Determining vehicle drivetrain dynamics using system identification

Target of this book is to propose an approach for modelling drivetrain dynamics in order to design further a vibration control system of a hybrid bus. In this thesis two approaches are examined and compared. First model is obtained by theoretical means: drivetrain is represented as a system of rotating masses, which motion is described with differential equations. Second model is obtained using system identification method: mathematical description of the dynamic behavior of a system is formed based on measured input (torque) and output (speed) data. Then two models are compared and an optimal approach is suggested.

Underwater Remote Welding Technology for Offshore Structures

The construction of offshore structures, equipment and devices requires a high level of mechanical reliability in terms of strength, toughness and ductility. One major site for mechanical failure, the weld joint region, needs particularly careful examination, and weld joint quality has become a major focus of research in recent times. Underwater welding carried out offshore faces specific challenges affecting the mechanical reliability of constructions completed underwater. The focus of this thesis is on improvement of weld quality of underwater welding using control theory. This research work identifies ways of optimizing the welding process parameters of flux cored arc welding (FCAW) during underwater welding so as to achieve desired weld bead geometry when welding in a water environment. The weld bead geometry has no known linear relationship with the welding process parameters, which makes it difficult to determine a satisfactory weld quality. However, good weld bead geometry is achievable by controlling the welding process parameters. The doctoral dissertation comprises two sections. The first part introduces the topic of the research, discusses the mechanisms of underwater welding and examines the effect of the water environment on the weld quality of wet welding. The second part comprises four research papers examining different aspects of underwater wet welding and its control and optimization. Issues considered include the effects of welding process parameters on weld bead geometry, optimization of FCAW process parameters, and design of a control system for the purpose of achieving a desired bead geometry that can ensure a high level of mechanical reliability in welded joints of offshore structures. Artificial neural network systems and a fuzzy logic controller, which are incorporated in the control system design, and a hybrid of fuzzy and PID controllers are the major control dynamics used. This study contributes to knowledge of possible solutions for achieving similar high weld quality in underwater wet welding as found with welding in air. The study shows that carefully selected steels with very low carbon equivalent and proper control of the welding process parameters are essential in achieving good weld quality. The study provides a platform for further research in underwater welding. It promotes increased awareness of the need to improve the quality of underwater welding for offshore industries and thus minimize the risk of structural defects resulting from poor weld quality.

Ympäristöjohtaminen tienrakennushankkeessa

Tässä diplomityössä tutkittiin tienrakentamisen aikaista ympäristöjohtamista. Työn tavoitteena oli arvioida jo toteutuneen infrastruktuuriprojektin rakentamisen aikaisen ympäristöjohtamisen onnistumista, verrata toteutunutta ympäristöjohtamista standardiin SFS-EN ISO 14001 ja löytää standardin avulla kehitysehdotukset vastaavanlaisten projektien toteuttamisen aikaiseen ympäristöjohtamiseen tulevaisuudessa. Työ toteutettiin tutkimalla esimerkkiprojektin ympäristönsuojelulle ja ympäristövaikutusten seurannalle tehtyjä suunnitelmia, projektin rakentamisen aikana koottua laatuaineistoa, projektin aikana pidettyjä kokouksia ja tiedotustilaisuuksia sekä haastattelemalla projektin ympäristöjohtamisen toteutuksen kannalta avainhenkilöitä. Tutkimuksessa havaittiin, että jos projektijohto hyödyntäisi ISO 14001 standardia ym-päristöjohtamisensa perustana vastaavanlaisissa tienrakennusprojekteissa, pystyisi se kehittämään projektin urakoitsijoiden hankintavaihetta, projektin aikaista sisäistä ja ulkoista viestintää sekä projektinjohdon toteuttamaa laadunvalvontaa projektin aikana. ISO 14001 standardin hyödyntäminen projektin toteuttamisen aikaisessa ympäristöjoh-tamisessa vaatisi projektin ylimmän johdon sitoutumista standardin noudattamiseen. Ympäristöjohtaminen tulee implementoida osaksi projektijohtamista ja sen toimijoilla tulee olla konkreettista vaikutusvaltaa projektin toimintaan. Projektijohdon sitoutuminen standardin mukaisuuteen antaa puitteet ja käytännöt sekä vaatia että valvoa projektin toimijoiden ympäristönsuojelun toteutumista, raportointia ja viestintää.

