New horizons for black holes and branes

We initiate a systematic scan of the landscape of black holes in any spacetime dimension using the recently proposed blackfold effective worldvolume theory. We focus primarily on asymptotically flat stationary vacuum solutions, where we uncover large classes of new black holes. These include helical black strings and black rings, black odd-spheres, for which the horizon is a product of a large and a small sphere, and non-uniform black cylinders. More exotic possibilities are also outlined. The blackfold description recovers correctly the ultraspinning Myers-Perry black holes as ellipsoidal even-ball configurations where the velocity field approaches the speed of light at the boundary of the ball. Helical black ring solutions provide the first instance of asymptotically flat black holes in more than four dimensions with a single spatial U(1) isometry. They also imply infinite rational non-uniqueness in ultraspinning regimes, where they maximize the entropy among all stationary single-horizon solutions. Moreover, static blackfolds are possible with the geometry of minimal surfaces. The absence of compact embedded minimal surfaces in Euclidean space is consistent with the uniqueness theorem of static black holes

Oxygen-isotope thermometry of quartz-calcite veins - Unraveling the thermal-tectonic history of the subgreenschist facies Morcles nappe (Swiss Alps)

Combined structural analysis and oxygen isotope thermometry of syntectonic quartz-calcite fibrous veins can be used to correlate the thermal history of deformed rocks,vith specific structural and tectonic events. Results are presented for the Mercies nappe in the western Helvetic Alps, Switzerland, where mineral parageneses, illite `'crystallinity,'' and fluid inclusion chemistry record an apparent peak metamorphic temperature gradient that increased across the Morcles nappe from anchizonal conditions in the foreland to epizonal conditions in its hinterland root zone. Twenty-seven quartz-calcite veins were analyzed in this study in order to determine the temperatures of veining during formation and deformation of the nappe, Peak metamorphic temperatures ranged from approximate to 260 to 290 degrees C in the shallower, foreland localities and to approximate to 330 to 350 degrees C in the deeper, more hinterland localities at the end of S1-foliation formation, related to large-scale folding. Temperatures gradually decreased throughout the nappe during subsequent development of the S2 foliation and S3 crenulation cleavage, Uplift and erosion of the overlying nappe pile resulted in slow cooling of the Morcles nappe during the waning stages of the Alpine Orogeny. The dominant foliation-forming deformation of the Morcles nappe occurred at elevated temperatures over the course of 10 to 15 Ma. Combined structure-oxygen isotope analyses of quartz-calcite veins yield better temperature and temporal constraints on the thermal histories of subgreenschist vein-bearing tectonites than do other geothermometers.

Inferring the mode of origin of polyploid species from next-generation sequence data.

Many eukaryote organisms are polyploid. However, despite their importance, evolutionary inference of polyploid origins and modes of inheritance has been limited by a need for analyses of allele segregation at multiple loci using crosses. The increasing availability of sequence data for nonmodel species now allows the application of established approaches for the analysis of genomic data in polyploids. Here, we ask whether approximate Bayesian computation (ABC), applied to realistic traditional and next-generation sequence data, allows correct inference of the evolutionary and demographic history of polyploids. Using simulations, we evaluate the robustness of evolutionary inference by ABC for tetraploid species as a function of the number of individuals and loci sampled, and the presence or absence of an outgroup. We find that ABC adequately retrieves the recent evolutionary history of polyploid species on the basis of both old and new sequencing technologies. The application of ABC to sequence data from diploid and polyploid species of the plant genus Capsella confirms its utility. Our analysis strongly supports an allopolyploid origin of C. bursa-pastoris about 80 000 years ago. This conclusion runs contrary to previous findings based on the same data set but using an alternative approach and is in agreement with recent findings based on whole-genome sequencing. Our results indicate that ABC is a promising and powerful method for revealing the evolution of polyploid species, without the need to attribute alleles to a homeologous chromosome pair. The approach can readily be extended to more complex scenarios involving higher ploidy levels.

