Design of flywheel generator for a diesel hybrid working machine

The aim of this work is to design a flywheel generator for a diesel hybrid working machine. In this work we perform detailed design of a generator. Mobile machines are commonly used in industry: road building machines, three harvesting machines, boring machines, trucks and other equipment. These machines work with a hydraulic drive system. This system provides good service property and high technical level. Manufacturers of mobile machines tend to satisfy all requirements of customers and modernized drive system. In this work also a description of the frequency inverter is present. Power electronics system is one of the basic parts for structures perform in the project.

Hybridityökoneiden markkinapotentiaali

Työn tavoitteena on selvittää menetelmiä hybridityökoneiden markkinapotentiaalin määrittämiseen, työkonemarkkinoiden kokoa ja kasvupotentiaalia, hybridityökoneiden markkinapotentiaalia sekä uuden teknologian kaupallistamisen teorioita. Vuonna 2010 liikkuvien työkoneiden markkinat arvioitiin olevan noin 94–98 miljardia dollaria. Markkinat kasvavat keskimäärin noin 5 prosenttia vuodessa. Alan suurimmat markkinat löytyvät Kiinasta, Euroopasta ja Yhdysvalloista.Hybridityökoneiden markkinapotentiaalia Kiinassa nostaa markkinoiden suuri koko ja nopea kasvuvauhti. Yhdysvaltojen valtti on tukijärjestelmät jotka parantavat hybridiratkaisujen kilpailukykyä. Euroopan potentiaalia nostavat tiukat päästönormit sekä korkea polttoaineen hinta. Markkinapotentiaalin määrittämisen on olemassa useita matemaattisia menetelmiä. Niiden soveltamista hybridityökoneisiin rajoittaa eniten riittävän datan hankinnan haasteellisuus. Vertailemalla yrityksiä teknologian kaupallistamisen teorioissa esiteltyjen menestystä edistävien piirteiden suhteen on teknisen ratkaisun kehittäjän mahdollista valita paras mahdollinen yhteistyökumppani. Soveltamalla kaupallistamisprosessissa kurinalaista mallia, johon kuuluvat sekä teknologiaettä tuotekehitys ja niiden välillä teknologiansiirtovaihe, on teknisen ratkaisun soveltaminen hybriditeknologiaan ja työkoneisiin mahdollista toteuttaa onnistuneesti ja tuoda siten markkinoille kaupallisesti kilpailukykyinen tuote.

Luistonestojärjestelmän ja elektronisen tasauspyörästön testaus ja implementointi hybridityökoneympäristöön

Työssä toteutettiin C-kielellä luistonestojärjestelmä ja elektroninen tasauspyörästö Simulinkmallien pohjalta hybridityökoneeseen. Hybridityökoneen sähkökäytöt mahdollistavat tarkan vääntömomentin säädön, joka mahdollistaa työssä kuvatun kaltaisen järjestelmän toteuttamisen. Toteutettua järjestelmää simuloitiin MeVEA Oy:n ajoneuvomallinnukseen kehitetyssä simulaattorissa. Lisäksi järjestelmästä kehitettiin Visedo Oy:n sähkökäyttösimulaattoriin sopiva versio, jota testattiin Visedon sähkökäyttöjä simuloivan ohjelman kanssa. Simulointituloksien mukaan luistonesto estää vetäviä pyöriä luistamasta liukkaalla alustalla eikä toisaalta vähennä aiheetta kuljettajan asettamaa vääntömomenttia. Myös sähköinen tasauspyörästö toimi kuten oli suunniteltu. Työssä kehitetty luistonesto tarvitsee toimiakseen tiedon ajoneuvon kokonaismassasta, joten työssä kehitettiin myös tapa ajoneuvon massan estimoimiseksi ajoneuvon kiihdyttäessä. Massan estimointia testattiin pitävällä ja liukkaalla alustalla. Massan estimointi toimi simulaattoriympäristössä hyvällä tarkkuudella.

Electrical machine in a Hybrid Electrical Vehicle

Hybrid electric vehicles (HEV) have attracted very much attention during the latest years. Increasing environmental concern and an increase in fuel prices are key factors for the growing interest towards the HEV. In a hybrid electric vehicle the power train consists of both a mechanical power system and an electric power transmission system. The major subsystems in the mechanical power system are the internal combustion engine which powers the vehicle; electric power transmission including an energy storage, power electronic inverter, hybrid control system; the electric motor drive that runs either in the generating mode or in the motoring mode to process the power flow between the energy storage and the electrical machine. This research includes two advanced electric motors for a parallel hybrid: induction machine and permanent magnets synchronous machine. In the thesis an induction motor and a permanent magnet motor are compared as propulsion motors. Electric energy storages are also studied.

