Applied System Identification for a Four Wheel Reaction Wheel Platform By Seth Franklyn Silva At the California Polytechnic State University, San Luis Obispo there is a four-wheel reaction wheel pyramidal simulator platform supported by an air-bearing. This simulator has the current capability to measure the wheel speeds and angular velocity of the platform, and with these measurements, the system identification process was used to obtain the mass properties of this simulator. A handling algorithm was developed to allow wireless data acquisition and command to the spacecraft simulator from a “ground” computer allowing the simulator to be free of induced torques due to wiring. The system identification algorithm using a least squares estimation scheme was tested on this simulator and compared to theoretical analysis. The resultant principle inertia about the z-axis from the experimental analysis was 3.5 percent off the theoretical, while the other inertias had an error of up to 187 percent. The error is explained as noise attributed to noise in the measurement, averaging inconsistencies, low bandwidth, and derivation of accelerations from measured data.

The topic of this diploma thesis is the Forensic Accounting, which is related to the accounting fraud. Literature review is a chapter devoted to the characteristics of accounting fraud, damage caused by fraudulent behavior and punishment. There is also an information from global economic fraud surveys performed by top consulting company. In this diploma work is a chapter about internal control system, with prerequisites for its functioning and used tools. The last part of literature review is about method of forensic accounting. These methods are used in the practical part a tested on financial statements, processed according to Czech accounting standards, of chosen company. Then in the practical part is an evaluation of internal control system, which is described in detail. Another part is dedicated to the accounting crime committed in the chosen company. Even though that accounting crime was committed, current state of internal control system of chosen company is very good. The analysis which was retroactively done indicates a possible risk of accounting fraud just in this period. These forensic methods were applied also for another years and it has been shown that accounting gives a true and fair view.

<p>Examensarbetet som beskrivs i denna rapport handlar om byte av styrsystem i en CNC-svarv på företaget Precisionsdetaljer Mekatronik i Linköping. Ett Fanuc 5 styrsystem har ersatts av ett modernare Fanuc 21i-styrsystem. Rapporten beskriver det nya styrsystemet och redovisar hur arbetet med att praktiskt byta system har gått till. Arbetet indelades i tre delar, informationssökning, praktiskt arbete och dokumentation. Informationssökningen behövdes både för hopkoppling av de olika delarna och för parameter- och ladderprogrammering. Det praktiska arbetet bestod i att koppla tillsammans de delar som fanns beställda och de delar som skulle tas från det gamla styrsystemet. Dokumentationen ska finnas för framtida bruk, då service och utveckling av systemet ska ske. </p> / <p>This examination work describes changing of a control system in a CNC-lathe. The work has been done at Precisionsdetaljer Mekatronik AB in Linköping, a company with eight to nine employees. One Fanuc 5 control system has been replaced by a modern Fanuc 21i-system. This report describes the new control system and how the practical work has been done. The work has been divided into three parts, information searching, practical work and documentation. Information searching is needed for how to connect the different parts and for parameter-and ladder programming. The practical work consisted of connecting the new parts that were ordered and the parts that should be used from the old control system. The documentation may be used in the future, when service and development of the system will be done.</p>

<p>Background: Different forms of reward systems have been more common in Sweden and are used in purpose to motivate employees to work in accordance with a company’s goals. By creating work motivation among the employees, a more congruent situation can appear between them and the managers, and the company can perform better results. </p><p>Purpose: The purpose with this thesis is to study and analyse a reward system from the employees perspective, regarding it’s affect on work motivation. </p><p>Demarcation: Salary and reward are two different kinds of incitement and we will only focus on rewards that are received beyond the ordinary salary. We will also demarcate the thesis to focus on bonussystem as a form of reward system. </p><p>Research method: We have carried out interviews with a person who represent the trade union and with three employees who represent the three different departments at the company. Interviews have also been made with the person who is responsible for the company’s reward system at Östgöta Brandstodsbolag. </p><p>Result: The study shows that a reward system founds to be very positive among employees, due to that it is an extra compensation that can be received beyond the salary. A reward system is motivating when the employee gives the opportunity to influence the goals and measures. Communication is also of great importance to cause work motivation among employees.</p>

<p>Background: All companies and organizations use some kind of management control. A reward system is an example of a management control system, which is used to accomplish congruence between the goals of the employees and the goals of the organization. It is also used in order to motivate the employees and to encourage them to stay within the organization. Today it is difficult for companies and organizations to create and maintain well-functioning reward systems. At many universities individual pay is used as a means of a control system in order to motivate the employees. The public sector has specific characteristics that complicate its pay systems. This affects universities since they are a part of the public sector. </p><p>Purpose: The purpose is to investigate if the individual pay used at universities results in expected effects, that is, if it motivates professors in their work. The purpose is also to explain why professors are motivated/not motivated by individual pay. </p><p>Research method: The material has been gathered by interviews with eight professors at the University of Linköping. </p><p>Conclusion: It is difficult to use individual pay in order to motivate university professors in their work. Professors rather seem to be motivated by non-material rewards than by material such. In addition, individual pay systems can have defects that lessen the possibility of motivating professors. However, if professors have the tendency to be motivated</p>