Production Quality Analysis of Special Elevator Cars Based on Six Sigma Approach

Project scope is to utilize Six Sigma DMAIC approach and lean principles to improve production quality of the case company. Six Sigma tools and techniques are explored through a literature review and later used in the quality control phase. The focus is set on the Pareto analysis to demonstrate the most evident development areas in the production. Materials that are not delivered to the customer or materials that damaged during transportation comprise the biggest share of all feedbacks. The goal is set to reduce these feedbacks by 50 %. Production observation pointed out that not only material shortages but also over-production is a daily situation. As a result, an initial picking list where the purchased and own production components can be seen, is created, reduction of over- and underproduction and material marking improvement are seen the most competitive options so that the goal can be reached. The picking list development should still continue to make sure that the list can be used not only in the case study but also in the industrial scale. The reduction of material missing category can be evaluated reliably not sooner than in few years because it takes time to gather the needed statistical information.

The Effectiveness of Learning Portfolios: A Study of Quality Assurance Programs of Selected Health Regulatory Colleges in Ontario

Health regulatory colleges promote quality practice and continued competence through Quality Assurance (QA) programs. For many colleges, a QA program includes the use of portfolios that incorporate self-directed learning. The purpose of this study was to determine some of the issues surrounding the effectiveness of QA portfolio programs. The literature review revealed that portfolios are valuable tools, but gaps in knowledge include a comparative analysis of QA programs and the perspective of regulatory college administrators. Data were collected through interviews with 6 administrators and a review of 14 portfolio models described on college websites. The results from the two data sources were applied to Robert Stake's responsive evaluation framework to identify issues related to the portfolio's effectiveness (Stake, 1967). The learning components of portfolios were analyzed through the humanist and constructivist lenses. All 14 portfolio models were found to have 3 main components: self-diagnosis, learning plan and activities, and self-evaluation. However, differences were uncovered in learners' autonomy in selecting learning activities, methods of portfolio evaluation, and the relationship between the portfolio and other QA components. The results revealed a dual philosophy of learning in portfolio models and an apparent contradiction between the needs of the individual learner and the organization. Paths for future research include the tenuous relationship between competence and learning, and the impact of technical approaches on selfdirected learning initiatives. A key recommendation is to acknowledge the unique identity of each profession so that health regulatory colleges can address legislative demands and learner needs.

La sécurité des xénogreffons : une normativité à bâtir

La xénotransplantation, soit la transplantation de cellules, de tissus ou d'organes d'origine animale chez l'homme, est envisagée comme solution à la pénurie d'organes. Toutefois, cette technologie pourrait être à l'origine de nouvelles maladies. D'où la nécessité d'avoir des mesures visant tant la santé des animaux fournisseurs que la qualité et la sécurité des xénogreffons pour minimiser les risques de transmission de maladies de l'animal à l'homme, appelées xénozoonoses. L'objet de ce mémoire est de vérifier si les normes existantes au Canada et au Québec sont appropriées pour assurer la sécurité des receveurs et de la population. Nous avons d'abord examiné les normes susceptibles de s'appliquer à la surveillance et au contrôle de la santé des animaux fournisseurs. Ne visant que les maladies connues, elles ne répondent pas aux spécificités de la xénotransplantation. Quant aux xénogreffons, leur qualification pose problème: drogues ou instruments. Cette incertitude pourrait affecter l'uniformité des décisions relatives à leur qualité et à leur sécurité. Nous avons aussi étudié la Proposition d'une Norme canadienne pour la xénotransplantation. Cette dernière pourrait certes pallier la situation d'inadéquation de l'encadrement normatif existant au Canada. Une comparaison de cette norme canadienne avec les recommandations de l'OMS et les mesures en place aux ÉtatsUnis nous permet de suggérer comment la bonifier. Il ressort de notre étude que l'encadrement normatif canadien visant la sécurité des xénogreffons demeure à bâtir. Un élément essentiel à considérer dans son élaboration est la nécessité d'instaurer des systèmes de contrôle adéquats et compatibles à l'échelle planétaire.

