Novel virtual environment and real-time simulation based methods for improving life-cycle efficiency of non-road mobile machinery

Virtual environments and real-time simulators (VERS) are becoming more and more important tools in research and development (R&D) process of non-road mobile machinery (NRMM). The virtual prototyping techniques enable faster and more cost-efficient development of machines compared to use of real life prototypes. High energy efficiency has become an important topic in the world of NRMM because of environmental and economic demands. The objective of this thesis is to develop VERS based methods for research and development of NRMM. A process using VERS for assessing effects of human operators on the life-cycle efficiency of NRMM was developed. Human in the loop simulations are ran using an underground mining loader to study the developed process. The simulations were ran in the virtual environment of the Laboratory of Intelligent Machines of Lappeenranta University of Technology. A physically adequate real-time simulation model of NRMM was shown to be reliable and cost effective in testing of hardware components by the means of hardware-in-the-loop (HIL) simulations. A control interface connecting integrated electro-hydraulic energy converter (IEHEC) with virtual simulation model of log crane was developed. IEHEC consists of a hydraulic pump-motor and an integrated electrical permanent magnet synchronous motorgenerator. The results show that state of the art real-time NRMM simulators are capable to solve factors related to energy consumption and productivity of the NRMM. A significant variation between the test drivers is found. The results show that VERS can be used for assessing human effects on the life-cycle efficiency of NRMM. HIL simulation responses compared to that achieved with conventional simulation method demonstrate the advances and drawbacks of various possible interfaces between the simulator and hardware part of the system under study. Novel ideas for arranging the interface are successfully tested and compared with the more traditional one. The proposed process for assessing the effects of operators on the life-cycle efficiency will be applied for wider group of operators in the future. Driving styles of the operators can be analysed statistically from sufficient large result data. The statistical analysis can find the most life-cycle efficient driving style for the specific environment and machinery. The proposed control interface for HIL simulation need to be further studied. The robustness and the adaptation of the interface in different situations must be verified. The future work will also include studying the suitability of the IEHEC for different working machines using the proposed HIL simulation method.

Abnormal subcellular distribution of GLUT4 protein in obese and insulin-treated diabetic female dogs

The GLUT4 transporter plays a key role in insulin-induced glucose uptake, which is impaired in insulin resistance. The objective of the present study was to investigate the tissue content and the subcellular distribution of GLUT4 protein in 4- to 12-year-old control, obese and insulin-treated diabetic mongrel female dogs (4 animals per group). The parametrial white adipose tissue was sampled and processed to obtain both plasma membrane and microsome subcellular fractions for GLUT4 analysis by Western blotting. There was no significant difference in glycemia and insulinemia between control and obese animals. Diabetic dogs showed hyperglycemia (369.9 ± 89.9 mg/dl). Compared to control, the plasma membrane GLUT4, reported per g tissue, was reduced by 55% (P < 0.01) in obese dogs, and increased by 30% (P < 0.05) in diabetic dogs, and the microsomal GLUT4 was increased by ~45% (P < 0.001) in both obese and diabetic animals. Considering the sum of GLUT4 measured in plasma membrane and microsome as total cellular GLUT4, percent GLUT4 present in plasma membrane was reduced by ~65% (P < 0.001) in obese compared to control and diabetic animals. Since insulin stimulates GLUT4 translocation to the plasma membrane, percent GLUT4 in plasma membrane was divided by the insulinemia at the time of tissue removal and was found to be reduced by 75% (P < 0.01) in obese compared to control dogs. We conclude that the insulin-stimulated translocation of GLUT4 to the cell surface is reduced in obese female dogs. This probably contributes to insulin resistance, which plays an important role in glucose homeostasis in dogs.

