Real-time simulation of multibody systems with applications for working mobile vehicles

This dissertation describes an approach for developing a real-time simulation for working mobile vehicles based on multibody modeling. The use of multibody modeling allows comprehensive description of the constrained motion of the mechanical systems involved and permits real-time solving of the equations of motion. By carefully selecting the multibody formulation method to be used, it is possible to increase the accuracy of the multibody model while at the same time solving equations of motion in real-time. In this study, a multibody procedure based on semi-recursive and augmented Lagrangian methods for real-time dynamic simulation application is studied in detail. In the semirecursive approach, a velocity transformation matrix is introduced to describe the dependent coordinates into relative (joint) coordinates, which reduces the size of the generalized coordinates. The augmented Lagrangian method is based on usage of global coordinates and, in that method, constraints are accounted using an iterative process. A multibody system can be modelled as either rigid or flexible bodies. When using flexible bodies, the system can be described using a floating frame of reference formulation. In this method, the deformation mode needed can be obtained from the finite element model. As the finite element model typically involves large number of degrees of freedom, reduced number of deformation modes can be obtained by employing model order reduction method such as Guyan reduction, Craig-Bampton method and Krylov subspace as shown in this study The constrained motion of the working mobile vehicles is actuated by the force from the hydraulic actuator. In this study, the hydraulic system is modeled using lumped fluid theory, in which the hydraulic circuit is divided into volumes. In this approach, the pressure wave propagation in the hoses and pipes is neglected. The contact modeling is divided into two stages: contact detection and contact response. Contact detection determines when and where the contact occurs, and contact response provides the force acting at the collision point. The friction between tire and ground is modelled using the LuGre friction model, which describes the frictional force between two surfaces. Typically, the equations of motion are solved in the full matrices format, where the sparsity of the matrices is not considered. Increasing the number of bodies and constraint equations leads to the system matrices becoming large and sparse in structure. To increase the computational efficiency, a technique for solution of sparse matrices is proposed in this dissertation and its implementation demonstrated. To assess the computing efficiency, augmented Lagrangian and semi-recursive methods are implemented employing a sparse matrix technique. From the numerical example, the results show that the proposed approach is applicable and produced appropriate results within the real-time period.

Failure modes of passive decay heat removing safety systems of modern nuclear power plants

The purpose of this master’s thesis is to gain an understanding of passive safety systems’ role in modern nuclear reactors projects and to research the failure modes of passive decay heat removal safety systems which use phenomenon of natural circulation. Another purpose is to identify the main physical principles and phenomena which are used to establish passive safety tools in nuclear power plants. The work describes passive decay heat removal systems used in AES-2006 project and focuses on the behavior of SPOT PG system. The descriptions of the main large-scale research facilities of the passive safety systems of the AES-2006 power plant are also included. The work contains the calculations of the SPOT PG system, which was modeled with thermal-hydraulic system code TRACE. The dimensions of the calculation model are set according to the dimensions of the real SPOT PG system. In these calculations three parameters are investigated as a function of decay heat power: the pressure of the system, the natural circulation mass flow rate around the closed loop, and the level of liquid in the downcomer. The purpose of the calculations is to test the ability of the SPOT PG system to remove the decay heat from the primary side of the nuclear reactor in case of failure of one, two, or three loops out of four. The calculations show that three loops of the SPOT PG system have adequate capacity to provide the necessary level of safety. In conclusion, the work supports the view that passive systems could be widely spread in modern nuclear projects.