<p>This thesis covers the development of a simulator for the Siemens Gas Tur-bine SGT-600. An explanation on how a gas turbine works is also given, as well as the principles behind the control system used by Siemens to control the turbine.</p><p>For Siemens Industrial Turbomachinery to be able to test its control sys-tem before delivering a gas turbine to the customer, a simulator is needed. The control system needs to be adjusted for every unique gas turbine, since there are several options for the customer to choose between when ordering the turbine. A control system standard is under development, which also needs to be tested in a simulator.</p><p>The framework for the simulator, i.e. the hardware and software that form the simulator system, was predefined to suit this specific purpose. The Siemens software SIMIT is used for developing the model. SIMIT is a real time simulation tool where models are constructed using blocks, similar to MATLAB Simulink.</p><p>A gas turbine is basically a heat engine that produces mechanical energy or electricity. The main task of the control system is to control the fuel flow to the combustion chamber and by that keeping the machine at desired speed.</p><p>The gas turbine model was developed using measurement data from a site in Hungary, where a gas turbine of the type SGT-600 is in service. The model is based on simplified relations between the signals. By analyzing measurement data and learning about the functionality of a gas turbine it was found out that the speed of the gas generator affected most other sig-nals, like temperatures and pressures. The gas generator speed was found to be dependent on the heat flow, which is determined by the openings of the gas control valves.</p><p>As a result of this thesis a working simulator for the gas turbine SGT-600 has been developed. The simulator can be used for testing the control sys-tem standard and for testing the control system when adapting it to a spe-cific delivery. It is also suitable for educational purposes, for example to instruct customers.</p>

<p>Bakgrund: Utvecklingen inom redovisningssystem går mot att använda alltfler kompletterande icke finansiella styrmått. Genom att koppla ihop det tankar som finns inom Balanced Scorecard konceptet med ett värdekedjetänkande som finns inom Supply Chain Management kan en horisontell styrning skapas.</p><p>Syfte: Syftet med uppsatsen är att beskriva och förklara hur företag kan utveckla lönsamhetsrelaterade mått för kompetens och prestationer samt att ge förslag på en process- och värdekedjeanpassning av Balanced Scorecard modellen.Avgränsningar: Uppsatsen behandlas utifrån Balanced Scorecard och Supply Chain Management teorin där fokusering framför allt sker på måttframtagningen. De personer som intervjuats är verksamma inom Svedala Industri i Sverige, Tyskland och Frankrike. </p><p>Genomförande: Uppsatsen bedrevs som en fallstudie där intervjuerna skedde på med personer på divisionsnivå, marknadsnivå samt försäljarnivå med återkommande intervjuer vid behov. Intervjuresultaten användes för att testa den egna modellen i verkligheten.</p><p>Resultat: Uppsatsen visar att incitament föreligger för användning av kompletterande styrnyckeltal för att förbättra företaget. Vidare har vi fått stöd för vår utvecklade modell där värdekedjans fördel med ett flödestänkande kombineras med balanserade styrnyckeltals förmåga ge en bra inblick i företag.</p>

<p>Holmen Paper AB är en av Europas ledande tillverkare av trähaltigt tryckpapper. De maskiner som tillverkar pappret har tills nyligen styrts av Siemens Teleperm M. Under 2005 gjordes en migrering av styrsystemet på en av pappersmaskinerna från Teleperm M till Siemens PcS7. Mjukvaruverktyget som skulle sköta migreringen kunde inte konvertera hela mjukvaran så en del av arbetet utfördes för hand. Detta resulterade i att funktionen blev enligt önskemål men koden blev onödigt komplicerad. Då det är eftersträvansvärt att ha en enkel kod för att underlätta felsökning är syftet med detta examensarbete att undersöka om samma förmåga fanns i två kretsar. Om så var fallet skulle en lösning hittas för att plocka bort den överflödiga kretsen.</p><p>Arbetet resulterade i slutsatsen att det var möjligt att plocka bort ett av funktionsblocken samt förslag på koppling och implementering av detta. Resultatet ledde till förenklade kretsar.</p>

<p>This thesis aims to develop a control system for measuring electromagnetic compability (EMC). This has meant that a controller designed around an ATmega8 microcontroller has been manufactured and programmed. It has also meant the development of a comprehensive control software in the program MATLAB. The control system has been tested with satisfactory results and can now, monitor and control measurements of the EMC-type.</p> / <p>Detta examensarbete syftar till att utveckla ett styrsystem för mätning av elektromagnetisk kompabilitet (EMC). Detta har inneburit att ett styrkort uppbyggt kring en ATmega8 mikrokontroller har tillverkats och programmerats. Det har även inneburet utveckling av en övergripande kontrollmjukvara i programmet MATLAB. Styrsystemet har testats med tillfredsställande resultat och kan nu, övervaka och kontrollera mätningar av EMC-typ.</p>

<p>This thesis involves the development of a system for control of a marine current energy conversion system. The control system is developed on the principles of load control, i.e. it aims to control the rotational speed of the turbine by controlling the power extracted from the generator. The system operates by feedback of the generator DC-voltage and current as well as the speed of the water current passing through the turbine. An IGBT-transistor controlled by an AVR-microcontroller executes control of the generator and hence the turbine. A digitally implemented PID-controller serves as the fundamental automatic control regime. The control system can be operated from a PC-application connected to the microcontroller through a serial wire connection. From the graphical user interface ofthe PC-application the system operator can set the system control parameters and monitor the state of the generator and turbine. The control system can be set to keep the turbine operating at a desired tip speed ratio, rotational speed or generator voltage. Further, for purposes of indoor testing of the control system a separate system, a motor control system, was developed as a part of this thesis work. The purpose of the motor control system is to enable simulating the behavior of a turbine with a motor driving the generator instead of an actual turbine. The motor control system operates by control of an ACS800 variable frequency drive that is connected to the motor. The motor control system allows its operator to feed in data describing the variations in water speed over time as well as data describing how the simulated turbine's power coefficient depends on its tip speed ratio. From this data the motor control system continuously calculates the torque that should be put on the generator axis by the motor. Results from test runs of the system show that the performance of the system is good. The system responds quickly to changes in the control parameters. Also the system manages to keep the specified control parameter quite well even during rapid changes in the water speed.</p>