Topographic distribution of the tibial somatosensory evoked potential using coherence

The objective of the present study was to determine the adequate cortical regions based on the signal-to-noise ratio (SNR) for somatosensory evoked potential (SEP) recording. This investigation was carried out using magnitude-squared coherence (MSC), a frequency domain objective response detection technique. Electroencephalographic signals were collected (International 10-20 System) from 38 volunteers, without history of neurological pathology, during somatosensory stimulation. Stimuli were applied to the right posterior tibial nerve at the rate of 5 Hz and intensity slightly above the motor threshold. Response detection was based on rejecting the null hypothesis of response absence (significance level α= 0.05 and M = 500 epochs). The best detection rates (maximum percentage of volunteers for whom the response was detected for the frequencies between 4.8 and 72 Hz) were obtained for the parietal and central leads mid-sagittal and ipsilateral to the stimulated leg: C4 (87%), P4 (82%), Cz (89%), and Pz (89%). The P37-N45 time-components of the SEP can also be observed in these leads. The other leads, including the central and parietal contralateral and the frontal and fronto-polar leads, presented low detection capacity. If only contralateral leads were considered, the centro-parietal region (C3 and P3) was among the best regions for response detection, presenting a correspondent well-defined N37; however, this was not observed in some volunteers. The results of the present study showed that the central and parietal regions, especially sagittal and ipsilateral to the stimuli, presented the best SNR in the gamma range. Furthermore, these findings suggest that the MSC can be a useful tool for monitoring purposes.

Early detection of metabolic and energy disorders by thermal time series stochastic complexity analysis

Maintenance of thermal homeostasis in rats fed a high-fat diet (HFD) is associated with changes in their thermal balance. The thermodynamic relationship between heat dissipation and energy storage is altered by the ingestion of high-energy diet content. Observation of thermal registers of core temperature behavior, in humans and rodents, permits identification of some characteristics of time series, such as autoreference and stationarity that fit adequately to a stochastic analysis. To identify this change, we used, for the first time, a stochastic autoregressive model, the concepts of which match those associated with physiological systems involved and applied in male HFD rats compared with their appropriate standard food intake age-matched male controls (n=7 per group). By analyzing a recorded temperature time series, we were able to identify when thermal homeostasis would be affected by a new diet. The autoregressive time series model (AR model) was used to predict the occurrence of thermal homeostasis, and this model proved to be very effective in distinguishing such a physiological disorder. Thus, we infer from the results of our study that maximum entropy distribution as a means for stochastic characterization of temperature time series registers may be established as an important and early tool to aid in the diagnosis and prevention of metabolic diseases due to their ability to detect small variations in thermal profile.

Experimentation on Wind Powered Hydraulic Heating System

It is common knowledge of the world’s dependency on fossil fuel for energy, its unsustainability on the long run and the changing trend towards renewable energy as an alternative energy source. This aims to cut down greenhouse gas emission and its impact on the rate of ecological and climatic change. Quite remarkably, wind energy has been one of many focus areas of renewable energy sources and has attracted lots of investment and technological advancement. The objective of this research is to explore wind energy and its application in household heating. This research aims at applying experimental approach in real time to study and verify a virtually simulated wind powered hydraulic house heating system. The hardware components comprise of an integrated hydraulic pump, flow control valve, hydraulic fluid and other hydraulic components. The system design and control applies hardware in-the-loop (HIL) simulation setup. Output signal from the semi-empirical turbine modelling controls the integrated motor to generate flow. Throttling the volume flow creates pressure drop across the valve and subsequently thermal power in the system to be outputted using a heat exchanger. Maximum thermal power is achieved by regulating valve orifice to achieve optimum system parameter. Savonius rotor is preferred for its low inertia, high starting torque and ease of design and maintenance characteristics, but lags in power efficiency. A prototype turbine design is used; with power output in range of practical Savonius turbine. The physical mechanism of the prototype turbine’s augmentation design is not known and will not be a focus in this study.