Local optima networks of hard combinatorial landscapes

Combinatorial optimization involves finding an optimal solution in a finite set of options; many everyday life problems are of this kind. However, the number of options grows exponentially with the size of the problem, such that an exhaustive search for the best solution is practically infeasible beyond a certain problem size. When efficient algorithms are not available, a practical approach to obtain an approximate solution to the problem at hand, is to start with an educated guess and gradually refine it until we have a good-enough solution. Roughly speaking, this is how local search heuristics work. These stochastic algorithms navigate the problem search space by iteratively turning the current solution into new candidate solutions, guiding the search towards better solutions. The search performance, therefore, depends on structural aspects of the search space, which in turn depend on the move operator being used to modify solutions. A common way to characterize the search space of a problem is through the study of its fitness landscape, a mathematical object comprising the space of all possible solutions, their value with respect to the optimization objective, and a relationship of neighborhood defined by the move operator. The landscape metaphor is used to explain the search dynamics as a sort of potential function. The concept is indeed similar to that of potential energy surfaces in physical chemistry. Borrowing ideas from that field, we propose to extend to combinatorial landscapes the notion of the inherent network formed by energy minima in energy landscapes. In our case, energy minima are the local optima of the combinatorial problem, and we explore several definitions for the network edges. At first, we perform an exhaustive sampling of local optima basins of attraction, and define weighted transitions between basins by accounting for all the possible ways of crossing the basins frontier via one random move. Then, we reduce the computational burden by only counting the chances of escaping a given basin via random kick moves that start at the local optimum. Finally, we approximate network edges from the search trajectory of simple search heuristics, mining the frequency and inter-arrival time with which the heuristic visits local optima. Through these methodologies, we build a weighted directed graph that provides a synthetic view of the whole landscape, and that we can characterize using the tools of complex networks science. We argue that the network characterization can advance our understanding of the structural and dynamical properties of hard combinatorial landscapes. We apply our approach to prototypical problems such as the Quadratic Assignment Problem, the NK model of rugged landscapes, and the Permutation Flow-shop Scheduling Problem. We show that some network metrics can differentiate problem classes, correlate with problem non-linearity, and predict problem hardness as measured from the performances of trajectory-based local search heuristics.

Metsäkonetuotannon hitsauksen robotisointi

Diplomityön tavoitteena oli selvittää robottihitsauksen antamat mahdollisuudet metsäkoneen runkorakenteiden hitsauksessa. Työn teoriaosassa selvitettiin kaarihitsauksen automatisointia ja sen tuomia etuja manuaaliseen hitsaukseen verrattuna. Työssä käytiin läpi kaarihitsauksen automatisointiinsoveltuvat robottivaihtoehdot, nykyaikaisen robotin hitsausvarustus, sekä kappaleenkäsittelylaitteet ja robotisoidun käytön turvallisuus. Hitsauksen robotisointiin soveltuvat eri hitsausmenetelmät ja perinteisten menetelmien tehostamiskeinot käytiin lävitse teoriaosuudessa. Hitsaustuotannon laatuun vaikuttavia asioitaja robottihitsattavan kappaleen suunnittelun huomioonottamista tuotesuunnittelussa tarkasteltiin myös työn teoriaosuudessa. Käytännön osiossa tarkasteltiin robotilla hitsattavat tuotteet ja tehtiin niille luoksepäästävyystarkasteluja. Laadittiin vaatimusluettelo tarvittavalle hitsausrobottilaitteistolle ja mallinnettiin erilaisia vaihtoehtoisia ratkaisuja hitsausrobottiympäristöstä kaarihitsauksen graafista simulointiohjelmaa käyttäen. Vertailtiin eri laitetoimittajilta saatuja 'avaimet käteen'- periaatteella tarjottuja ratkaisuja janiiden vastaavuutta laadittuun vaatimusluetteloon sekä eri laiteratkaisujen keskinäistä paremmuutta kyseiseen tapaukseen. Päätuotteille määritettiin hitsausajat ja selvitettiin laitteiston hitsauskapasiteettia. Investoinnin taloudellista kannattavuutta tarkasteltiin eri laskentamenetelmien avulla. Lopuksi arvioitiin hitsaustuotannon jatkokehitystarpeita tulevaisuutta ajatellen.