Eyes Of Darwin : une fenêtre ouverte sur l'évolution du logiciel

De nos jours, les logiciels doivent continuellement évoluer et intégrer toujours plus de fonctionnalités pour ne pas devenir obsolètes. C'est pourquoi, la maintenance représente plus de 60% du coût d'un logiciel. Pour réduire les coûts de programmation, les fonctionnalités sont programmées plus rapidement, ce qui induit inévitablement une baisse de qualité. Comprendre l’évolution du logiciel est donc devenu nécessaire pour garantir un bon niveau de qualité et retarder le dépérissement du code. En analysant à la fois les données sur l’évolution du code contenues dans un système de gestion de versions et les données quantitatives que nous pouvons déduire du code, nous sommes en mesure de mieux comprendre l'évolution du logiciel. Cependant, la quantité de données générées par une telle analyse est trop importante pour être étudiées manuellement et les méthodes d’analyses automatiques sont peu précises. Dans ce mémoire, nous proposons d'analyser ces données avec une méthode semi automatique : la visualisation. Eyes Of Darwin, notre système de visualisation en 3D, utilise une métaphore avec des quartiers et des bâtiments d'une ville pour visualiser toute l'évolution du logiciel sur une seule vue. De plus, il intègre un système de réduction de l'occlusion qui transforme l'écran de l'utilisateur en une fenêtre ouverte sur la scène en 3D qu'il affiche. Pour finir, ce mémoire présente une étude exploratoire qui valide notre approche.

Trafic intracellulaire de l’ARN de la télomérase chez Saccharomyces cerevisiæ : relation entre biogénèse de la télomérase et homéostasie des télomères

Le contrôle de la longueur des télomères est une étape critique régissant le potentiel réplicatif des cellules eucaryotes. A cause du problème de fin de réplication, les chromosomes raccourcissent à chaque cycle de division. Ce raccourcissement se produit dans des séquences particulières appelées télomères. La longueur des télomères est en relation directe avec les capacités prolifératives des cellules et est responsable de la limite de division de Hayflick. Cependant, dans certains types cellulaires et dans plus de 90% des cancers, la longueur des télomères va être maintenue par une enzyme spécialisée appelée télomérase. Encore aujourd’hui, comprendre la biogénèse de la télomérase et savoir comment elle est régulée reste un élément clé dans la lutte contre le cancer. Depuis la découverte de cette enzyme en 1985, de nombreux facteurs impliqués dans sa maturation ont été identifiés. Cependant, comment ces facteurs sont intégrés dans le temps et dans l’espace, afin de produire une forme active de la télomérase, est une question restée sans réponse. Dans ce projet, nous avons utilisé la levure Saccharomyces cerevisiæ comme modèle d’étude des voies de biogénèse et de trafic intracellulaire de l’ARN de la télomérase, en condition endogène. La première étape de mon travail fut d’identifier les facteurs requis pour l’assemblage et la localisation de la télomérase aux télomères en utilisant des techniques d’Hybridation In Situ en Fluorescence (FISH). Nous avons pu montrer que la composante ARN de la télomérase fait la navette entre le noyau et le cytoplasme, en condition endogène, dans les cellules sauvages. Nos travaux suggèrent que ce trafic sert de contrôle qualité puisqu’un défaut d’assemblage de la télomérase conduit à son accumulation cytoplasmique et prévient donc sa localisation aux télomères. De plus, nous avons identifié les voies d’import/export nucléaire de cet ARN. Dans une deuxième approche, nous avons réussi à développer une méthode de détection des particules télomérasiques in vivo en utilisant le système MS2-GFP. Notre iv étude montre que contrairement à ce qui a été précédemment décrit, la télomérase n’est pas associée de façon stable aux télomères au cours du cycle cellulaire. En fin de phase S, au moment de la réplication des télomères, la télomérase se regroupe en 1 à 3 foci dont certains colocalisent avec les foci télomériques, suggérant que nous visualisons la télomérase active aux télomères in vivo. La délétion des gènes impliqués dans l’activation et le recrutement de la télomérase aux télomères entraine une forte baisse dans l’accumulation des foci d’ARN au sein de la population cellulaire. Nos résultats montrent donc pour la première fois la localisation endogène de l’ARN TLC1 in situ et in vivo et propose une vue intégrée de la biogenèse et du recrutement de la télomérase aux télomères.