Modelling of changes in electricity end-use and their impacts on electricity distribution

The electricity distribution sector will face significant changes in the future. Increasing reliability demands will call for major network investments. At the same time, electricity end-use is undergoing profound changes. The changes include future energy technologies and other advances in the field. New technologies such as microgeneration and electric vehicles will have different kinds of impacts on electricity distribution network loads. In addition, smart metering provides more accurate electricity consumption data and opportunities to develop sophisticated load modelling and forecasting approaches. Thus, there are both demands and opportunities to develop a new type of long-term forecasting methodology for electricity distribution. The work concentrates on the technical and economic perspectives of electricity distribution. The doctoral dissertation proposes a methodology to forecast electricity consumption in the distribution networks. The forecasting process consists of a spatial analysis, clustering, end-use modelling, scenarios and simulation methods, and the load forecasts are based on the application of automatic meter reading (AMR) data. The developed long-term forecasting process produces power-based load forecasts. By applying these results, it is possible to forecast the impacts of changes on electrical energy in the network, and further, on the distribution system operator’s revenue. These results are applicable to distribution network and business planning. This doctoral dissertation includes a case study, which tests the forecasting process in practice. For the case study, the most prominent future energy technologies are chosen, and their impacts on the electrical energy and power on the network are analysed. The most relevant topics related to changes in the operating environment, namely energy efficiency, microgeneration, electric vehicles, energy storages and demand response, are discussed in more detail. The study shows that changes in electricity end-use may have radical impacts both on electrical energy and power in the distribution networks and on the distribution revenue. These changes will probably pose challenges for distribution system operators. The study suggests solutions for the distribution system operators on how they can prepare for the changing conditions. It is concluded that a new type of load forecasting methodology is needed, because the previous methods are no longer able to produce adequate forecasts.

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.

The effect of nitrate fertilization on the distribution of exported 14c-photosynthate in nodulated soybean (Glycine max (L.) Merr.) plants

Soybean (Glycine ~ (L.) Merr. cv. Harosoy 63) plants inoculated with Rhizobium japonicum were grown in vermiculite in the presence or absence of nitrate fertilization for up to 6 weeks after planting. Overall growth of nodulated plants was enhanced in the presence of nitrate fertilization, while the extent of nodule development was reduced. Although the number of nodules was not affected by nitrate fertilization when plants were grown at a light intensity limiting for photosynthesis, at light intensities approaching or exceeding the light saturation point for photosynthesis, nitrate fertilization resulted in at least a 30% reduction in nodule numbers. The mature, first trifoliate leaf of 21 day old plants was allowed to photoassimi1ate 14C02. One hour after·· the initial exposure to 14C02, the , plants were harvested and the 14C radioactivity was determined in the 80% ethanol-soluble fraction: in. o:rider to assess· "the extent of photoassimilate export and the pattern of distribution of exported 14C. The magnitude of 14C export was not affected by the presence of nitrate fertilization. However, there was a significant effect on the distribution pattern, particularly with regard to the partitioning of 14C-photosynthate between the nodules and the root tissue. In the presence of nitrate fertilization, less than 6% of the exported 14C photosynthate was recovered from the nodules, with much larger amounts (approximately 37%) being recovered from the root tissue. In the absence of nitrate fertilization, recovery of exported 14C-photosynthate from the nodules (19 to 27%) was approximately equal to that from the root tissue (24 to 33%). By initiating- or terminating the applications of nitrate at 14 days of age, it was determined that the period from day 14 to day 21 after planting was particularly significant for the development of nodules initiated earlier. Addition of nitrate fertilization at this time inhibited further nodule development while stimulating plant growth, whereas removal of nitrate fertilization stimulated nodule development. The results obtained are consistent with the hypothesis that nodule development is inhibited by nitrate fertilization through a reduction in the availability of photosynthate to the nodules.