Carbon-isotope stratigraphy of the Liesberg Beds Member (Oxfordian, Swiss Jura) using echinoids and crinoids

The Liesberg Beds form the transition between the lower Oxfordian dark coloured marls (Renggeri Member and the Terrain a Chailles Member) and the middle Oxfordian reefal limestones (St-Ursanne Formation). Both lithofacies and biofacies are diverse and evolve rapidly up-section. Stable isotope studies of whole-rock samples are therefore excluded. In search for a convenient isotopic marker, we measured carbon isotope compositions of several fossil groups and chose crinoid stems of Millericrinus spp and echinoid spines of Paracidaris spp because of their abundance throughout the section and the small variations of delta(13)C within one fossil and between fossils from the same stratigraphic level. The delta(13)C values of echinoderms largely reflect earliest diagenetic conditions at the seawatersediment interface. The porous stereome structure secreted of high Mg-calcite by echinoderms has a high reactive surface/volume ratio, which triggers the precipitation of very early syntaxial cements. In the four studied sections reproducible carbon isotope shifts were observed both for Millericrinus spp stems and Paracidaris spp spines. A negative delta(13)C shift of 1-1.5 parts per thousand was observed near the base of the section, just above the transition from Terrain a Chailles Member, where the first corals occur. In the middle and upper part of the four sections, characterised by a stepwise increase of corals and the macrofossils, a positive delta(13)C Shift of about 2 parts per thousand was observed. Despite the highly variable lithologic composition of the Liesberg Beds;Member, carbon isotope shifts seem to be consistent and warrant an interpretation as an original signal, controlled by the isotopic composition of dissolved carbonic acid in seawater. We explain the heavy delta(13)C values (approximate to 2-2.3 parts per thousand) in the lower Liesberg Beds as a transition from an oxygen-limited environment (Terrain a Chailles Member) to the Liesberg Beds Member. The lowest delta(13)C values (approximate to 1-1.5 parts per thousand) correspond to a large input of dissolved nutrients to the platform under oxidizing conditions. The ensuing positive shift (between 2.5 and 3.5 parts per thousand), however, seems to correspond to a general trend of opening up of the platform and connection to open marine waters. Positive delta(13)C values in the upper Liesberg Beds is interpreted as a result of important accelareted extraction of organic carbon from the ocean reservoir, that occurred possibly during periods of warm and humid climate.

Increasing the efficiency of disparity computation by interpolation

Tässä diplomityössä tutkitaan dispariteettikartan laskennan tehostamista interpoloimalla. Kolmiomittausta käyttämällä stereokuvasta muodostetaan ensin harva dispariteettikartta, jonka jälkeen koko kuvan kattava dispariteettikartta muodostetaan interpoloimalla. Kolmiomittausta varten täytyy tietää samaa reaalimaailman pistettä vastaavat kuvapisteet molemmissa kameroissa. Huolimatta siitä, että vastaavien pisteiden hakualue voidaan pienentää kahdesta ulottuvuudesta yhteen ulottuvuuteen käyttämällä esimerkiksi epipolaarista geometriaa, on laskennallisesti tehokkaampaa määrittää osa dispariteetikartasta interpoloimalla, kuin etsiä vastaavia kuvapisteitä stereokuvista. Myöskin johtuen stereonäköjärjestelmän kameroiden välisestä etäisyydestä, kaikki kuvien pisteet eivät löydy toisesta kuvasta. Näin ollen on mahdotonta määrittää koko kuvan kattavaa dispariteettikartaa pelkästään vastaavista pisteistä. Vastaavien pisteiden etsimiseen tässä työssä käytetään dynaamista ohjelmointia sekä korrelaatiomenetelmää. Reaalimaailman pinnat ovat yleisesti ottaen jatkuvia, joten geometrisessä mielessä on perusteltua approksimoida kuvien esittämiä pintoja interpoloimalla. On myöskin olemassa tieteellistä näyttöä, jonkamukaan ihmisen stereonäkö interpoloi objektien pintoja.