Supporting fathering through infant massage

Developing a strong relationship is essential for optimal child development and it is possible for fathers to fully participate in developing this close bond. Men often develop this relationship through interactive play which usually occurs later in their child's development. As a result, fathers often feel dissatisfied with their ability to form a close attachment in the early post-partum period, which in turn may increase their stress level. However, men can be prepared for the transition to fatherhood if they develop the knowledge and skill necessary to create positive relationships with their infants. Infant massage appears to be a viable option for teaching fathers care-giving sensitivity. To build on the notion of teaching fathers attachment system behaviour in early infancy, a quasi-experimental, mixed methods study was employed. Twenty-four infant-father dyads were recruited for the study. The fathers were asked to fill out the Parent Stress Index and a facial cues rating scale at two times, one month apart. The experimental group also participated in an infant massage intervention taught by a Certified Infant Massage Instructor of the International Association of Infant Massage. A repeated measures MANOVA revealed infant massage decreased paternal stress. Qualitatively, the fathers provided rich descriptions of their experience in the baby massage class which provided useful insight into the efficacy of the intervention. Overall, the fathers enjoyed the experience but did not necessarily see the direct benefit of the intervention on their relationship. Recommendations for pre and postnatal education for fathers are made.

Optimierung von Betriebsstrategien für elektrifizierte Antriebskonzepte

Im Rahmen dieser Arbeit wird eine gemeinsame Optimierung der Hybrid-Betriebsstrategie und des Verhaltens des Verbrennungsmotors vorgestellt. Die Übernahme von den im Steuergerät verwendeten Funktionsmodulen in die Simulationsumgebung für Fahrzeuglängsdynamik stellt eine effiziente Applikationsmöglichkeit der Originalparametrierung dar. Gleichzeitig ist es notwendig, das Verhalten des Verbrennungsmotors derart nachzubilden, dass das stationäre und das dynamische Verhalten, inklusive aller relevanten Einflussmöglichkeiten, wiedergegeben werden kann. Das entwickelte Werkzeug zur Übertragung der in Ascet definierten Steurgerätefunktionen in die Simulink-Simulationsumgebung ermöglicht nicht nur die Simulation der relevanten Funktionsmodule, sondern es erfüllt auch weitere wichtige Eigenschaften. Eine erhöhte Flexibilität bezüglich der Daten- und Funktionsstandänderungen, sowie die Parametrierbarkeit der Funktionsmodule sind Verbesserungen die an dieser Stelle zu nennen sind. Bei der Modellierung des stationären Systemverhaltens des Verbrennungsmotors erfolgt der Einsatz von künstlichen neuronalen Netzen. Die Auswahl der optimalen Neuronenanzahl erfolgt durch die Betrachtung des SSE für die Trainings- und die Verifikationsdaten. Falls notwendig, wird zur Sicherstellung der angestrebten Modellqualität, das Interpolationsverhalten durch Hinzunahme von Gauß-Prozess-Modellen verbessert. Mit den Gauß-Prozess-Modellen werden hierbei zusätzliche Stützpunkte erzeugt und mit einer verminderten Priorität in die Modellierung eingebunden. Für die Modellierung des dynamischen Systemverhaltens werden lineare Übertragungsfunktionen verwendet. Bei der Minimierung der Abweichung zwischen dem Modellausgang und den Messergebnissen wird zusätzlich zum SSE das 2σ-Intervall der relativen Fehlerverteilung betrachtet. Die Implementierung der Steuergerätefunktionsmodule und der erstellten Steller-Sensor-Streckenmodelle in der Simulationsumgebung für Fahrzeuglängsdynamik führt zum Anstieg der Simulationszeit und einer Vergrößerung des Parameterraums. Das aus Regelungstechnik bekannte Verfahren der Gütevektoroptimierung trägt entscheidend zu einer systematischen Betrachtung und Optimierung der Zielgrößen bei. Das Ergebnis des Verfahrens ist durch das Optimum der Paretofront der einzelnen Entwurfsspezifikationen gekennzeichnet. Die steigenden Simulationszeiten benachteiligen Minimumsuchverfahren, die eine Vielzahl an Iterationen benötigen. Um die Verwendung einer Zufallsvariablen, die maßgeblich zur Steigerung der Iterationanzahl beiträgt, zu vermeiden und gleichzeitig eine Globalisierung der Suche im Parameterraum zu ermöglichen wird die entwickelte Methode DelaunaySearch eingesetzt. Im Gegensatz zu den bekannten Algorithmen, wie die Partikelschwarmoptimierung oder die evolutionären Algorithmen, setzt die neu entwickelte Methode bei der Suche nach dem Minimum einer Kostenfunktion auf eine systematische Analyse der durchgeführten Simulationsergebnisse. Mit Hilfe der bei der Analyse gewonnenen Informationen werden Bereiche mit den bestmöglichen Voraussetzungen für ein Minimum identifiziert. Somit verzichtet das iterative Verfahren bei der Bestimmung des nächsten Iterationsschrittes auf die Verwendung einer Zufallsvariable. Als Ergebnis der Berechnungen steht ein gut gewählter Startwert für eine lokale Optimierung zur Verfügung. Aufbauend auf der Simulation der Fahrzeuglängsdynamik, der Steuergerätefunktionen und der Steller-Sensor-Streckenmodelle in einer Simulationsumgebung wird die Hybrid-Betriebsstrategie gemeinsam mit der Steuerung des Verbrennungsmotors optimiert. Mit der Entwicklung und Implementierung einer neuen Funktion wird weiterhin die Verbindung zwischen der Betriebsstrategie und der Motorsteuerung erweitert. Die vorgestellten Werkzeuge ermöglichten hierbei nicht nur einen Test der neuen Funktionalitäten, sondern auch eine Abschätzung der Verbesserungspotentiale beim Verbrauch und Abgasemissionen. Insgesamt konnte eine effiziente Testumgebung für eine gemeinsame Optimierung der Betriebsstrategie und des Verbrennungsmotorverhaltens eines Hybridfahrzeugs realisiert werden.

