A NOVEL MODELING AND STATE OF CHARGE ESTIMATION SCHEME FOR LITHIUM-ION BATTERIES

Lithium Ion (Li-Ion) batteries have got attention in recent decades because of their undisputable advantages over other types of batteries. They are used in so many our devices which we need in our daily life such as cell phones, lap top computers, cameras, and so many electronic devices. They also are being used in smart grids technology, stand-alone wind and solar systems, Hybrid Electric Vehicles (HEV), and Plug in Hybrid Electric Vehicles (PHEV). Despite the rapid increase in the use of Lit-ion batteries, the existence of limited battery models also inadequate and very complex models developed by chemists is the lack of useful models a significant matter. A battery management system (BMS) aims to optimize the use of the battery, making the whole system more reliable, durable and cost effective. Perhaps the most important function of the BMS is to provide an estimate of the State of Charge (SOC). SOC is the ratio of available ampere-hour (Ah) in the battery to the total Ah of a fully charged battery. The Open Circuit Voltage (OCV) of a fully relaxed battery has an approximate one-to-one relationship with the SOC. Therefore, if this voltage is known, the SOC can be found. However, the relaxed OCV can only be measured when the battery is relaxed and the internal battery chemistry has reached equilibrium. This thesis focuses on Li-ion battery cell modelling and SOC estimation. In particular, the thesis, introduces a simple but comprehensive model for the battery and a novel on-line, accurate and fast SOC estimation algorithm for the primary purpose of use in electric and hybrid-electric vehicles, and microgrid systems. The thesis aims to (i) form a baseline characterization for dynamic modeling; (ii) provide a tool for use in state-of-charge estimation. The proposed modelling and SOC estimation schemes are validated through comprehensive simulation and experimental results.

Discrete Velocity Models for Mixtures Without Nonphysical Collision Invariants

An important aspect of constructing discrete velocity models (DVMs) for the Boltzmann equation is to obtain the right number of collision invariants. It is a well-known fact that DVMs can also have extra collision invariants, so called spurious collision invariants, in plus to the physical ones. A DVM with only physical collision invariants, and so without spurious ones, is called normal. For binary mixtures also the concept of supernormal DVMs was introduced, meaning that in addition to the DVM being normal, the restriction of the DVM to any single species also is normal. Here we introduce generalizations of this concept to DVMs for multicomponent mixtures. We also present some general algorithms for constructing such models and give some concrete examples of such constructions. One of our main results is that for any given number of species, and any given rational mass ratios we can construct a supernormal DVM. The DVMs are constructed in such a way that for half-space problems, as the Milne and Kramers problems, but also nonlinear ones, we obtain similar structures as for the classical discrete Boltzmann equation for one species, and therefore we can apply obtained results for the classical Boltzmann equation.

Use of bird carcass removals by urban scavengers to adjust bird-window collision estimates

Carcass removal by scavengers has been identified as one of the largest biases in estimating bird mortality from anthropogenic sources. Only two studies have examined carcass removal by scavengers in an urban environment, and previous estimates of bird-window collision mortality at houses have relied on carcass removal rates from wind turbine studies. We placed a bird carcass and time-lapse camera at 44 houses in Edmonton, Alberta. In total, 166 7-day trials were conducted throughout 2015. Time-to-event (survival) analysis was used to identify covariates that affected removal. The carcass removal rate was determined for use in estimating the number of birds killed from bird-window collisions at houses in Alberta. In total, 67.5% of carcasses were removed. The date the carcass was placed, the year the house was built, and the level of development within 50 m of the house were the covariates that had the largest effect on carcass removal. In calculating our removal rate, the number of detected carcasses in the first 24 hours was adjusted by 1.47 to account for removal by scavengers. Previously collected citizen science data were used to create an estimate of 957,440 bird deaths each year in Alberta as a result of bird-window collisions with houses. This number is based on the most detailed bird-window collision study at houses to date and a carcass removal study conducted in the same area. Similar localized studies across Canada will need to be completed to reduce the biases that exist with the previous bird-window collision mortality estimate for houses in Canada.

Technical report specification, mark scheme

Specification for technical report, mark scheme. A template for a technical report is found at http://www.edshare.soton.ac.uk/14581

South Carolina Traffic Collision Report Form (TR- 310) and Supplement Truck and Bus Report Form Instruction Manual

The instructions in this manual have been prepared to provide guidance for completing the South Carolina Traffic Collision Report Form TR-310 and the Supplemental Bus and Truck Collision Report Form. It lists traffic laws and definitions and gives examples of traffic collision report forms.

The Strange Case of Eugenics: A Subject’s Ontogeny in a Long-Lived Classification Scheme and the Question of Collocative Integrity

Classification schemes are built at a particular point in time; at inception, they reflect a worldview indicative of that time. This is their strength, but results in potential weak- nesses as worldviews change. For example, if a scheme of mathematics is not updated even though the state of the art has changed, then it is not a very useful scheme to users for the purposes of information retrieval. However, change in schemes is a good thing. Changing allows designers of schemes to update their model and serves as a responsible mediator between resources and users. But change does come at a cost. In the print world, we revise universal clas- sification schemes—sometimes in drastic ways—and this means that over time, the power of a classification scheme to collocate is compromised if we do not account for scheme change in the organization of affected physical resources. If we understand this phenomenon in the print world, we can design ameliorations for the digital world.