Maakaasun reaalisuuskertoimen määrittäminen

Tässä työssä tutkitaan venäläisen maakaasun reaalisuuskertoimen arvoa painealueella 70-230bar ja lämpötiloissa 0-77°C. Kaasun reaalisuuskertoimella kompensoidaan todellisen kaasun p-V-T suhteiden poikkeamaa ideaalikaasun tilayhtälöön verrattuna. Reaalisuuskertoimella on vaikutusta kaasun ennakoituun käyttäytymiseen etenkin korkeissa paineissa ja matalissa lämpötiloissa. Työhön sisältyy niin teoreettinen kuin kokeellinenkin osuus. Työn aluksi selvitetään muutamia peruskäsitteitä, sekä ideaalikaasun tilayhtälöä ja kineettistä kaasuteoriaa. Tämän jälkeen tarkastellaan teoreettisia reaalisuuskertoimen määrittämiseen käytettäviä laskentakaavoja, sekä niiden antamia reaalisuuskertoimen arvoja. Myös seoskomponenttien, kuten typen, hiilidioksidin, etaanin ja propaanin vaikutusta kaasuseoksen reaalisuuskertoimen arvoon tutkitaan. Kokeellisessa osassa mitataan reaalisuuskertoimen arvoja erikseen työtä varten suunnitellun laitteiston avulla.

Analysis of a finite volume method for a cross-diffusion model in population dynamics

The main goal of this paper is to propose a convergent finite volume method for a reactionâeuro"diffusion system with cross-diffusion. First, we sketch an existence proof for a class of cross-diffusion systems. Then the standard two-point finite volume fluxes are used in combination with a nonlinear positivity-preserving approximation of the cross-diffusion coefficients. Existence and uniqueness of the approximate solution are addressed, and it is also shown that the scheme converges to the corresponding weak solution for the studied model. Furthermore, we provide a stability analysis to study pattern-formation phenomena, and we perform two-dimensional numerical examples which exhibit formation of nonuniform spatial patterns. From the simulations it is also found that experimental rates of convergence are slightly below second order. The convergence proof uses two ingredients of interest for various applications, namely the discrete Sobolev embedding inequalities with general boundary conditions and a space-time $L^1$ compactness argument that mimics the compactness lemma due to Kruzhkov. The proofs of these results are given in the Appendix.

Strategic investment appraisal; extended real options approach

Tutkielma keskittyy lisäämään investointiarviointiprosessien rationaalisuutta strategisten investointien arvioinnissa duopoli- / oligopolimarkkinoilla. Tutkielman päätavoitteena on selvittää kuinka peliteorialla laajennettu reaalioptioperusteinen investointien arviointimenetelmä, laajennettu reaalioptiokehikko, voisi mahdollisesti parantaa analyysien tarkkuutta. Tutkimus lähestyy ongelmaa investoinnin ajoituksen sekä todellisten investoinnin arvoattribuuttien riippuvuuksien kautta. Laajennettu reaalioptiokehikko on investointien analysointi- ja johtamistyökalu, joka tarjoaa osittain rajoitetun (sisältää tällä hetkellä ainoastaan parametrisen ja peliteoreettisen epävarmuuden) optimaalisen arvovälin investoinnin todellisesta arvosta. Kehikossa, ROA kartoittaa mahdolliset strategiset hyödyt tunnistamalla investointiinliittyvät eri optiot ja epävarmuudet, peliteoria korostaa ympäristön luomia paineita investointiin liittyvän epävarmuuden hallitsemisessa. Laajennettu reaalioptiokehikko tarjoaa rationaalisemman arvion strategisen investoinnin arvosta, koska se yhdistää johdonmukaisemmin option toteutuksen ja siten myös optioiden aika-arvon, yrityksen todellisiin rajoitettuihin (rajoituksena muiden markkinatoimijoiden toimet) polkuriippuvaisiin kyvykkyyksiin.

An active strain electromechanical model for cardiac tissue

We propose a finite element approximation of a system of partial differential equations describing the coupling between the propagation of electrical potential and large deformations of the cardiac tissue. The underlying mathematical model is based on the active strain assumption, in which it is assumed that a multiplicative decomposition of the deformation tensor into a passive and active part holds, the latter carrying the information of the electrical potential propagation and anisotropy of the cardiac tissue into the equations of either incompressible or compressible nonlinear elasticity, governing the mechanical response of the biological material. In addition, by changing from an Eulerian to a Lagrangian configuration, the bidomain or monodomain equations modeling the evolution of the electrical propagation exhibit a nonlinear diffusion term. Piecewise quadratic finite elements are employed to approximate the displacements field, whereas for pressure, electrical potentials and ionic variables are approximated by piecewise linear elements. Various numerical tests performed with a parallel finite element code illustrate that the proposed model can capture some important features of the electromechanical coupling, and show that our numerical scheme is efficient and accurate.

