A permanent magnet synchronous motor is traditionally controlled from measured values of the angular velocity and position of the rotor. However, there is a wish from SAAB Avitronics to investigate the possibility of estimating this angular velocity and position from the current measurements. The rotating rotor will affect the currents in the motor’s stator depending on the rotor’s angular velocity, and the observer estimates the angular velocity and angular position from this effect. There are several methods proposed in the article database IEEE Xplore to observe this angular velocity and angular position. The methods of observation chosen for study in this thesis are the extended Kalman filter and a phase locked loop algorithm based on the back electro motive force augmented by an injection method at low velocities. The extended Kalman filter was also programmed to be run on a digital signal processor in SAAB Avitronics’ developing hardware. The extended Kalman filter performs well in simulations and shows promise in hardware implementation. The algorithm for hardware implementation suffers from poor resolution in calculations involving the covariance matrices of the Kalman filter due to the use of 16-bit integers, yielding an observer that only functions in certain conditions. As simulations with 32-bit integer algorithm performs well it is likely that a 32- bit implementation of the extended Kalman filter would perform well on a motor, making sensorless control possible in a wide range of operations.

This master’s thesis work was performed at Volvo Powertrain in Köping, Sweden, which manufactures gearboxes and integrated transmission systems for heavy vehicles. The thesis is a continuation of a previous master’s thesis performed at the Köping factory in 2009. After manufacturing and assembly, each gearbox is manually validated to ensure the gearbox quality and functionality. When validating the gearbox gears, the operator shifts the gearbox in a predefined manner and listens for irregularities. If an error sound is heard the operator must then locate the source of error. With numerous of cog wheels rotating at the same time this task requires extensive knowledge and experience of the operator. The main objective is to develop an automatic diagnostic system for detection of cog errors and assist the operator in the process of locating the faulty component. The work consists of two parts. In the first part the automatic diagnostic system is developed and a database of gearbox recordings is stored. The amounts of logged non-faulty gearboxes are significantly much larger (50) than the logged faulty gearboxes (1). Therefore, when determining thresholds needed for the diagnosis, the data obtained from the non-faulty gearboxes are used. Two statistical methods are presented to extract the thresholds. The first method uses an extremevalue distribution and the other method a Gaussian distribution. When validated, both methods did successfully detect on cog faults. In the second part an investigation is made of how shaft imbalance can be detected and implemented in the developed system. Volvo Powertrain continually follows-up all faults found at the validation station to ensure the quality of their work and eliminate the sources of error. During system testing one logged gearbox was found faulty. The automatic diagnostic system did successfully detect and locate the faulty component which later also was confirmed when the gearbox was dismounted. With only one detected error it is difficult to conclude the system performance and further testing is required. However, during the testing no false detections were made.

The nematode Caenorhabditis elegans is a model organism for understanding sensory molecules of multicellular organisms. Ovulating hermaphrodites produce putative pheromone(s) that cause male attraction. Because pheromones are produced in such small quantities, adult conditioned-media from large-scale synchronous culture is necessary to analyze these pheromones. Current protocols for culture synchronization have volume constraints that limit large-scale synchronous cultures and current methodology for adult conditioned-media production is impractical. Modification of Tangential Flow Filtration (TFF) systems was investigated for use as a method to increase the volume limits of bleach egg harvest for C. elegans culture synchronization. Also, an adult retention device built within the culture vessel was investigated to optimize the environment for aseptic conditioned-media production from dense large-scale C. elegans cultures. During this investigation, we have shown that synchronous C. elegans cultures for adult conditioned-media production can be grown at scales larger than reported before, with potential for further scale up. Our growth methodologies have also yielded denser cultures than previously achieved at large scales. Since rapid bleach harvesting appears to be the bottleneck for large-scale production of synchronous C. elegans cultures, our approach of using modified TFF systems with mesh to retain C. elegans eggs increased the amount of eggs that could be bleach harvested at one time. Using this method we have been able to achieve up to 5x103 synchronous C. elegans per mL at a 50L scale. Since scale-up of TFF is straightforward, our results suggest that the technique reported here can easily be applied to larger scale systems for production of adult conditioned-media for C. elegans. Further, the adult retention device within the culture vessel can ensure that the whole process remains aseptic.

This thesis presents an analytical approach using Root-Loci method for designing optimum passive series RC snubbers for continuous-current synchronous buck switch mode power supply (SMPS). Synchronous buck SMPS is the most popular power converter topology found in modern consumer electronics. It offers relatively good efficiency to target the high-current and low-voltage requirements while it is also relatively inexpensive to implement. Passive series RC snubbers are simple, efficient and cost-effective open-loop equalizer circuit for synchronous buck SMPS. Its purpose is to control and to balance between the rate of rise and the overshoots of transient switching waveform in order to optimize efficiency and reliability Existing methods of RC snubber design are solely based on second-order approximation. It is investigated in this research that this approximation is highly inaccurate in SMPS applications because higher order equivalent models are required for the load path of the SMPS. The results using the RC snubbers obtained from existing method are shown to be unsatisfactory without correlation to the calculations and simulations based on second-order approximation. Optimum RC values obtained using Root-Loci approach presented in this thesis are shown to correlate to both Spice simulation and lab measurements.