Scheme Versioning in the Semantic Web

This paper describes a conceptual framework and meth- odology for managing scheme versioning for the Semantic Web. The first part of the paper introduces the concept of vocabulary encoding schemes, distinguished from metadata schemas, and discusses the characteristics of changes in schemes. The paper then presents a proposal to use a value record–similar to a term record in thesaurus management techniques–to manage scheme versioning challenges for the Semantic Web. The con-clusion identifies future research directions.

Some Temporal Aspects of Indexing and Classification: Toward a Metrics for Measuring Scheme Change

In this paper we discuss the temporal aspects of indexing and classification in information systems. Basing this discussion off of the three sources of research of scheme change: of indexing: (1) analytical research on the types of scheme change and (2) empirical data on scheme change in systems and (3) evidence of cataloguer decision-making in the context of scheme change. From this general discussion we propose two constructs along which we might craft metrics to measure scheme change: collocative integrity and semantic gravity. The paper closes with a discussion of these constructs.

Collocative Integrity and Our Many Varied Subjects: What the Metric of Alignment between Classification Scheme and Indexer Tells Us About Langridge’s Theory of Indexing

As the universe of knowledge and subjects change over time, indexing languages like classification schemes, accommodate that change by restructuring. Restructuring indexing languages affects indexer and cataloguer work. Subjects may split or lump together. They may disappear only to reappear later. And new subjects may emerge that were assumed to be already present, but not clearly articulated (Miksa, 1998). In this context we have the complex relationship between the indexing language, the text being described, and the already described collection (Tennis, 2007). It is possible to imagine indexers placing a document into an outdated class, because it is the one they have already used for their collection. However, doing this erases the semantics in the present indexing language. Given this range of choice in the context of indexing language change, the question arises, what does this look like in practice? How often does this occur? Further, what does this phenomenon tell us about subjects in indexing languages? Does the practice we observe in the reaction to indexing language change provide us evidence of conceptual models of subjects and subject creation? If it is incomplete, but gets us close, what evidence do we still require?

Congenital thoracic vertebral malformations in brachycephalic “screw-tailed” dog breeds: Validation of a human classification scheme and a method of Cobb angle measurement in the assessment of vertebral column deformity

Congenital vertebral malformations are common in brachycephalic “screw-tailed” dog breeds such as French bulldogs, English bulldogs, Boston terriers, and Pugs. Those vertebral malformations disrupt the normal vertebral column anatomy and biomechanics, potentially leading to deformity of the vertebral column and subsequent neurological dysfunction. The initial aim of this work was to study and determine whether the congenital vertebral malformations identified in those breeds could be translated in a radiographic classification scheme used in humans to give an improved classification, with clear and well-defined terminology, with the expectation that this would facilitate future study and clinical management in the veterinary field. Therefore, two observers who were blinded to the neurologic status of the dogs classified each vertebral malformation based on the human classification scheme of McMaster and were able to translate them successfully into a new classification scheme for veterinary use. The following aim was to assess the nature and the impact of vertebral column deformity engendered by those congenital vertebral malformations in the target breeds. As no gold standard exists in veterinary medicine for the calculation of the degree of deformity, it was elected to adapt the human equivalent, termed the Cobb angle, as a potential standard reference tool for use in veterinary practice. For the validation of the Cobb angle measurement method, a computerised semi-automatic technique was used and assessed by multiple independent observers. They observed not only that Kyphosis was the most common vertebral column deformity but also that patients with such deformity were found to be more likely to suffer from neurological deficits, more especially if their Cobb angle was above 35 degrees.

TARDI VARISCAN DEFORMATION IN THE IBERIAN PENINSULA; A LATE FEATURE IN THE LAURASIA-GONDWANA DEXTRAL COLLISION

The Late Variscan deformation event in Iberia, is characterized by an intraplate deformation regime induced by the oblique collision between Laurentia and Gondwan. This episode in Iberia is characterized by NNE-SSW strike-slip faults, which are considered by the classic works as sinistral strike-slips. However, the absence of Mesozoic formations constraining the age of this sinistral kinematics, led some authors to consider it as the result of Alpine reworking. Structural studies in Almograve and Ponta Ruiva sectors (SW Portugal), not only shows that NNE-SSW faults presents a clear sinistral kinematics and are occasionally associated with E-W dextral shears, but also that this kinematics is related to the late deformation episodes of Variscan Orogeny. In Almograve sector, the late Variscan structures are characterized by NNE-SSW sinistral kink-bands, spatially associated with E-W dextral faults. These structures are contemporaneous and affect the previously deformed Carboniferous units. The Ponta Ruiva Sector constrains the age of deformation because the E-W dextral shears affect the Late Carboniferous (late Moscovian) units, but not the overlying Triassic series. The new exposed data shows that the NNE-SSW and the E-W faults are dynamically associated and results from the same deformation event. The NNE-SSW sinistral faults could be considered as second order dominoes structures related with first order E-W dextral shears, related with Laurasia-Gondwana collision during Late Carboniferous-Permian Times.