Studies on integrating kinematic design method with mechanical systems simulation techniques

Theultimate goal of any research in the mechanism/kinematic/design area may be called predictive design, ie the optimisation of mechanism proportions in the design stage without requiring extensive life and wear testing. This is an ambitious goal and can be realised through development and refinement of numerical (computational) technology in order to facilitate the design analysis and optimisation of complex mechanisms, mechanical components and systems. As a part of the systematic design methodology this thesis concentrates on kinematic synthesis (kinematic design and analysis) methods in the mechanism synthesis process. The main task of kinematic design is to find all possible solutions in the form of structural parameters to accomplish the desired requirements of motion. Main formulations of kinematic design can be broadly divided to exact synthesis and approximate synthesis formulations. The exact synthesis formulation is based in solving n linear or nonlinear equations in n variables and the solutions for the problem areget by adopting closed form classical or modern algebraic solution methods or using numerical solution methods based on the polynomial continuation or homotopy. The approximate synthesis formulations is based on minimising the approximation error by direct optimisation The main drawbacks of exact synthesis formulationare: (ia) limitations of number of design specifications and (iia) failure in handling design constraints- especially inequality constraints. The main drawbacks of approximate synthesis formulations are: (ib) it is difficult to choose a proper initial linkage and (iib) it is hard to find more than one solution. Recentformulations in solving the approximate synthesis problem adopts polynomial continuation providing several solutions, but it can not handle inequality const-raints. Based on the practical design needs the mixed exact-approximate position synthesis with two exact and an unlimited number of approximate positions has also been developed. The solutions space is presented as a ground pivot map but thepole between the exact positions cannot be selected as a ground pivot. In this thesis the exact synthesis problem of planar mechanism is solved by generating all possible solutions for the optimisation process ¿ including solutions in positive dimensional solution sets - within inequality constraints of structural parameters. Through the literature research it is first shown that the algebraic and numerical solution methods ¿ used in the research area of computational kinematics ¿ are capable of solving non-parametric algebraic systems of n equations inn variables and cannot handle the singularities associated with positive-dimensional solution sets. In this thesis the problem of positive-dimensional solutionsets is solved adopting the main principles from mathematical research area of algebraic geometry in solving parametric ( in the mathematical sense that all parameter values are considered ¿ including the degenerate cases ¿ for which the system is solvable ) algebraic systems of n equations and at least n+1 variables.Adopting the developed solution method in solving the dyadic equations in direct polynomial form in two- to three-precision-points it has been algebraically proved and numerically demonstrated that the map of the ground pivots is ambiguousand that the singularities associated with positive-dimensional solution sets can be solved. The positive-dimensional solution sets associated with the poles might contain physically meaningful solutions in the form of optimal defectfree mechanisms. Traditionally the mechanism optimisation of hydraulically driven boommechanisms is done at early state of the design process. This will result in optimal component design rather than optimal system level design. Modern mechanismoptimisation at system level demands integration of kinematic design methods with mechanical system simulation techniques. In this thesis a new kinematic design method for hydraulically driven boom mechanism is developed and integrated in mechanical system simulation techniques. The developed kinematic design method is based on the combinations of two-precision-point formulation and on optimisation ( with mathematical programming techniques or adopting optimisation methods based on probability and statistics ) of substructures using calculated criteria from the system level response of multidegree-of-freedom mechanisms. Eg. by adopting the mixed exact-approximate position synthesis in direct optimisation (using mathematical programming techniques) with two exact positions and an unlimitednumber of approximate positions the drawbacks of (ia)-(iib) has been cancelled.The design principles of the developed method are based on the design-tree -approach of the mechanical systems and the design method ¿ in principle ¿ is capable of capturing the interrelationship between kinematic and dynamic synthesis simultaneously when the developed kinematic design method is integrated with the mechanical system simulation techniques.