Robust fault detection using consistency techniques for uncertainty handling

Often practical performance of analytical redundancy for fault detection and diagnosis is decreased by uncertainties prevailing not only in the system model, but also in the measurements. In this paper, the problem of fault detection is stated as a constraint satisfaction problem over continuous domains with a big number of variables and constraints. This problem can be solved using modal interval analysis and consistency techniques. Consistency techniques are then shown to be particularly efficient to check the consistency of the analytical redundancy relations (ARRs), dealing with uncertain measurements and parameters. Through the work presented in this paper, it can be observed that consistency techniques can be used to increase the performance of a robust fault detection tool, which is based on interval arithmetic. The proposed method is illustrated using a nonlinear dynamic model of a hydraulic system

Over-parameterised, uncertain 'mathematical marionettes' - How can we best use catchment water quality models? An example of an 80-year catchment-scale nutrient balance

The Integrated Catchment Model of Nitrogen (INCA-N) was applied to the River Lambourn, a Chalk river-system in southern England. The model's abilities to simulate the long-term trend and seasonal patterns in observed stream water nitrate concentrations from 1920 to 2003 were tested. This is the first time a semi-distributed, daily time-step model has been applied to simulate such a long time period and then used to calculate detailed catchment nutrient budgets which span the conversion of pasture to arable during the late 1930s and 1940s. Thus, this work goes beyond source apportionment and looks to demonstrate how such simulations can be used to assess the state of the catchment and develop an understanding of system behaviour. The mass-balance results from 1921, 1922, 1991, 2001 and 2002 are presented and those for 1991 are compared to other modelled and literature values of loads associated with nitrogen soil processes and export. The variations highlighted the problem of comparing modelled fluxes with point measurements but proved useful for identifying the most poorly understood inputs and processes thereby providing an assessment of input data and model structural uncertainty. The modelled terrestrial and instream mass-balances also highlight the importance of the hydrological conditions in pollutant transport. Between 1922 and 2002, increased inputs of nitrogen from fertiliser, livestock and deposition have altered the nitrogen balance with a shift from possible reduction in soil fertility but little environmental impact in 1922, to a situation of nitrogen accumulation in the soil, groundwater and instream biota in 2002. In 1922 and 2002 it was estimated that approximately 2 and 18 kg N ha(-1) yr(-1) respectively were exported from the land to the stream. The utility of the approach and further considerations for the best use of models are discussed. (C) 2008 Elsevier B.V. All rights reserved.