A Case Study of Doctoral Research Assistantships: Access and Experiences of Full-Time and Part-Time Education Students

Graduate students’ development as researchers is a key objective in higher education. Research assistantships provide distinctive spaces where graduate students can be nurtured and shaped as novice researchers as they develop theoretical and methodological knowledge. However, few scholars have investigated graduate student research assistants’ experiences and the ways these experiences are influenced by institutional regulations, informal practices, and social relations. The purpose of this case-within-a-case study was to explore the research assistantship experiences of full-time and part-time doctoral students in Education at an Ontario university. I present separate subcases for full-time and part-time students, and an overarching case of research assistantships in one program at a specific period of time. The main question was how do institutional regulations, informal practices, and social relations influence full-time and part-time doctoral students’ access to and experiences within research assistantships. My objective was to draw from interviews and documents to acquire a thorough understanding of the organizational characteristics of research assistantships (i.e., structures of access, distribution, and coordination of participation) to explore the ways institutional regulations, informal practices, and social relations promote, prevent, or limit full-time and part-time students’ legitimate peripheral participation in research assistantships. Although I devoted particular attention to the ways students’ full-time and part-time status shaped their decisions, relationships, and experiences, I was conscious that other factors such as gender, age, and cultural background may have also influenced doctoral research assistant experiences.

Asymptotic Distribution of a Simple Linear Estimator for VARMA Models in Echelon Form

In this paper, we study the asymptotic distribution of a simple two-stage (Hannan-Rissanen-type) linear estimator for stationary invertible vector autoregressive moving average (VARMA) models in the echelon form representation. General conditions for consistency and asymptotic normality are given. A consistent estimator of the asymptotic covariance matrix of the estimator is also provided, so that tests and confidence intervals can easily be constructed.

Les niveaux et les facteurs déterminants de la mortalité infantile en Nouvelle-France et au début du Régime Anglais (1621-1779)

A l’époque de la Nouvelle-France, il n’était pas rare que des enfants de moins d’un an décèdent. Les parents acceptaient avec sagesse et résignation le décès de leurs enfants. Telle était la volonté du Tout-Puissant. Grâce au Registre de la Population du Québec Ancien (R.P.Q.A.) élaboré par le Programme de Recherche en Démographie Historique (P.R.D.H), l’ampleur de la mortalité infantile a pu être mesurée selon plusieurs critères, quelques facteurs déterminants examinés ainsi qu’une composante intergénérationnelle identifiée. Couvrant pour la première fois la totalité de l’existence de la colonie, nos résultats confirment l’importance de la mortalité des enfants aux XVIIe et XVIIIe siècles (entre 140 et 260‰ avant correction pour le sous-enregistrement des décès). Des disparités tangibles ont été constatées entre les sexes, selon le lieu de naissance ainsi que selon la catégorie professionnelle à laquelle appartient le père de l’enfant. L’inégalité des probabilités de survie des tout-petits reflète l’iniquité physiologique entre les genres, avec une surmortalité masculine de l’ordre de 20%, et l’influence de l’environnement dans lequel vit la famille : les petits de la ville de Québec décédaient en moyenne 1,5 à 1,2 fois plus que les petits des campagnes. Montréal, véritable hécatombe pour l’instant inexpliquée, perdait 50% de ses enfants avant l’âge d’un an, ce qui représente 1,9 fois plus de décès infantiles que ceux des enfants de la campagne, qui jouissent malgré tout des bienfaits de leur environnement. Les effets délétères de l’usage de la mise en nourrice, qui touche plus de la moitié des enfants des classes aisées citadines, ravagent leur descendance de plus en plus profondément. L’examen de la mortalité infantile sous ses composantes endogène et exogène révèle que la mortalité de causes exogènes explique au moins 70% de tous les décès infantiles. La récurrence des maladies infectieuses, l’absence d’hygiène personnelle, l’insalubrité des villes constituaient autant de dangers pour les enfants. Dans une perspective davantage familiale et intergénérationnelle où l’enfant est partie intégrante d’une fratrie, des risques significatifs ont été obtenus pour plusieurs caractéristiques déterminantes. Les mères de moins de 20 ans ou de plus de 30 ans, les enfants de rang de naissance supérieur à 8, un intervalle intergénésique inférieur à 21 mois ou avoir son aîné décédé accroissent les risques de décéder avant le premier anniversaire de l’ordre de 10 à 70%, parce que le destin d’un enfant n’est pas indépendant des caractéristiques de sa mère ou de sa fratrie. Nous avons aussi constaté une relation positive entre la mortalité infantile expérimentée par une mère et celle de ses filles. La distribution observée des filles ayant perdu au moins 40% de leurs enfants au même titre que leur mère est 1,3 à 1,9 fois plus grande que celle attendue pour les filles ayant eu 9 enfants et moins ou 10 enfants et plus. Il existerait une transmission intergénérationnelle de la mortalité infantile même lorsqu’on contrôle pour la période et la taille de la famille.