Problems and prospects of india's major spice-pepper

This study is directed to examine how far price fluctuations in pepper can be controlled in the Indian context so as to have a reasonable and stable income for the primary producers which will ensure an adequate ‘encouragement for higher production and better export earnings. In a study of the methods of controlling violent price fluctuations a important question is that whether the present system of management of supply is satisfactory or not. It is more so when the demand is likely to be sanimlatsd by the importers and wholesalers of the foreign countries. Though pepper is the most important of all the spices gross in India, little work has been done so far to study the problems and prospects of this commodity.

Cost accountancy and cost control in hospitals

It is a fact that there now exists a sound framework of accounting theory to ascertain the working results and the investment status of hospitals. Yet, there is no system of accounting in practice to conduct its activities with utmost efficiency. No attempts have hitherto been made for the continuous improvement in the servics rendered by hospitals. Personal investments in hospitals have made the interaction of business to some extent.Planning, decision making and control assume increasing importance as hospitals grow in size and complexity. Moreover, wise and effective utilisation of resources should be ensured. The importance of cost cannot be overlooked in this context. Cost is the most effective factor in the determination of the prices of hospital services rendered. The important managerial functions have to rely heavily on accurate and timely cost information. More people can be provided with services if no services cost more than what is a must to provide the necessary level of care. The price paid for high cost technology for a few is no technology at all for the many. Hence no pains must be spared in ascertaining, presenting, controlling and reducing costs. An effective system of Cost Accountancy and Cost Control is imperative for the survival of hospitals in the intensely competitive conditions of today. The valuable objective of "better patient care" can be attained only if the management can make use of the various tools and techniques to ascertain, control and reduce each item of cost in hospitals. Constant efforts must be made by the management to continuously improve their services and bring down costs and prices of all hospital services. Cost Accountancy has made its impresssive impact on almost all the spheres of human activities. It is high time a comprehensive Cost Accountancy and Cost Control system be implemented in hospitals. The problem under study thus is the designing of a sound and full-fledged Cost Accountancy and Cost Control system that suits the requirements of hospitals. It is for the first time in India during the evolution of Cost Accountancy that a comprehensive cost system is tried in hospitals.

Studies on the production management in the seafood processing industry in Kerala

Kerala was the pioneer in modern seafood processing and exporting. But now the industry is Iacingalot of problems due to low productivity and deterioration in the quality of the products. only about 17% of the installed freezing capacity in sea food processing industry was reported to be utilised during 1979-80. The price of the export commodities its decided by the buyers based on international supply and demand pattern and based on the strength and weakness of dollar/yen. The only way to increase the profitability of the processors is to reduce the cost of production to the possible extent. The individual processors find it difficult to continue in this field due to low productivity and quality problems. The main objectives of the research are to find out how the production is being managed in the seafood processing(freezing) 17industry in Kerala and the reasons for low productivity and poor quality of the products. The study includes a detailed analysis of Location of the factories. Layout Purchase, production and storage patterns. Production planning and scheduling. Work Measurement of the processing of important products. Quality Control and Inspection. Management Information System

Entwicklung und experimentelle Regelung eines servopneumatischen räumlichen Mehrachsenprüfstands