Over-parameterised, uncertain 'mathematical marionettes' - How can we best use catchment water quality models? An example of an 80-year catchment-scale nutrient balance

The Integrated Catchment Model of Nitrogen (INCA-N) was applied to the River Lambourn, a Chalk river-system in southern England. The model's abilities to simulate the long-term trend and seasonal patterns in observed stream water nitrate concentrations from 1920 to 2003 were tested. This is the first time a semi-distributed, daily time-step model has been applied to simulate such a long time period and then used to calculate detailed catchment nutrient budgets which span the conversion of pasture to arable during the late 1930s and 1940s. Thus, this work goes beyond source apportionment and looks to demonstrate how such simulations can be used to assess the state of the catchment and develop an understanding of system behaviour. The mass-balance results from 1921, 1922, 1991, 2001 and 2002 are presented and those for 1991 are compared to other modelled and literature values of loads associated with nitrogen soil processes and export. The variations highlighted the problem of comparing modelled fluxes with point measurements but proved useful for identifying the most poorly understood inputs and processes thereby providing an assessment of input data and model structural uncertainty. The modelled terrestrial and instream mass-balances also highlight the importance of the hydrological conditions in pollutant transport. Between 1922 and 2002, increased inputs of nitrogen from fertiliser, livestock and deposition have altered the nitrogen balance with a shift from possible reduction in soil fertility but little environmental impact in 1922, to a situation of nitrogen accumulation in the soil, groundwater and instream biota in 2002. In 1922 and 2002 it was estimated that approximately 2 and 18 kg N ha(-1) yr(-1) respectively were exported from the land to the stream. The utility of the approach and further considerations for the best use of models are discussed. (C) 2008 Elsevier B.V. All rights reserved.

Dynamic simulation for closed loops in heating systems with decision-making support

Nowadays utilising the proper HVAC system is essential both in extreme weather conditions and dense buildings design. Hydraulic loops are the most common parts in all air conditioning systems. This article aims to investigate the performance of different hydraulic loop arrangements in variable flow systems. Technical, economic and environmental assessments have been considered in this process. A dynamic system simulation is generated to evaluate the system performance and an economic evaluation is conducted by whole life cost assessment. Moreover, environmental impacts have been studied by considering the whole life energy consumption, CO2 emission, the embodied energy and embodied CO2 of the system components. Finally, decision-making in choosing the most suitable hydraulic system among five well-known alternatives has been proposed.

Adjoint methods in data assimilation for estimating model error

Data assimilation aims to incorporate measured observations into a dynamical system model in order to produce accurate estimates of all the current (and future) state variables of the system. The optimal estimates minimize a variational principle and can be found using adjoint methods. The model equations are treated as strong constraints on the problem. In reality, the model does not represent the system behaviour exactly and errors arise due to lack of resolution and inaccuracies in physical parameters, boundary conditions and forcing terms. A technique for estimating systematic and time-correlated errors as part of the variational assimilation procedure is described here. The modified method determines a correction term that compensates for model error and leads to improved predictions of the system states. The technique is illustrated in two test cases. Applications to the 1-D nonlinear shallow water equations demonstrate the effectiveness of the new procedure.

Phosphorus loss from agricultural catchments: pathways and implications for management

The contribution non-point P sources make to the total P loading on water bodies in agricultural catchments has not been fully appreciated. Using data derived from plot scale experimental studies, and modelling approaches developed to simulate system behaviour under differing management scenarios, a fuller understanding of the processes controlling P export and transformations along non-point transport pathways can be achieved. One modelling approach which has been successfully applied to large UK catchments (50-350km2 in area) is applied here to a small, 1.5 km2 experimental catchment. The importance of scaling is discussed in the context of how such approaches can extrapolate the results from plot-scale experimental studies to full catchment scale. However, the scope of such models is limited, since they do not at present directly simulate the processes controlling P transport and transformation dynamics. As such, they can only simulate total P export on an annual basis, and are not capable of prediction over shorter time scales. The need for development of process-based models to help answer these questions, and for more comprehensive UK experimental studies is highlighted as a pre-requisite for the development of suitable and sustainable management strategies to reduce non-point P loading on water bodies in agricultural catchments.