Tactical Vehicle Routing Planning with Application to Milk Collection and Distribution

De nombreux problèmes pratiques qui se posent dans dans le domaine de la logistique, peuvent être modélisés comme des problèmes de tournées de véhicules. De façon générale, cette famille de problèmes implique la conception de routes, débutant et se terminant à un dépôt, qui sont utilisées pour distribuer des biens à un nombre de clients géographiquement dispersé dans un contexte où les coûts associés aux routes sont minimisés. Selon le type de problème, un ou plusieurs dépôts peuvent-être présents. Les problèmes de tournées de véhicules sont parmi les problèmes combinatoires les plus difficiles à résoudre. Dans cette thèse, nous étudions un problème d’optimisation combinatoire, appartenant aux classes des problèmes de tournées de véhicules, qui est liée au contexte des réseaux de transport. Nous introduisons un nouveau problème qui est principalement inspiré des activités de collecte de lait des fermes de production, et de la redistribution du produit collecté aux usines de transformation, pour la province de Québec. Deux variantes de ce problème sont considérées. La première, vise la conception d’un plan tactique de routage pour le problème de la collecte-redistribution de lait sur un horizon donné, en supposant que le niveau de la production au cours de l’horizon est fixé. La deuxième variante, vise à fournir un plan plus précis en tenant compte de la variation potentielle de niveau de production pouvant survenir au cours de l’horizon considéré. Dans la première partie de cette thèse, nous décrivons un algorithme exact pour la première variante du problème qui se caractérise par la présence de fenêtres de temps, plusieurs dépôts, et une flotte hétérogène de véhicules, et dont l’objectif est de minimiser le coût de routage. À cette fin, le problème est modélisé comme un problème multi-attributs de tournées de véhicules. L’algorithme exact est basé sur la génération de colonnes impliquant un algorithme de plus court chemin élémentaire avec contraintes de ressources. Dans la deuxième partie, nous concevons un algorithme exact pour résoudre la deuxième variante du problème. À cette fin, le problème est modélisé comme un problème de tournées de véhicules multi-périodes prenant en compte explicitement les variations potentielles du niveau de production sur un horizon donné. De nouvelles stratégies sont proposées pour résoudre le problème de plus court chemin élémentaire avec contraintes de ressources, impliquant dans ce cas une structure particulière étant donné la caractéristique multi-périodes du problème général. Pour résoudre des instances de taille réaliste dans des temps de calcul raisonnables, une approche de résolution de nature heuristique est requise. La troisième partie propose un algorithme de recherche adaptative à grands voisinages où de nombreuses nouvelles stratégies d’exploration et d’exploitation sont proposées pour améliorer la performances de l’algorithme proposé en termes de la qualité de la solution obtenue et du temps de calcul nécessaire.