In dieser Arbeit wurde ein räumlich bewegter pneumatischer Mehrachsenprüfstand als spezielle mechanische Variante eines Parallelroboters entwickelt, im Labor aufgebaut und in Rechnersimulationen sowie in Laborexperimenten regelungstechnisch untersucht. Für diesen speziellen Parallelroboter MAP-RTS-6 wurden Regelalgorithmen, die mittels moderner Verfahren der linearen und nichtlinearen Regelungstheorie abgeleitet wurden, hinsichtlich ihrer praktischen Anwendbarkeit, Echtzeitfähigkeit und Qualität entwickelt, implementiert und überprüft. Mit diesen Regelalgorithmen ist der MAP-RTS-6 in der Lage, große räumliche Transienten schnell und präzise nachzufahren. Der MAP-RTS-6 wird in erster Linie als räumlicher Bewegungsmanipulator für große nichtlineare Transienten (Translationen und Rotationen), als räumlicher Vibrationsprüfstand für starre und flexible Prüfkörper unterschiedlicher Konfigurationen und als Mechanismus für die Implementierung und experimentelle Überprüfung unterschiedlicher Regelungs- und Identifikationsalgorithmen und Sicherheitskonzepte verwendet. Die Voraussetzung zum Betrieb des Mehrachsenprüfstands für unterschiedliche redundante Antriebskonfigurationen mit sieben und acht Antrieben MAP-RTS-7 und MAP-RTS-8 wurde in dieser Arbeit geschaffen. Dazu zählen die konstruktive Vorbereitung der Prüfstandsmechanik und Pneumatik zum Anschluss weiterer Antriebe, die Vorbereitung zusätzlicher I/O-Schnittstellen zur Prüfstandselektronik und zum Regelungssystem und die Ableitung von Algorithmen zur analytischen Arbeitsraumüberwachung für redundante Antriebskonfigurationen mit sieben und acht Antrieben.

Smallholder group certification in Uganda - Analysis of internal control systems in two organic export companies

The organic agricultural sector of Uganda is among the most developed in Africa in terms of its professional institutional network and high growth rates of number of certified farmers and land area. Smallholder farmers are certified organic through contract production for export companies using a group certification scheme (internal control system - ICS). The ICS is a viable and well-accepted tool to certify small-scale producers in developing countries all over the world. Difficulties in certification are still stated to be among the main constraints for Uganda’s organic sector development. Therefore, this paper reports a qualitative case study comprising 34 expert interviews in two organic fresh-produce export companies in central Uganda, aiming to explore the challenges which underlie organic certification with ICS. The study shows that farmers cannot be labelled as ‘organic by default’ but deliberately engage in organic production as a marketing strategy. The small quantities purchased by the organic companies lead to a difficult marketing situation for the farmers, causing production and infiltration risks on the farm level. These risks require increased control that challenges the companies organizationally. The risks and control needs are a reason to involve farmers in ICS procedures and innovatively adapt the ICS by means of a bypass around formal perspective restrictions. The paper discusses different perspectives on risks, risk control and certification.

Virtual Model Control of a Biped Walking Robot

The transformation from high level task specification to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This thesis develops a control scheme called virtual model control which addresses this issue. Virtual model control is a motion control language which uses simulations of imagined mechanical components to create forces, which are applied through joint torques, thereby creating the illusion that the components are connected to the robot. Due to the intuitive nature of this technique, designing a virtual model controller requires the same skills as designing the mechanism itself. A high level control system can be cascaded with the low level virtual model controller to modulate the parameters of the virtual mechanisms. Discrete commands from the high level controller would then result in fluid motion. An extension of Gardner's Partitioned Actuator Set Control method is developed. This method allows for the specification of constraints on the generalized forces which each serial path of a parallel mechanism can apply. Virtual model control has been applied to a bipedal walking robot. A simple algorithm utilizing a simple set of virtual components has successfully compelled the robot to walk eight consecutive steps.

Virtual Model Control of a Hexapod Walking Robot

Since robots are typically designed with an individual actuator at each joint, the control of these systems is often difficult and non-intuitive. This thesis explains a more intuitive control scheme called Virtual Model Control. This thesis also demonstrates the simplicity and ease of this control method by using it to control a simulated walking hexapod. Virtual Model Control uses imagined mechanical components to create virtual forces, which are applied through the joint torques of real actuators. This method produces a straightforward means of controlling joint torques to produce a desired robot behavior. Due to the intuitive nature of this control scheme, the design of a virtual model controller is similar to the design of a controller with basic mechanical components. The ease of this control scheme facilitates the use of a high level control system which can be used above the low level virtual model controllers to modulate the parameters of the imaginary mechanical components. In order to apply Virtual Model Control to parallel mechanisms, a solution to the force distribution problem is required. This thesis uses an extension of Gardner`s Partitioned Force Control method which allows for the specification of constrained degrees of freedom. This virtual model control technique was applied to a simulated hexapod robot. Although the hexapod is a highly non-linear, parallel mechanism, the virtual models allowed text-book control solutions to be used while the robot was walking. Using a simple linear control law, the robot walked while simultaneously balancing a pendulum and tracking an object.