The coupled δ13C-radiocarbon systematics of three Late Glacial/early Holocene speleothems: insights into soil and caveprocesses at climatic transitions

The coupled δ13C-radiocarbon systematics of threeEuropean stalagmites deposited during the Late Glacial and early Holocene were investigated to understand better how the carbon isotope systematics of speleothems respond to climate transitions. The emphasis is on understanding how speleothems may record climate-driven changes in the proportions of biogenic (soil carbon) and limestone bedrock derived carbon. At two of the three sites, the combined δ13C and 14C data argue against greater inputs of limestone carbon as the sole cause of the observed shift to higher δ13C during the cold Younger Dryas. In these stalagmites (GAR-01 from La Garma cave, N. Spain and So-1 from Sofular cave, Turkey), the combined changes in δ13C and initial 14C activities suggest enhanced decomposition of old stored, more recalcitrant, soil carbon at the onset of the warmer early Holocene. Alternative explanations involving gradual temporal changes between open- and closed-system behaviour during the Late Glacial are difficult to reconcile with observed changes in speleothem δ13C and the growth rates. In contrast, a stalagmite from Pindal cave (N. Spain) indicates an abrupt change in carbon inputs linked to local hydrological and disequilibrium isotope fractionation effects, rather than climate change. For the first time, it is shown that while the initial 14C activities of all three stalagmites broadly follow the contemporaneous atmospheric 14C trends (the Younger Dryas atmospheric 14C anomaly can be clearly discerned), subtle changes in speleothem initial 14C activities are linked to climate-driven changes in soil carbon turnover at a climate transition.

Assessment of inter-examiner agreement and variability in the manual classification of auditory brainstem response

Abstract Background: The analysis of the Auditory Brainstem Response (ABR) is of fundamental importance to the investigation of the auditory system behaviour, though its interpretation has a subjective nature because of the manual process employed in its study and the clinical experience required for its analysis. When analysing the ABR, clinicians are often interested in the identification of ABR signal components referred to as Jewett waves. In particular, the detection and study of the time when these waves occur (i.e., the wave latency) is a practical tool for the diagnosis of disorders affecting the auditory system. Significant differences in inter-examiner results may lead to completely distinct clinical interpretations of the state of the auditory system. In this context, the aim of this research was to evaluate the inter-examiner agreement and variability in the manual classification of ABR. Methods: A total of 160 ABR data samples were collected, for four different stimulus intensity (80dBHL, 60dBHL, 40dBHL and 20dBHL), from 10 normal-hearing subjects (5 men and 5 women, from 20 to 52 years). Four examiners with expertise in the manual classification of ABR components participated in the study. The Bland-Altman statistical method was employed for the assessment of inter-examiner agreement and variability. The mean, standard deviation and error for the bias, which is the difference between examiners’ annotations, were estimated for each pair of examiners. Scatter plots and histograms were employed for data visualization and analysis. Results: In most comparisons the differences between examiner’s annotations were below 0.1 ms, which is clinically acceptable. In four cases, it was found a large error and standard deviation (>0.1 ms) that indicate the presence of outliers and thus, discrepancies between examiners. Conclusions: Our results quantify the inter-examiner agreement and variability of the manual analysis of ABR data, and they also allows for the determination of different patterns of manual ABR analysis.

Forecast convergence score: a forecaster's approach to analysing hydro-meteorological forecast systems.

In this paper the properties of a hydro-meteorological forecasting system for forecasting river flows have been analysed using a probabilistic forecast convergence score (FCS). The focus on fixed event forecasts provides a forecaster's approach to system behaviour and adds an important perspective to the suite of forecast verification tools commonly used in this field. A low FCS indicates a more consistent forecast. It can be demonstrated that the FCS annual maximum decreases over the last 10 years. With lead time, the FCS of the ensemble forecast decreases whereas the control and high resolution forecast increase. The FCS is influenced by the lead time, threshold and catchment size and location. It indicates that one should use seasonality based decision rules to issue flood warnings.