Modelling and Analysis of Some Time Series

The thesis deals with some of the non-linear Gaussian and non-Gaussian time models and mainly concentrated in studying the properties and application of a first order autoregressive process with Cauchy marginal distribution. In this thesis some of the non-linear Gaussian and non-Gaussian time series models and mainly concentrated in studying the properties and application of a order autoregressive process with Cauchy marginal distribution. Time series relating to prices, consumptions, money in circulation, bank deposits and bank clearing, sales and profit in a departmental store, national income and foreign exchange reserves, prices and dividend of shares in a stock exchange etc. are examples of economic and business time series. The thesis discuses the application of a threshold autoregressive(TAR) model, try to fit this model to a time series data. Another important non-linear model is the ARCH model, and the third model is the TARCH model. The main objective here is to identify an appropriate model to a given set of data. The data considered are the daily coconut oil prices for a period of three years. Since it is a price data the consecutive prices may not be independent and hence a time series based model is more appropriate. In this study the properties like ergodicity, mixing property and time reversibility and also various estimation procedures used to estimate the unknown parameters of the process.

STUDIES ON TAXONOMY, DISTRIBUTION, ECOLOGY AND REPRODUCTIVE POTENTIAL OF ROTIFERS FROM SELECTED CENTRES IN COCHIN BACKWATER SYSTEM, KERALA

The studies were conducted in nine stations with varying ecological characteristics along Cochin backwaters and adjoining canals. Many workers opined that the distribution of rotifers is cosmopolitan. The significance of rotifers as first food for early larvae was indicated by Fujita. Aquaculture is a fast growing field in fisheries sector and it is gaining more importance as the fish landings and supply are getting irregular. A consistent supply of fish/shellfish can only be achieved through aquaculture. The success of any culture activity depends on the timely production of seeds of finfishes/shellfishes. The availability of wild seed is seasonal and erratic. So, a dependable source of seed of fishes and shellfishes is possible only through large scale production in hatchery. A successful seed production activity depends on the availability of a variety of suitable live feed organisms in sufficient quantities at the proper time for use in the larval stages. As the live feeds promote high growth rates, easy digestion, assimilation and the quality of not contaminating the culture water when compared to other artificial feeds, make the culture of live feed organisms the principal means of providing food for the larvae of finfishes and shellfishes. Rotifers are considered to be an excellent and indispensable food for larvae of many finfishes and crustaceans. It (1960) was the first to culture Brachionus plicatilis for feeding marine fish larvae, and now it is being extensively used as live feed in hatcheries all over the world. They are a group of microscopic organisms coming under the Phylum Rotifera which comprises of about 2000 species. Their slow swimming habits, ability to tolerate a wide range of salinities, parthenogenetic mode of reproduction and ability to get enriched easily, make rotifers an ideal live feed organism. The major factors such as temperature, salinity and food that influence the reproductive potential and thereby the population size of rotifer, Salinity is one of the most important aspect influencing the reproductive rate of rotifers. The feed type and feed concentration play a vital role in influencing the reproductive rate of rotifers. For culture of rotifers, the commonly used micro algae belong to Chlorella, Nannochloropsis, Isochrysis and Tetraselmis. While some studies have suggested that, algal diet has little effect on reproductive rates in 1979 while using the rotifer, Brachionus plicatilis as feed for the larvae of red sea bream, Pagrus major. It is generally accepted that rotifers play a pivotal role in the successful rearing of marine fish larvae.

Twin peak distribution of electron emission profile and impact ionization of ambient molecules during laser ablation of silver target

Laser-induced plasma generated from a silver target under partial vacuum conditions using the fundamental output of nanosecond duration from a pulsed Nd:yttrium aluminum garnet laser is studied using a Langmuir probe. The time of flight measurements show a clear twin peak distribution in the temporal profile of electron emission. The first peak has almost the same duration as the laser pulse while the second lasts for several microseconds. The prompt electrons are energetic enough ('60 eV) to ionize the ambient gas molecules or atoms. The use of prompt electron pulses as sources for electron impact excitation is demonstrated by taking nitrogen, carbon dioxide, and argon as ambient gases.