetelmiä. Kehitysosiossa tutkittiin yrityksen nykyistä suunnittelujärjestelmää ja ohjelmistoympäristöä, tuotteiden asettamia vaatimuksia sekä järjestelmän puutteita. Näihin liittyi suuresti yhteistyö henkilöstön sekä ohjelmistotoimittajan kanssa. Tutkimuksen perusteella ryhdyttiin kehittämään uutta järjestelmäkokonaisuutta, johon liitettiin tarvittavia ohjelmistoja ja päivityksiä. Käyttöönottoa varten ohjelmistot konfiguroitiin yrityksen tarpeita vastaaviksi. Työn tuloksena saatiin kehittyneempi ja nykyaikaisempi suunnittelujärjestelmä ja ohjelmistoympäristö. Suunnittelijoiden työtaakkaa saadaan kevennettyä toistuvien työvaiheiden pidemmälle viedyllä automatisoinnilla. Uudistettu ohjelmistoympäristö luo osaltaan ehtoja ja sääntöjä, jotta virheitä syntyy yhä vähemmän. Lisäksi suunnittelun läpimenoaikaa saadaan lyhennettyä parannetulla dokumenttien tuottamisella.

Analysis and Control of Robot Manipulators with Kinematic Redundancy

A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been also derived. The proposed method is proved to provide with the exact equilibrium state for the Resolved Motion Method. This exactness in the proposed method fixes the repeatability problem in the Resolved Motion Method, and establishes a fixed transformation from workspace to the joint space. Also the method, owing to the exactness, is demonstrated to give more accurate trajectories than the Resolved Motion Method. In addition, a new performance measure for redundancy control has been developed. This measure, if used with kinematic control methods, helps achieve dexterous movements including singularity avoidance. Compared to other measures such as the manipulability measure and the condition number, this measure tends to give superior performances in terms of preserving the repeatability property and providing with smoother joint velocity trajectories. Using the fixed transformation property, Taylor's Bounded Deviation Paths Algorithm has been extended to the redundant manipulators.

Estudi d'aspectes biològics de la formiga argentina (Linepithema humile, Mayr) encarat al control de la plaga en ecosistemes naturals

La present tesi intenta obtenir noves dades referents a la biologia i ecologia de la formiga argentina que poden arribar a ser cabdals per al disseny o millora de noves metodologies de control de l'expansió de la plaga en ecosistemes naturals. Així doncs, l'estudi de l'activitat de cerca d'aliment i del seu espectre dietari en ecosistemes naturals, juntament amb el de les fluctuacions estacionals de la densitat de reines en nius naturals, obre les portes a la millora de mètodes de control de la plaga mitjançant esquers tòxics d'efecte retardat i a l'aplicació de noves metodologies de control sense l'ús d'agents químics basats en l'eliminació massiva de reines. La tesi també aporta noves dades sobre la fisiologia reproductiva de l'espècie en relació a la temperatura, la qual cosa permet la integració de l'aspecte fisiològic en models de predicció del rang potencial d'establiment de la plaga en ecosistemes naturals, aspecte fins ara pràcticament oblidat en aquest tipus de models predictius.

Combining physical, cultural and biological methods: prospects for integrated non-chemical weed management strategies

Physical, cultural and biological methods for weed control have developed largely independently and are often concerned with weed control in different systems: physical and cultural control in annual crops and biocontrol in extensive grasslands. We discuss the strengths and limitations of four physical and cultural methods for weed control: mechanical, thermal, cutting, and intercropping, and the advantages and disadvantages of combining biological control with them. These physical and cultural control methods may increase soil nitrogen levels and alter microclimate at soil level; this may be of benefit to biocontrol agents, although physical disturbance to the soil and plant damage may be detrimental. Some weeds escape control by these methods; we suggest that these weeds may be controlled by biocontrol agents. It will be easiest to combine biological control with. re and cutting in grasslands; within arable systems it would be most promising to combine biological control (especially using seed predators and foliar pathogens) with cover-cropping, and mechanical weeding combined with foliar bacterial and possibly foliar fungal pathogens. We stress the need to consider the timing of application of combined control methods in order to cause least damage to the biocontrol agent, along with maximum damage to the weed and to consider the wider implications of these different weed control methods.