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.

Small teleoperated vehicles: study of potential use cases and empirical prototyping

This thesis researches the current state of small teleoperated devices, the need for them and developing one. Small teleoperated devices give the possibility to perform tasks that are impossible or dangerous for humans. This work concentrates on small devices and cheap components and discloses one way of developing a teleoperated vehicle, but not necessarily the optimal way. Development and the current state of teleoperation were studied by a literature review, in which the data was searched from literature as well as from the Internet. The need for teleoperated devices was mapped through a survey, where 11 professionals from variating fields were interviewed how they could utilize a teleoperated devices and with what kind of features. Also, a prototype was built as a proof of concept of small teleoperated devices. The prototype is controlled by a single-board microcomputer that also streams video to the controlling device. The video can be viewed on a display or with a head mounted display.

POLITICAL RISK IN FOREIGN DIRECT INVESTMENT IN THE RUSSIAN ELECTRIC POWER SECTOR

Russia approved ambitious reform plan for the electricity sector in 2001 including privatisation of the country’s huge thermal generation assets. So far the sector had suffered from power shortages, aging infrastructure, substantial electricity losses, and weak productivity and profitability numbers. There was obvious need for foreign investments and technologies. The reform was rather successful; the generation assets were privatised in auctions in 2007-2008 and three European energy companies, E.On, Enel and Fortum, invested in and obtained together over 10% of the Russian production assets. The novelty of these foreign investments serves unique object for the study. The political risk is involved in the FDI due to the industry’s social and economic importance. The research’s objective was to identify and analyse the political risk that foreign investors face in the Russian electricity sector. The research had qualitative study method and the empirical data was collected by interviewing. The research’s theoretical framework was based on the existing political risk theories and it focused to understand the Russian government in relation to the country’s stability and define both macro-level and micro-level sources of political risk for the foreign direct investments in the sector. The research concludes that the centralised and obscure political decision-making, economic constriction, high level of governmental control in economy and corruption form the country’s internal macro-level risk sources for the foreign investors in the sector. Additionally the retribution due to the companies’ home country actions, possible violent confrontations at the Russian borders and the currency instability are externally originated risk sources. In the electricity industry there is risk of tightened governmental control and increased regulation and taxation. Similarly the company-level risk sources link to the unreformed heating sector, bargaining with the authorities, diplomatic stress between host and home countries and to companies and government’s divergent perspective for the profit-making. The research stresses the foreign companies’ ability to cope with the characteristics of Russian political environment. In addition to frequent political and market risk assessment, the companies need to focus on currency protection against rouble’s rate fluctuation and actively build good company-citizenship in the country. Good relationship is needed with the Russian political authorities. The political risk identification and the research’s conclusive framework also enable political risk study assessments for other industries in Russia

Reuse of electric vehicle battery in uninterruptible power supply

Tässä diplomityössä tarkasteltiin Nissan Leaf -sähköauton käytetyn litiumakun soveltuvuutta UPS-varavirtalaitteen energialähteeksi. Kun akku on heikentynyt niin ettei sen kapasiteetti enää ole riittävä autokäyttöön, sitä voidaan kuitenkin vielä hyödyntää muissa sovelluksissa, kuten UPS-laitteessa. Työ sai alkunsa osana GreenDataNet-projektia, jossa pyritään kehittämään datakeskuksiin ympäristöä vähemmän kuormittavia ratkaisuja käyttämällä uusiutuvia energialähteitä, akkujen uusiokäytöllä, sekä energianhallinnan optimoinnilla. Työssä käytiin läpi akun ja sen ohjausjärjestelmän ominaisuuksia, kerrottiin UPS:in ohjelmistoon tehdyistä muutoksista sekä esitettiin testitulokset. Lopputuloksena todettiin akun sopivan muuten hyvin UPS-käyttöön, mutta vaadittu päivittäinen kennojännitteiden tasaus ja sen aiheuttama katkos energian saatavuuteen heikentää UPSin käyttövarmuutta kuorman suojauksessa. Lopussa esitettiin muutamia ehdotuksia tämän ongelman korjaamiseksi.