Energy Efficiency of a Diesel-Electric MobileWorking Machine

The power demand of many mobile working machines such as mine loaders, straddle carriers and harvesters varies significantly during operation, and typically, the average power demand of a working machine is considerably lower than the demand for maximum power. Consequently, for most of the time, the diesel engine of a working machine operates at a poor efficiency far from its optimum efficiency range. However, the energy efficiency of dieseldriven working machines can be improved by electric hybridization. This way, the diesel engine can be dimensioned to operate within its optimum efficiency range, and the electric drive with its energy storages responds to changes in machine loading. A hybrid working machine can be implemented in many ways either as a parallel hybrid, a series hybrid or a combination of these two. The energy efficiency of hybrid working machines can be further enhanced by energy recovery and reuse. This doctoral thesis introduces the component models required in the simulation model of a working machine. Component efficiency maps are applied to the modelling; the efficiency maps for electrical machines are determined analytically in the whole torque–rotational speed plane based on the electricalmachine parameters. Furthermore, the thesis provides simulation models for parallel, series and parallel-series hybrid working machines. With these simulation models, the energy consumption of the working machine can be analysed. In addition, the hybridization process is introduced and described. The thesis provides a case example of the hybridization and dimensioning process of a working machine, starting from the work cycle of the machine. The selection and dimensioning of the hybrid system have a significant impact on the energy consumption of a hybrid working machine. The thesis compares the energy consumption of a working machine implemented by three different hybrid systems (parallel, series and parallel-series) and with different component dimensions. The payback time of a hybrid working machine and the energy storage lifetime are also estimated in the study.

Environmental data mining and modeling based on machine learning algorithms and geostatistics

The paper presents some contemporary approaches to spatial environmental data analysis. The main topics are concentrated on the decision-oriented problems of environmental spatial data mining and modeling: valorization and representativity of data with the help of exploratory data analysis, spatial predictions, probabilistic and risk mapping, development and application of conditional stochastic simulation models. The innovative part of the paper presents integrated/hybrid model-machine learning (ML) residuals sequential simulations-MLRSS. The models are based on multilayer perceptron and support vector regression ML algorithms used for modeling long-range spatial trends and sequential simulations of the residuals. NIL algorithms deliver non-linear solution for the spatial non-stationary problems, which are difficult for geostatistical approach. Geostatistical tools (variography) are used to characterize performance of ML algorithms, by analyzing quality and quantity of the spatially structured information extracted from data with ML algorithms. Sequential simulations provide efficient assessment of uncertainty and spatial variability. Case study from the Chernobyl fallouts illustrates the performance of the proposed model. It is shown that probability mapping, provided by the combination of ML data driven and geostatistical model based approaches, can be efficiently used in decision-making process. (C) 2003 Elsevier Ltd. All rights reserved.

Hybridikäytön mitoitus liikkuvan työkoneen energian talteenottojärjestelmäksi

Työssä tarkastellaan sähköisiä energian talteenottomahdollisuuksia liikkuvissa työkoneissa. Työssä esitetään kolme erityyppistä liikkuvaan työkoneeseen soveltuvaa sähköisen energian talteenottojärjestelmää sekä mitoitetaan hybridikäyttö kahdelle erityyppiselle työkonesovellukselle kuormituskäyrien perusteella. Lisäksi työssä lasketaan hybridijärjestelmää käyttämällä saavutettava energiansäästö nykyiseen käyttöön verrattuna.

Machine Learning in Automatic Tabulation for Constraint Model Reformulation

Combinatorial decision and optimization problems belong to numerous applications, such as logistics and scheduling, and can be solved with various approaches. Boolean Satisfiability and Constraint Programming solvers are some of the most used ones and their performance is significantly influenced by the model chosen to represent a given problem. This has led to the study of model reformulation methods, one of which is tabulation, that consists in rewriting the expression of a constraint in terms of a table constraint. To apply it, one should identify which constraints can help and which can hinder the solving process. So far this has been performed by hand, for example in MiniZinc, or automatically with manually designed heuristics, in Savile Row. Though, it has been shown that the performances of these heuristics differ across problems and solvers, in some cases helping and in others hindering the solving procedure. However, recent works in the field of combinatorial optimization have shown that Machine Learning (ML) can be increasingly useful in the model reformulation steps. This thesis aims to design a ML approach to identify the instances for which Savile Row’s heuristics should be activated. Additionally, it is possible that the heuristics miss some good tabulation opportunities, so we perform an exploratory analysis for the creation of a ML classifier able to predict whether or not a constraint should be tabulated. The results reached towards the first goal show that a random forest classifier leads to an increase in the performances of 4 different solvers. The experimental results in the second task show that a ML approach could improve the performance of a solver for some problem classes.