Theoretical Analysis and Simulations of Vertically Vibrated Granular Materials

The dynamical properties ofshaken granular materials are important in many industrial applications where the shaking is used to mix, segregate and transport them. In this work asystematic, large scale simulation study has been performed to investigate the rheology of dense granular media, in the presence of gas, in a three dimensional vertical cylinder filled with glass balls. The base wall of the cylinder is subjected to sinusoidal oscillation in the vertical direction. The viscoelastic behavior of glass balls during a collision, have been studied experimentally using a modified Newton's Cradle device. By analyzing the results of the measurements, using numerical model based on finite element method, the viscous damping coefficient was determinedfor the glass balls. To obtain detailed information about the interparticle interactions in a shaker, a simplified model for collision between particles of a granular material was proposed. In order to simulate the flow of surrounding gas, a formulation of the equations for fluid flow in a porous medium including particle forces was proposed. These equations are solved with Large Eddy Simulation (LES) technique using a subgrid-model originally proposed for compressible turbulent flows. For a pentagonal prism-shaped container under vertical vibrations, the results show that oscillon type structures were formed. Oscillons are highly localized particle-like excitations of the granular layer. This self-sustaining state was named by analogy with its closest large-scale analogy, the soliton, which was first documented by J.S. Russell in 1834. The results which has been reportedbyBordbar and Zamankhan(2005b)also show that slightly revised fluctuation-dissipation theorem might apply to shaken sand, which appears to be asystem far from equilibrium and could exhibit strong spatial and temporal variations in quantities such as density and local particle velocity. In this light, hydrodynamic type continuum equations were presented for describing the deformation and flow of dense gas-particle mixtures. The constitutive equation used for the stress tensor provides an effective viscosity with a liquid-like character at low shear rates and a gaseous-like behavior at high shear rates. The numerical solutions were obtained for the aforementioned hydrodynamic equations for predicting the flow dynamics ofdense mixture of gas and particles in vertical cylindrical containers. For a heptagonal prism shaped container under vertical vibrations, the model results were found to predict bubbling behavior analogous to those observed experimentally. This bubbling behavior may be explained by the unusual gas pressure distribution found in the bed. In addition, oscillon type structures were found to be formed using a vertically vibrated, pentagonal prism shaped container in agreement with computer simulation results. These observations suggest that the pressure distribution plays a key rolein deformation and flow of dense mixtures of gas and particles under vertical vibrations. The present models provide greater insight toward the explanation of poorly understood hydrodynamic phenomena in the field of granular flows and dense gas-particle mixtures. The models can be generalized to investigate the granular material-container wall interactions which would be an issue of high interests in the industrial applications. By following this approach ideal processing conditions and powder transport can be created in industrial systems.

On Modelling, System Identification and Control of Servo-Systems with a Flexible Load