Screening of power to gas projects

The purpose of this thesis was the screening of power to gas projects worldwide and reviewing the technologies used and applications for the end products. This study focuses solely on technical solutions and feasibility, economical profitability is excluded. With power grids having larger penetrations of intermittent sources such as solar and wind power, the demand and production cannot be balanced in conventional methods. Technologies for storing electric power in times of surplus production are needed, and the concept called power to gas is a solution for this problem. A total of 57 projects mostly located in Europe were reviewed by going through publications, presentations and project web pages. Hydrogen is the more popular end product over methane. Power to gas is a viable concept when power production from intermittent sources needs to be smoothed and time shifted, when carbon free fuels are produced for vehicles and when chemical industry needs carbon neutral raw materials.

Standardized electrical tests for electrical equipment in road vehicles Case: Visedo Oy PowerMASTER M-frame

Electrical road vehicles were common at the begin of the 20th century but internal combustion engines took a victory from electrical motors in road vehicles. The acknowledgement of the environment, and the price and the availability of the crude oil are reasons for the comeback of the electrical vehicles. Advancement in industrial technology and political atmosphere in EU as the directive 20--20--20, which consists of reducing fossil emission, increasing renewable energy and increasing the energy efficiency, have made the electrification popular again. In this thesis tests based on standard ISO 16750--2 electrical loads for electrical equipment in road vehicles are made for Visedo Oy's PowerMASTER M-frame power electronics device. This device is designed for mainly drive trains in mobile work machines and marine vessels but can be used in other application in its power range which also includes road vehicles. The functionality of the device is tested with preliminary tests which act as a framework for the tests based on standards.

Kaksoiskäämitty hybridibussin kestomagneettiajomoottori

Tämä työ on tehty Lappeenrannan teknilliselle yliopistolle, joka on suunnitellut ja toteuttanut hybridibussin. Hybridibussin ajomoottorissa käytetään kaksoiskäämitystä, joka mahdollistaa bussin ajamisen vikatilanteessa, jossa toinen käämityksistä on epäkunnossa. Työn tavoitteena on selvittää, millainen kaksoiskäämitys toimii parhaiten tämän hybridibussin kestomagneettiajomoottorissa. Työssä tutustutaan ajomoottoreihin ja niiltä vaadittaviin ominaisuuksiin sekä vikasietoisiin sähkömoottoreihin. Tutkimuksessa löydettyihin vikasietoisiin ajomoottoreihin perustuen päädyttiin neljään kaksoiskäämitysvaihtoehtoon. Näitä kaksoiskäämityksiä tutkittiin FE-analyysiä hyödyntäen. Kaksoiskäämitysten toimintaa simuloitiin nimellis- ja vikatilanteessa. Simuloinnin tuloksista selvisi, että kaksoiskäämitys, jossa jokaisessa urassa oli puolet yhtä käämitystä ja puolet toista (kaksoiskäämitys 1), ei toiminut kunnolla nimellistilanteessa eikä vikatilanteessa. Suurin ongelma oli vikatilanteessa aiheutuva suuri oikosulkuvirta. Kaksoiskäämitys, jossa kaksi napaa oli samaa käämitystä (kaksoiskäämitys 2), toimi moitteettomasti nimellistilanteessa. Vikatilanteen toiminnassa kuitenkin havaittiin epäjaksollisuutta magneettivuontiheydessä, mikä on haitallista moottorin käynnille ja vaaraksi roottorille. Kaksoiskäämityksiä, joista ensimmäisessä oli neljäsosa konetta samaa käämitystä (kaksoiskäämitys 3) ja toisessa puolet koneesta samaa käämitystä (kaksoiskäämitys 4), tutkittiin vikatilanteessa vain magneettivuontiheyden osalta. Puolet ja puolet käämityn koneen osalta magneettivuontiheys osottautui epäjaksolliseksi kuten oli odotettu. Neljäsosiksi käämityn koneen magneettivuontiheys oli säännöllisen jaksollinen. Nimellispisteessä kaksoiskäämityksillä 3 ja 4 havaittiin suuri vääntöväre verrattuna kaksoiskäämityksiin 1 ja 2. Johtopäätöksenä kaksoiskäämitys 3 vaikuttaa lupaavalta, mikäli suuri nimellispisteen vääntöväre saadaan hallintaan käyttämällä uravinoutta staattorissa.