Capacity and transformational development within the 2005 Canada Summer Games host society

Although capacity has been used in recent federal government accords and policies related to the voluntary and amateur sport sectors, there is little consensus over the meaning of the term. Consequently, the purpose of this qualitative case study was to explore the concept of organizational capacity within a temporary voluntary sport organization. Specifically, the nature of organizational capacity was examined within the case of the Volunteers Division of the 2005 Canada Summer Games (CSG) Host Society. Data were collected from executive planning and middle management CSG volunteers through the use of a variety of methods: verbal journals, interviews, observations, documents and a focus group. Findings indicated several challenges associated with the volunteer management model utilized by the host society, varying levels of importance among six elements of capacity, and key aspects of the relationship between organizational capacity and transformational development. Implications focused upon the importance of highlighting individuals rather than the organizational as a whole in order to build capacity, and utilizing a brain or hybrid brain-machine organizational form to enhance capacity. Recommendations are provided for both the Canada Games Council and Canada Games host societies.

Construção e análise da rede integrada de interações entre genes humanos envolvida com a regulação da trnsição G1/S do ciclo celular plea adesão à matriz extracelular

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

A casa: estreitos laços entre literatura e arquitetura

Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)

Hibridismo e ruptura de gêneros em João Antônio

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Imperfect indifference : the rhythm, structure and politics of neutrality

Cette thèse propose l’émergence d’une poésie de l’entre deux dans la littérature expérimentale, en suivant ses développements du milieu du vingtième siècle jusqu'au début du vingt-et-unième. Cette notion d’entre-deux poétique se fonde sur une théorie du neutre (Barthes, Blanchot) comme ce qui se situe au delà ou entre l'opposition et la médiation. Le premier chapitre retrace le concept de monotonie dans la théorie esthétique depuis la période romantique où il est vu comme l'antithèse de la variabilité ou tension poétique, jusqu’à l’émergence de l’art conceptuel au vingtième siècle où il se déploie sans interruption. Ce chapitre examine alors la relation de la monotonie à la mélancolie à travers l’analyse de « The Anatomy of Monotony », poème de Wallace Stevens tiré du recueil Harmonium et l’œuvre poétique alphabet de Inger Christensen. Le deuxième chapitre aborde la réalisation d’une poésie de l’entre-deux à travers une analyse de quatre œuvres poétiques qui revisitent l’usage de l’index du livre paratextuel: l’index au long poème “A” de Louis Zukofsky, « Index to Shelley's Death » d’Alan Halsey qui apparait à la fin de l’oeuvre The Text of Shelley's Death, Cinema of the Present de Lisa Robertson, et l’oeuvre multimédia Via de Carolyn Bergvall. Le troisième chapitre retrace la politique de neutralité dans la théorie de la traduction. Face à la logique oppositionnelle de l’original contre la traduction, il propose hypothétiquement la réalisation d’une troisième texte ou « l’entre-deux », qui sert aussi à perturber les récits familiers de l’appropriation, l’absorption et l’assimilation qui effacent la différence du sujet de l’écrit. Il examine l’oeuvre hybride Secession with Insecession de Chus Pato et Erin Moure comme un exemple de poésie de l’entre-deux. A la fois pour Maurice Blanchot et Roland Barthes, le neutre représente un troisième terme potentiel qui défie le paradigme de la pensée oppositionnelle. Pour Blanchot, le neutre est la différence amenée au point de l’indifférence et de l’opacité de la transparence tandis que le désire de Barthes pour le neutre est une utopie lyrique qui se situe au-delà des contraintes de but et de marquage. La conclusion examine comment le neutre correspond au conditions de liberté gouvernant le principe de créativité de la poésie comme l’acte de faire sans intention ni raison.