Formal validation of automated policy refinement in the management of network security systems

Policy hierarchies and automated policy refinement are powerful approaches to simplify administration of security services in complex network environments. A crucial issue for the practical use of these approaches is to ensure the validity of the policy hierarchy, i.e. since the policy sets for the lower levels are automatically derived from the abstract policies (defined by the modeller), we must be sure that the derived policies uphold the high-level ones. This paper builds upon previous work on Model-based Management, particularly on the Diagram of Abstract Subsystems approach, and goes further to propose a formal validation approach for the policy hierarchies yielded by the automated policy refinement process. We establish general validation conditions for a multi-layered policy model, i.e. necessary and sufficient conditions that a policy hierarchy must satisfy so that the lower-level policy sets are valid refinements of the higher-level policies according to the criteria of consistency and completeness. Relying upon the validation conditions and upon axioms about the model representativeness, two theorems are proved to ensure compliance between the resulting system behaviour and the abstract policies that are modelled.

Geração de sulcos em meio coesivo e caracterização hidrossedimentométrica de sua evolução

Na pesquisa em erosão, nas últimas décadas, está se formando um consenso de que é importante entender os processos básicos que regem o fenômeno. Uma alternativas para tentar compreender melhor as etapas do processo erosivo é separá-lo na fase de sulco (fluxo concentrado) e de entressulco. Dentro desse enfoque foi construído no Laboratório de Processos Erosivos e Deposicionais (LaPED) do IPH/UFRGS um canal de declividade para estudar o processo de incisão e o desenvolvimento dos sulcos de erosão. A estrutura experimental projetada e construída permite que seja controlada a vazão através de um medidor eletromagnético e que seja alterada a declividade do canal através de um sistema hidráulico associado a um nível digital. O solo colocado no canal foi um Latossolo Vermelho distrófico típico, as declividades de trabalho foram 3,0; 6,0 e 9,0% e a seqüência de vazões aplicadas foi 10,0; 18,5; 25,5; 38,5 e 51,0L.min-1. A estrutura experimental montada se mostrou de fácil operação e eficiente para permitir o avanço no entendimento dos processos de desagregação e de transporte de partículas sólidas pela ação do escoamento superficial, além de possibilitar a geração de sulco(s) de erosão na superfície do solo. O escoamento passou da condição de difuso para concentrado a partir do momento em que a velocidade superficial do fluxo alcançou 0,26m.s-1, a altura de lâmina atingiu 0,0102m, a velocidade de cisalhamento superou os 0,059m.s-1, a tensão de cisalhamento chegou a 3,50Pa e que a potência do escoamento atingiu pelo menos 0,22N.s-1. O processo de incisão iniciou-se com o canal experimental colocado em baixa declividade e em regime de escoamento sub-crítico e de transição. A velocidade de cisalhamento, no momento da incisão, foi, praticamente, o dobro daquela encontrada na literatura para solos siltosos e arenosos. Entretanto, para as três declividades a fase de sulco definido ocorreu somente em regime de escoamento turbulento. A tensão de cisalhamento foi o parâmetro que melhor descreveu a evolução da perda de solo. A potência do escoamento foi o parâmetro hidráulico que mostrou maior eficiência para separar as fases evolutivas dos sulcos. O desenvolvimento do(s) sulco(s) teve o seu início em uma condição de escoamento difuso (ausência de sulcos) e com a potência do escoamento oscilando entre 0,057 e 0,198N.s-1. O avanço do(s) sulco(s) começou com uma zona de transição (fase de incisão e de aprofundamento) onde a potência do escoamento varia entre 0,220 e 0,278N.s-1 e, logo em seguida, teve início a fase de sulco definido, com a potência do escoamento entre 0,314 e 0,544N.s-1. Na fase de escoamento concentrado foi preponderante o papel do processo de erosão regressiva para aumentar tanto o tamanho como o peso das partículas sólidas em transporte pelo escoamento superficial e assim fazer com que predominasse o transporte via fundo sobre o transporte via suspensão. As cargas de sedimento geradas nos solos de diferentes classes texturais foram separadas em grupos distintos em função da potência unitária do escoamento.