Web based content and hybrid teaching: student perceptions of the effectiveness of using web based content and hyper-linked teaching units in teaching hybrid business and marketing post secondary classes /

This exploratory, descriptive action research study is based on a survey of a sample of convenience consisting of 172 college and university marketing students, and 5 professors who were experienced in teaching in an internet based environment. The students that were surveyed were studying e-commerce and international business in 3^^ and 4*'' year classes at a leading imiversity in Ontario and e-commerce in 5^ semester classes at a leading college. These classes were taught using a hybrid teaching style with the contribution of a large website that contained pertinent text and audio material. Hybrid teaching employs web based course materials (some in the form of Learning Objects) to deliver curriculimi material both during the attended lectures and also for students accessing the course web page outside of class hours. The survey was in the form on an online questionnaire. The research questions explored in this study were: 1. What factors influence the students' ability to access and learn from web based course content? 2. How likely are the students to use selected elements of internet based curriculum for learning academic content? 3. What is the preferred physical environment to facilitate learning in a hybrid environment? 4. How effective are selected teaching/learning strategies in a hybrid environment? The findings of this study suggest that students are very interested in being part of the learning process by contributing to a course web site. Specifically, students are interested in audio content being one of the formats of online course material, and have an interest in being part of the creation of small audio clips to be used in class.

Spin labile conducting metallopolymers : a new architecture for hybrid multifunctional materials

The synthesis of 3-ethynylthienyl- (2.07), 3-ethynylterthienyl- (2.19) substituted qsal [qsalH = N-(8-quinolyl)salicylaldimine] and 3,3' -diethynyl-2,2' -bithienyl bridging bisqsal (5.06) ligands are described along with the preparation and characterization of eight cationic iron(III) complexes containing these ligands with a selection of counteranions [(2.07) with: SCN- (2.08), PF6- (2.09), and CI04- (2.10); (2.19) with PF6 - (2.20); (5.06) with: cr (5.07), SeN- (5.08), PF6- (5.09), and CI04- (5.10)]. Spin-crossover is observed in the solid state for (2.08) - (2.10) and (5.07) - (5.10), including a ve ry rare S = 5/2 to 3/2 spin-crossover in complex (2.09). The unusal reduction of complex (2.10) produces a high-spin iron(I1) complex (2.12). Six iron(II) complexes that are derived from thienyl analogues of bispicen [bispicen = bis(2-pyridylmethyl)-diamine] [2,5-thienyl substituents = H- (3.11), Phenyl- (3.12), 2- thienyl (3.13) or N-phenyl-2-pyridinalimine ligands [2,5-phenyl substituents = diphenyl (3.23), di(2-thienyl) (3.24), 4-phenyl substituent = 3-thienyl (3.25)] are reported Complexes (3.11), (3.23) and (3.25) display thermal spin-crossover in the solid state and (3.12) remains high-spin at all temperatures. Complex (3.13) rearranges to form an iron(II) complex (3.14) with temperature dependent magnetic properties be s t described as a one-dimensional ferromagnetic chain, with interchain antiferromagnetic interactions and/or ZFS dominant at low temperatures. Magnetic succeptibility and Mossbauer data for complex (3.24) display a temperature dependent mixture of spin isomers. The preparation and characterization of two cobalt(II) complexes containing 3- ethynylthienyl- (4.04) and 3-ethynylterhienyl- (4.06) substituted bipyridine ligands [(4.05): [Co(dbsqh(4.04)]; (4.07): [Co(dbsq)2(4.06)]] [dbsq = 3,5-dbsq=3,5-di-tert-butylI ,2-semiquinonate] are reported. Complexes (4.05) and (4.07) exhibit thermal valence tautomerism in the solid state and in solution. Self assembly of complex (2.10) into polymeric spheres (6.11) afforded the first spincrossover, polydisperse, micro- to nanoscale material of its kind. . Complexes (2.20), (3.24) and (4.07) also form polymers through electrochemical synthesis to produce hybrid metaUopolymer films (6.12), (6.15) and (6.16), respectively. The films have been characterized by EDX, FT-IR and UV-Vis spectroscopy. Variable-temperature magnetic susceptibility measurements demonstrate that spin lability is operative in the polymers and conductivity measurements confirm the electron transport properties. Polymer (6.15) has a persistent oxidized state that shows a significant decrease in electrical resistance.

