Fusion of Data from Quadcopter’s Inertial Measurement Unit Using Complementary Filter

A quadcopter is a helicopter with four rotors, which is mechanically simple device, but requires complex electrical control for each motor. Control system needs accurate information about quadcopter’s attitude in order to achieve stable flight. The goal of this bachelor’s thesis was to research how this information could be obtained. Literature review revealed that most of the quadcopters, whose source-code is available, use a complementary filter or some derivative of it to fuse data from a gyroscope, an accelerometer and often also a magnetometer. These sensors combined are called an Inertial Measurement Unit. This thesis focuses on calculating angles from each sensor’s data and fusing these with a complementary filter. On the basis of literature review and measurements using a quadcopter, the proposed filter provides sufficiently accurate attitude data for flight control system. However, a simple complementary filter has one significant drawback – it works reliably only when the quadcopter is hovering or moving at a constant speed. The reason is that an accelerometer can’t be used to measure angles accurately if linear acceleration is present. This problem can be fixed using some derivative of a complementary filter like an adaptive complementary filter or a Kalman filter, which are not covered in this thesis.

The role of nuclear and other conventional power plants in the flexible energy system

This thesis reviews the role of nuclear and conventional power plants in the future energy system. The review is done by utilizing freely accesible publications in addition to generating load duration and ramping curves for Nordic energy system. As the aim of the future energy system is to reduce GHG-emissions and avoid further global warming, the need for flexible power generation increases with the increased share of intermittent renewables. The goal of this thesis is to offer extensive understanding of possibilities and restrictions that nuclear power and conventional power plants have regarding flexible and sustainable generation. As a conclusion, nuclear power is the only technology that is able to provide large scale GHG-free power output variations with good ramping values. Most of the currently operating plants are able to take part in load following as the requirement to do so is already required to be included in the plant design. Load duration and ramping curves produced prove that nuclear power is able to cover most of the annual generation variation and ramping needs in the Nordic energy system. From the conventional power generation methods, only biomass combustion can be considered GHG-free because biomass is considered carbon neutral. CFB combusted biomass has good load follow capabilities in good ramping and turndown ratios. All the other conventional power generation technologies generate GHG-emissions and therefore the use of these technologies should be reduced.

Avaliação da perda da tolerância à dessecação e da quantidade de dna nuclear em sementes de Peltophorum dubium (spreng.) taubert durante e após a germinação

O presente trabalho teve por objetivo a avaliação da perda da tolerância à dessecação (TD) em sementes de Peltophorum dubium durante e após a germinação. As sementes foram colocadas para germinar e, ao atingirem 1, 3 e 5 mm de raiz primária (68% de umidade), foram desidratadas em sílica gel, até atingirem o grau de umidade inicial (8%), sendo em seguida reidratadas e avaliadas quanto à sobrevivência (retomada do crescimento e formação de plântulas normais). Procedimento semelhante foi adotado para os ensaios realizados durante a embebição, onde foram amostradas 100 sementes divididas em quatro repetições de 25 para cada um dos seguintes tempos de embebição: 12, 24, 48, 60 e 72 horas. Em seguida, foram selecionados diferentes pontos de interesse (12, 48 e 60 horas de embebição e raízes primárias com 1 mm de comprimento) para determinação da quantidade de DNA nuclear, afim de analisar possível correlação entre início do ciclo celular e perda da TD. Com relação ao comportamento de sementes germinadas submetidas à secagem e reidratação, para os três comprimentos de raízes primárias amostradas, não houve sobrevivência. Foi observada queda progressiva na sobrevivência de sementes de Peltophorum dubium relacionada ao tempo de embebição, e posterior secagem e reidratação, sugerindo que a perda da TD desta espécie acontece nos estágios iniciais da germinação, antes da protrusão da radícula. Sementes embebidas por 12 h, 24 h, 48 h, 60 h, 72 h e aquelas germinadas, com 1 mm de comprimento radicular, apresentaram índices iguais a 98%, 93%, 83%, 35%, 17% e 0% de sobrevivência respectivamente. Os estudos relacionados ao conteúdo de DNA nuclear não demonstram correlação entre retomada do ciclo celular e perda da TD.

Development of laboratory exercises for basic nuclear thermal hydraulics measurements

The thesis focuses on light water reactors (pressurized water reactors, boiling water reactors) and measurement techniques for basic thermal hydraulics parameters that are used in a nuclear power plant. The goal of this work is a development of laboratory exercises for basic nuclear thermal hydraulics measurements.

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.

1.° Tractatus universalis omnium donationum : authore Mareto, Doctore Tholosano. — 2.° Ejusdem tractatus de testamentis. — 3.° Tractatus Quartarum : eodem authore. — 4.° DD. Cabot ad titulum de impub. et aliis substitutionibus, commentarius. — 5.° Anonymi tractatus de gradibus affinitatis : finis desideratur

Mazarinaeus

1.° Apologia Thomae Basin, Archiepiscopi Caesareensis, anteà Episcopi Lexoviensis, edita anno 1475. ibi multa reperias ad regnum Ludovici XI. Francorum Regis, pertinentia. — 2.° Breviloquium peregrinationis et mansionum XLII. quas in deserto hujus saeculi nequam, habuit Thomas Basin, ambulans per fidem ad speciem et veram terram promissionis : ab eodem editum anno 1488. — 3.° Ejusdem epistola ad Davidem, Episcopum Trajectensem, contra libellum cujusdam Cartusiensis de Remonda, scripta anno 1486. — 4.° Ejusdem libellus de optimo ordine forenses lites audiendi et diffiniendi, ad DD. Petrum de Brezé, magnum Senescallum Normanniae : editus anno 1455.

Colbertinus

1.° Flores chronicorum fusiores ; sive catalogus summorum Pontificum à Christo ad Joannem XXII. authore Bernardo Guidonis. — 2.° Excerpta è collectaneis DD. Nicolai Cardinalis de Aragonia, de aliquorum Pontificum, sive eorum temporum gestis, quae Platina in eorumdem vitis omisit.

Petavianus