Sliding mode controllers (SMC) with time delay and a rotor position observer are designed for the sensorless speed control of permanent magnet synchronous motor (PMSM) are proposed in this paper. Based on field-oriented principle, a flux SMC is designed to achieve quick flux control. And then a speed SMC with time delay is presented and compared with PI controller in the direct torque control framework. The effectiveness of the proposed control scheme under the load disturbance and parameter uncertainties is verified by simulation results.

This thesis presented a sensor-less permanent magnet synchronous motor (PMSM) driver for controlling air-conditioner rotary compressor speed. In this thesis, a quasi-sine pulse-width modulation (PWM) driving method was proposed. Furthermore, the current feedback control scheme and rotor magnet pole position detection were included. The system structure was implemented by using a digital signal processing (DSP) platform. The proposed driving scheme was compared with the square-wave driving without current feedback and six-step square-wave driving method with current feedback. Moreover, the passive and shunt semi-active power factor correction (PFC) technique were researched for the air-conditioner application. Experimental results demonstrated that the system power factor could be improved by the proposed shunt semi-active PFC method. Besides, the proposed sensor-less quasi-sine PWM driving method implemented in an air-conditioner compressor driver was capable of reducing the magnitude of rotational speed ripples, compressor vibration, and system power consumption.

BACKGROUND: An important characteristic of transitional cell carcinoma (TCC) is the formation of tumors in multiple sites throughout the whole urinary tracts. Two theories explain the pathophysiologic mechanisms of multifocal tumors: (1) intraluminal seeding, it indicates the multiple tumors come from a single transformed malignant cell with secondary seeding or migration at different sites, and (2) the field cancerization, carcinogens affect the urothelium at multiple sites, leading to numerous mutation and independent growth of multifocal polyclonal tumors. Multifocal urothelial carcinomas could come from intraluminal seeding or from field cancerization. However, the data of clinical behaviors between the two different tumor types are lacking. METHODS: Bilateral synchronous and metachronous primary TCC of the upper urinary tracts were derived from field cancerization. Recurrent bladder cancers following upper-tract tumors mostly come from intraluminal seeding. The recurrence, progression, and prognosis of the two different tumors were analyzed. RESULTS: Bilateral upper-tract urothelial carcinomas derived from field cancerization were frequently associated with renal insufficiency, which were more invasive and had poor prognosis than bladder tumors derived from intraluminal seeding. CONCLUSION: The clinical behaviors of the multiple urothelial tumors derived from field cancerization and from intraluminal seeding should be different.

Synchronous stream ciphers constitute an important class of symmetric ciphers. After the call of the eSTREAM project in 2004, 34 stream ciphers with different design approaches were proposed. In this thesis, we aim to provide a general framework to analyze stream ciphers statistically. Firstly, we consider stream ciphers as pseudo random number generators and study the quality of their output. We propose three randomness tests based on one dimensional random walks. Moreover, we theoretically and experimentally analyze the relations of various randomness tests. We focus on the ideas of algebraic, time memory tradeoff (TMTO) and correlation attacks and propose a number of chosen IV distinguishers. We experimentally observe statistical weaknesses in some of the stream ciphers that are believed to be secure.

Torsional vibration is an oscillatory angular twisting motion in the rotating members of a system. It can be deemed quite dangerous in that it cannot be detected as easily as other forms of vibration, and hence, subsequent failures that it leads to are often abrupt and may cause direct breakage of the shafts of the drive train. The need for sufficient analysis during the design stage of a rotating machine is, thus, well justified in order to avoid expensive modifications during later stages of the manufacturing process. In 1998, a project was initiated by the Turbomachinery Research Consortium (TRC) at Texas A&M University, College Station, TX, to develop a suite of computer codes to model torsional vibration of large drive trains. The author had the privilege of developing some modules in Visual Basic for Applications (VBA-Excel) for this suite of torsional vibration analysis codes, now collectively called XLTRC-Torsion. This treatise parleys the theory behind torsional vibration analysis using both the Transfer Matrix approach and the Finite Element approach, and in particular, validates the results generated by XLTRC-Torsion based on those approaches using experimental data available from tests on a 66,000 HP Air Compressor.

This dissertation presents a high-precision positioner with a novel superimposed concentrated-field permanent-magnet matrix. This extended-range multi-axis positioner can generate all 6-DOF (degree-of-freedom) motions with only a single moving part. It is actuated by three planar levitation motors, which are attached on the bottom of the moving part. Three aerostatic bearings are used to provide the suspension force against the gravity for the system. The dynamic model of the system is developed and analyzed. And several control techniques including SISO (single input and single output) and MIMO (multi inputs and multi outputs) controls are discussed in the dissertation. The positioner demonstrates a position resolution of 20 nm and position noise of 10 nm rms in x and y and 15 nm rms in z. The angular resolution around the x-, y-, and z-axes is in sub-microradian order. The planar travel range is 160 mm ?? 160 mm, and the maximum velocity achieved is 0.5 m/s at a 5-m/s2 acceleration, which can enhance the throughput in precision manufacturing. Various experimental results are presented in this dissertation to demonstrate the positioner??s capability of accurately tracking any planar trajectories. Those experimental results verified the potential utility of this 6-DOF high-precision positioner in precision manufacturing and factory automation.