Lighting recommendations for the Ryan Electric Scintillator and Fireworks Program for the official dedication Niagara Falls illumination, 1925

Walter D’Arcy Ryan was born in 1870 in Kentville, Nova Scotia. He became the chief of the department of illumination at the General Electric Company of Schenectady, New York. He was a founder in the field of electrical illumination. He built the electric steam scintillator which had numerous nozzles and valves. The operator would release steam through the valves. The nozzles all had names which included: Niagara, fan, snake, plume, column, pinwheel and sunburst. The steam scintillator was combined with projectors, prismatic reflectors, flashers and filters to produce the desired effects. In 1920 a group of businessmen from Niagara Falls, New York formed a group who called themselves the “generators’. They lobbied the American and Canadian governments to improve the illumination of the Falls. They were able to raise $58, 000 for the purchase and installation of 24 arc lights to illuminate the Falls. On February 24th, 1925 the Niagara Falls Illumination Board was formed. Initially, the board had a budget of $28,000 for management, operation and maintenance of the lights. The power was supplied free by the Ontario Power Company. They had 24 lights installed in a row on the Ontario Power Company surge tank which was next to the Refectory in Victoria Park on the Canadian side. The official opening ceremony took place on June 8th, 1925 and included a light parade in Niagara Falls, New York and an international ceremony held in the middle of the Upper Steel Arch Bridge. Walter D’Arcy Ryan was the illuminating engineer and A.D. Dickerson who was his New York field assistant directed the scintillator. with information from American Technological Sublime by David E. Nye and the Niagara Falls info website Location: Brock University Archives Source Information: Subject Headings: Added Entries: 100 Ryan, W. D’A. |q (Walter D’Arcy), |d 1870-1934 610 General Electric Company 650 Lighting, Architectural and decorative 650 Lighting |z New York (State) |z Niagara Falls 700 Dickerson, A.F. 700 Schaffer, J.W. Related material held at other repositories: The Niagara Falls Museum in Niagara Falls, Ontario has a program (pamphlet) dedicating new lighting in 1958 and it has postcards depicting the illumination of the Falls. Some of Ryan’s accomplishments can be seen at The Virtual Museum of the City of San Francisco. Described by: Anne Adams Date: Sept 26,Upper Steel Arch Bridge. Walter D’Arcy Ryan was the illuminating engineer and A.D. Dickerson who was his New York field assistant directed the scintillator. with information from American Technological Sublime by David E. Nye and the Niagara Falls info website

Hydro Electric Commission of Niagara Falls Ontario Scrapbook, 1936-1939, 1943-1951

Sir Adam Beck ( a London, Ontario manufacturer, Mayor and Conservative member of the provincial legislature) was a champion of municipal and provincial power ownership. Beck become the “Power Minister” and chairman of the Hydro-Electric Power Commission of Ontario which was the world’s first publicly owned utility. In 1925 the first unit of the Hydro Electric Power Commission’s Queenston Chippawa hydro-electric development on the Niagara River went into service. The station was renamed in 1950 as “Sir Adam Beck #1”. This marked the 25th anniversary of Beck’s death. This is one of 2 generating stations in Niagara Falls. There is also Adam Beck Plant #2. The Niagara generating stations supply one quarter of all power used in New York State and Ontario.Ontario Hydro has two water tunnels which traverse the entire City of Niagara Falls from the Village of Chippawa in the South to the Sir Adam Beck Hydro Electric Generating Stations in the North. Also they are in the process of building the third tunnel. In addition, Ontario Hydro has a 13.6 km open canal which traverses the entire City of Niagara Falls. Source: http://www.hydroone.com/OurCompany/Pages/OurHistory.aspx

Letter - Frederic Nicholls (Canadian General Electric) to W.B. Rankine, 17 December 1897

A letter from 2nd Vice President and General Manager of Canadian General Electric Company, Frederic Nicholls to W. B. Rankine regarding a bid for contract. The letter mentions that the bid for two alternating generators for the Canadian side of Niagara Falls was won by Westinghouse Eletric and Manufacturing Co. Nicholls also mentions that there will be other opportunites to win contracts as more machines are required. Nicholls also implies that Westinghouse may have bid under cost in an effort to secure the first of many contracts with the Canadian Niagara Power Company.

Fourth Annual Report of The Electric Development Company of Ontario Limited For the Year Ending 31st December, 1906

Fourth Annual Report of The Electrical Development Company of Ontario Limited for for the year 1906. The report discusses the main line between Niagara Falls and Toronto and the line between the Township of Pelham and the city of Brantford. The report also details the purchase of stocks and bonds in several different companies.

The Hydro-Electric Power Commission of Ontario: address. (1923)

The Public Ownership League of America Conference, September 10th to 13th, 1923, at Toronto, Ontario.