Safe and Collaborative Navigation & Interaction With Mobile Manipulators in Domestic Appliance Test Labs

Safe collaboration between a robot and human operator forms a critical requirement for deploying a robotic system into a manufacturing and testing environment. In this dissertation, the safety requirement for is developed and implemented for the navigation system of the mobile manipulators. A methodology for human-robot co-existence through a 3d scene analysis is also investigated. The proposed approach exploits the advance in computing capability by relying on graphic processing units (GPU’s) for volumetric predictive human-robot contact checking. Apart from guaranteeing safety of operators, human-robot collaboration is also fundamental when cooperative activities are required, as in appliance test automation floor. To achieve this, a generalized hierarchical task controller scheme for collision avoidance is developed. This allows the robotic arm to safely approach and inspect the interior of the appliance without collision during the testing procedure. The unpredictable presence of the operators also forms dynamic obstacle that changes very fast, thereby requiring a quick reaction from the robot side. In this aspect, a GPU-accelarated distance field is computed to speed up reaction time to avoid collision between human operator and the robot. An automated appliance testing also involves robotized laundry loading and unloading during life cycle testing. This task involves Laundry detection, grasp pose estimation and manipulation in a container, inside the drum and during recovery grasping. A wrinkle and blob detection algorithms for grasp pose estimation are developed and grasp poses are calculated along the wrinkle and blobs to efficiently perform grasping task. By ranking the estimated laundry grasp poses according to a predefined cost function, the robotic arm attempt to grasp poses that are more comfortable from the robot kinematic side as well as collision free on the appliance side. This is achieved through appliance detection and full-model registration and collision free trajectory execution using online collision avoidance.

Plutarch's chemistry of stones and metals: conceptions and explanations. With an appendix on the TheSu XML annotation scheme

This dissertation presents a systematic and analytic overview of most of the information related to stones, minerals, and stone masonry which is found in the corpus of Plutarch of Chaeronea, combined with most of the information on metals and metalworking which is connected to the former. This survey is intended as a first step in the reconstruction of the full landscape of ‘chemical’ ideas occurring in Plutarch’s writings; accordingly, the exposition of the relevant passages, the assessment of their possible interpretations, the discussion on their implications, and their contextualization in the ancient traditions have been conducted with a special interest in the ‘mineralogical’ and ‘metallurgic’ themes developed in the frame of natural philosophy and meteorology. Although in this perspective physical etiology could have come to acquire central prominence, non-etiological information on Plutarch’s ideas on the nature and behaviour of stones and metals has been treated as equally relevant to reach a fuller understanding of how Plutarch conceptualized and visualized them in general, in- and outside the frame of philosophical explanation. Such extensive outline of Plutarch’s ideas on stones and metals is a prerequisite for an accurate inquiry into his use of the two in analogies, metaphors, and symbols: to predispose this kind of research was another aim of the present survey, and this aim has contributed to shape it; moreover, a special attention has been paid to the analysis of analogical and figurative speaking due to the nature itself of a large part of Plutarch’s references to stones and metals, which are either metaphorical, presented in close association with metaphors, or framed in analogies. Much of the information used for the present overview has been extracted —always with supporting argumentation— from the implications of such metaphors and analogies.

Towards automation of constellation management with analytical models for collision avoidance

The growing interest for constellation of small, less expensive satellites is bringing space junk and traffic management to the attention of space community. At the same time, the continuous quest for more efficient propulsion systems put the spotlight on electric (low thrust) propulsion as an appealing solution for collision avoidance. Starting with an overview of the current techniques for conjunction assessment and avoidance, we then highlight the possible problems when a low thrust propulsion is used. The need for accurate propagation model shows up from the conducted simulations. Thus, aiming at propagation models with low computational burden, we study the available models from the literature and propose an analytical alternative to improve propagation accuracy. The model is then tested in the particular case of a tangential maneuver. Results show that the proposed solution significantly improve on state of the art methods and is a good candidate to be used in collision avoidance operations. For instance to propagate satellite uncertainty or optimizing avoidance maneuver when conjunction occurs within few (3-4) orbits from measurements time.

Spacecraft Collision Probability Calculation from Conjunction Data Message and High Precision Orbit Propagator

The increasing number of Resident Space Objects (RSOs) is a threat to spaceflight operations. Conjunction Data Messages (CDMs) are sent to satellite operators to warn for possible future collision and their probabilities. The research project described herein pushed forward an algorithm that is able to update the collision probability directly on-board starting from CDMs and the state vector of the hosting satellite which is constantly updated thanks to an onboard GNSS receiver. A large set of methods for computing the collision probability was analyzed in order to find the best ones for this application. The selected algorithm was then tested to assess and improve its performance. Finally, parts of the algorithm and external software were implemented on a Raspberry Pi 3B+ board to demonstrate the compatibility of this approach with computational resources similar to those typically available onboard modern spacecraft.