The present study was done with two different servo-systems. In the first system, a servo-hydraulic system was identified and then controlled by a fuzzy gainscheduling controller. The second servo-system, an electro-magnetic linear motor in suppressing the mechanical vibration and position tracking of a reference model are studied by using a neural network and an adaptive backstepping controller respectively. Followings are some descriptions of research methods. Electro Hydraulic Servo Systems (EHSS) are commonly used in industry. These kinds of systems are nonlinearin nature and their dynamic equations have several unknown parameters.System identification is a prerequisite to analysis of a dynamic system. One of the most promising novel evolutionary algorithms is the Differential Evolution (DE) for solving global optimization problems. In the study, the DE algorithm is proposed for handling nonlinear constraint functionswith boundary limits of variables to find the best parameters of a servo-hydraulic system with flexible load. The DE guarantees fast speed convergence and accurate solutions regardless the initial conditions of parameters. The control of hydraulic servo-systems has been the focus ofintense research over the past decades. These kinds of systems are nonlinear in nature and generally difficult to control. Since changing system parameters using the same gains will cause overshoot or even loss of system stability. The highly non-linear behaviour of these devices makes them ideal subjects for applying different types of sophisticated controllers. The study is concerned with a second order model reference to positioning control of a flexible load servo-hydraulic system using fuzzy gainscheduling. In the present research, to compensate the lack of dampingin a hydraulic system, an acceleration feedback was used. To compare the results, a pcontroller with feed-forward acceleration and different gains in extension and retraction is used. The design procedure for the controller and experimental results are discussed. The results suggest that using the fuzzy gain-scheduling controller decrease the error of position reference tracking. The second part of research was done on a PermanentMagnet Linear Synchronous Motor (PMLSM). In this study, a recurrent neural network compensator for suppressing mechanical vibration in PMLSM with a flexible load is studied. The linear motor is controlled by a conventional PI velocity controller, and the vibration of the flexible mechanism is suppressed by using a hybrid recurrent neural network. The differential evolution strategy and Kalman filter method are used to avoid the local minimum problem, and estimate the states of system respectively. The proposed control method is firstly designed by using non-linear simulation model built in Matlab Simulink and then implemented in practical test rig. The proposed method works satisfactorily and suppresses the vibration successfully. In the last part of research, a nonlinear load control method is developed and implemented for a PMLSM with a flexible load. The purpose of the controller is to track a flexible load to the desired position reference as fast as possible and without awkward oscillation. The control method is based on an adaptive backstepping algorithm whose stability is ensured by the Lyapunov stability theorem. The states of the system needed in the controller are estimated by using the Kalman filter. The proposed controller is implemented and tested in a linear motor test drive and responses are presented.

A mathematical study of fuzzy logic; an algebraic approach

Fuzzy set theory and Fuzzy logic is studied from a mathematical point of view. The main goal is to investigatecommon mathematical structures in various fuzzy logical inference systems and to establish a general mathematical basis for fuzzy logic when considered as multi-valued logic. The study is composed of six distinct publications. The first paper deals with Mattila'sLPC+Ch Calculus. THis fuzzy inference system is an attempt to introduce linguistic objects to mathematical logic without defining these objects mathematically.LPC+Ch Calculus is analyzed from algebraic point of view and it is demonstratedthat suitable factorization of the set of well formed formulae (in fact, Lindenbaum algebra) leads to a structure called ET-algebra and introduced in the beginning of the paper. On its basis, all the theorems presented by Mattila and many others can be proved in a simple way which is demonstrated in the Lemmas 1 and 2and Propositions 1-3. The conclusion critically discusses some other issues of LPC+Ch Calculus, specially that no formal semantics for it is given.In the second paper the characterization of solvability of the relational equation RoX=T, where R, X, T are fuzzy relations, X the unknown one, and o the minimum-induced composition by Sanchez, is extended to compositions induced by more general products in the general value lattice. Moreover, the procedure also applies to systemsof equations. In the third publication common features in various fuzzy logicalsystems are investigated. It turns out that adjoint couples and residuated lattices are very often present, though not always explicitly expressed. Some minor new results are also proved.The fourth study concerns Novak's paper, in which Novak introduced first-order fuzzy logic and proved, among other things, the semantico-syntactical completeness of this logic. He also demonstrated that the algebra of his logic is a generalized residuated lattice. In proving that the examination of Novak's logic can be reduced to the examination of locally finite MV-algebras.In the fifth paper a multi-valued sentential logic with values of truth in an injective MV-algebra is introduced and the axiomatizability of this logic is proved. The paper developes some ideas of Goguen and generalizes the results of Pavelka on the unit interval. Our proof for the completeness is purely algebraic. A corollary of the Completeness Theorem is that fuzzy logic on the unit interval is semantically complete if, and only if the algebra of the valuesof truth is a complete MV-algebra. The Compactness Theorem holds in our well-defined fuzzy sentential logic, while the Deduction Theorem and the Finiteness Theorem do not. Because of its generality and good-behaviour, MV-valued logic can be regarded as a mathematical basis of fuzzy reasoning. The last paper is a continuation of the fifth study. The semantics and syntax of fuzzy predicate logic with values of truth in ana injective MV-algerba are introduced, and a list of universally valid sentences is established. The system is proved to be semanticallycomplete. This proof is based on an idea utilizing some elementary properties of injective MV-algebras and MV-homomorphisms, and is purely algebraic.