Imperfect indifference : the rhythm, structure and politics of neutrality

Cette thèse propose l’émergence d’une poésie de l’entre deux dans la littérature expérimentale, en suivant ses développements du milieu du vingtième siècle jusqu'au début du vingt-et-unième. Cette notion d’entre-deux poétique se fonde sur une théorie du neutre (Barthes, Blanchot) comme ce qui se situe au delà ou entre l'opposition et la médiation. Le premier chapitre retrace le concept de monotonie dans la théorie esthétique depuis la période romantique où il est vu comme l'antithèse de la variabilité ou tension poétique, jusqu’à l’émergence de l’art conceptuel au vingtième siècle où il se déploie sans interruption. Ce chapitre examine alors la relation de la monotonie à la mélancolie à travers l’analyse de « The Anatomy of Monotony », poème de Wallace Stevens tiré du recueil Harmonium et l’œuvre poétique alphabet de Inger Christensen. Le deuxième chapitre aborde la réalisation d’une poésie de l’entre-deux à travers une analyse de quatre œuvres poétiques qui revisitent l’usage de l’index du livre paratextuel: l’index au long poème “A” de Louis Zukofsky, « Index to Shelley's Death » d’Alan Halsey qui apparait à la fin de l’oeuvre The Text of Shelley's Death, Cinema of the Present de Lisa Robertson, et l’oeuvre multimédia Via de Carolyn Bergvall. Le troisième chapitre retrace la politique de neutralité dans la théorie de la traduction. Face à la logique oppositionnelle de l’original contre la traduction, il propose hypothétiquement la réalisation d’une troisième texte ou « l’entre-deux », qui sert aussi à perturber les récits familiers de l’appropriation, l’absorption et l’assimilation qui effacent la différence du sujet de l’écrit. Il examine l’oeuvre hybride Secession with Insecession de Chus Pato et Erin Moure comme un exemple de poésie de l’entre-deux. A la fois pour Maurice Blanchot et Roland Barthes, le neutre représente un troisième terme potentiel qui défie le paradigme de la pensée oppositionnelle. Pour Blanchot, le neutre est la différence amenée au point de l’indifférence et de l’opacité de la transparence tandis que le désire de Barthes pour le neutre est une utopie lyrique qui se situe au-delà des contraintes de but et de marquage. La conclusion examine comment le neutre correspond au conditions de liberté gouvernant le principe de créativité de la poésie comme l’acte de faire sans intention ni raison.

Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine

The assembly and maintenance of the International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. The VV is made of stainless steel, which has poor machinability and tends to work harden very rapidly, and all the machining operations need to be carried out from inside of the ITER VV. A general industrial robot cannot be used due to its poor stiffness in the heavy duty machining process, and this will cause many problems, such as poor surface quality, tool damage, low accuracy. Therefore, one of the most suitable options should be a light weight mobile robot which is able to move around inside of the VV and perform different machining tasks by replacing different cutting tools. Reducing the mass of the robot manipulators offers many advantages: reduced material costs, reduced power consumption, the possibility of using smaller actuators, and a higher payload-to-robot weight ratio. Offsetting these advantages, the lighter weight robot is more flexible, which makes it more difficult to control. To achieve good machining surface quality, the tracking of the end effector must be accurate, and an accurate model for a more flexible robot must be constructed. This thesis studies the dynamics and control of a 10 degree-of-freedom (DOF) redundant hybrid robot (4-DOF serial mechanism and 6-DOF 6-UPS hexapod parallel mechanisms) hydraulically driven with flexible rods under the influence of machining forces. Firstly, the flexibility of the bodies is described using the floating frame of reference method (FFRF). A finite element model (FEM) provided the Craig-Bampton (CB) modes needed for the FFRF. A dynamic model of the system of six closed loop mechanisms was assembled using the constrained Lagrange equations and the Lagrange multiplier method. Subsequently, the reaction forces between the parallel and serial parts were used to study the dynamics of the serial robot. A PID control based on position predictions was implemented independently to control the hydraulic cylinders of the robot. Secondly, in machining, to achieve greater end effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. This thesis investigates the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two schemes of intelligent control for a hydraulically driven parallel mechanism based on the dynamic model: (1) a fuzzy-PID self-tuning controller composed of the conventional PID control and with fuzzy logic, and (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self-tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel mechanism based on rod length predictions. The serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should be controlled to hold the hexa-element. Thirdly, a finite element approach of multibody systems using the Special Euclidean group SE(3) framework is presented for a parallel mechanism with flexible piston rods under the influence of machining forces. The flexibility of the bodies is described using the nonlinear interpolation method with an exponential map. The equations of motion take the form of a differential algebraic equation on a Lie group, which is solved using a Lie group time integration scheme. The method relies on the local description of motions, so that it provides a singularity-free formulation, and no parameterization of the nodal variables needs to be introduced. The flexible slider constraint is formulated using a Lie group and used for modeling a flexible rod sliding inside a cylinder. The dynamic model of the system of six closed loop mechanisms was assembled using Hamilton’s principle and the Lagrange multiplier method. A linearized hydraulic control system based on rod length predictions was implemented independently to control the hydraulic cylinders. Consequently, the results of the simulations demonstrating the behavior of the robot machine are presented for each case study. In conclusion, this thesis studies the dynamic analysis of a special hybrid (serialparallel) robot for the above-mentioned special task involving the ITER and investigates different control algorithms that can significantly improve machining performance. These analyses and results provide valuable insight into the design and control of the parallel robot with flexible rods.