Eine in der Geoda¨sie bekannte Regel besagt, dass die Genauigkeit zu transformierender Neupunkte im Schwerpunkt der Anschlusspunkte am höchsten ist. Weniger bekannt ist, unter welchen Voraussetzungen dies generell gilt. Allgemein unbekannt ist bisher, auf welche Koordinatentransformationen man diese Regel ausdehnen kann. Wir zeigen dies auf und untersuchen einen Fall, in dem diese Regel nicht gilt. Es stellt sich heraus, dass der am genauesten transformierbare Neupunkt theoretisch sogar außerhalb der konvexen Hülle der Anschlusspunkte liegen kann. / A rule well-known in Geodesy states that the accuracy of points to be transformed is best in the centre of gravity of the control points. Less well- known is, under which conditions this rule gen- erally applies. The exact set of coordinate transforms, to which we can extend the validity of this rule, is widelyunknown. We demonstrate this and investigate a case, in which this rule does not apply. It turns out that the most accurately transformable point be even be located outside the convex hull of the control points.

The purpose of this project was to analyze the coordination between gaze and the upper limb movement while performing a predefined task. We implemented a method to simultaneously compute and visualize recorded gaze data from a head mounted eye tracker and motion data from a motion capture system in the same coordinate system.  A python script was implemented to temporarily synchronize the two systems and then proceed with the spatial/coordinate transformation which was validated with the data acquired while the subject was asked to perform specific tasks. Task 1 was to fixate his gaze on a block placed in the center of a table and the Task 2 was to stack the blocks by picking it up and placing it on top of each other. Wrist and elbow flexion-extension angles were tracked simultaneously based on reflective markers trajectories while performing the task. This was visualized and discussed on how the results of our study suggest that the eye movements play a vital role in planning, estimating, coordinating and providing feedback for the body to perform a motor task.

This thesis attempts to develop a conversion algorithm between local coordinates in constituent detector modules and global coordinates encompassing the whole detector structure in a generic detector. The thesis is a part of preparatory work for studying the Hough Transform as a means of track reconstruction in the level-1 hardware trigger in the upgraded trigger and data acquisition (TDAQ) system in the phase 2 upgrade of the ATLAS detector at CERN. The upgrades being made are to withstand much more extreme conditions that come with the high-Luminosity Large Hadron Collider (HL-LHC). Two algorithms have been made and then implemented in Python scripts to test their feasibility and to compare them against each-other. The Rotation algorithm uses several rotations to correctly place the local coordinates in the global system. The second, the Shear algorithm, simplifies the process into two shears and one rotation, using the small angle approximation. Both algorithms need to be extended to work with more parts of the detector to be considered complete. Despite having lower maximum precision the second algorithm is considered the most promising attempt, since it is much less sensitive to the truncation error that results from working in an integer environment, which is a requirement for use in FPGAs. / I denna uppsats görs ett försök att skapa en omvandlingsalgoritm mellan lokala koordinater i konstituerande detektormoduler och globala koordinater i hela detektorstrukturen för en generisk detektor. Uppsatsen är en del i förberedande arbete för att undersöka hur Houghtransformen kan användas för spårrekonstruktion i den hårdvarubaserade level-1 triggern i det uppgraderade trigger- och datainsamlingssystemet (TDAQ) i fas två-uppgraderingen av ATLAS detektorn vid CERN. Uppgraderingarna som görs är för att kunna utstå de mycket mer extrema förhållanden som medförs av högluminositetsuppgraderingen av Large Hadron Collider (HL-LHC). Två algoritmer har skapats och implementerats i Pythonskript för att testa genomförbarhet och för att jämföra med varandra. Rotationsalgoritmen använder ett antal rotationer för att korrekt placera ut de lokala koordinaterna i det globala systemet. Den andra, Skjuvalgortimen, förenklar processen till två skjuvningar och en rotation med hjälp av liten vinkel-approximationen. Båda algoritmerna behöver utökas för att fungera för fler delar av detektorn för att anses kompletta. Trots lägre maximal precision bedöms den andra algoritmen vara det mest lovande försöket, eftersom den är mycket mindre känslig för trunkeringsfelet som kommer av att arbeta i en heltalsmiljö, som är ett krav för FPGA-implementationen.

Die Form der Kettenlinie lädt dazu ein, diese als eine Kerbgeometrie zu nutzen. Eine rechtwinklige Aussparung soll im CAD so aufgefüllt werden, dass dies der Kontur der Kettenlinie entspricht. In dem Vortrag wird gezeigt, wie mittels elementarer Elemente der Ingenieurmathematik und der Nutzung von Mathcad die Kettenlinie als eine Kurve mit festem Laufparameter und einem Formparameter dargestellt werden kann. Die Nutzung der Kettenlinie als Kerbgeometrie und die Bestimmung des optimalen Formparameters mittels einer Sensitivitätsanalyse, beschreibt Herr Dr. Jakel im Beitrag "Using a Catenary Equation in Parametric Representation for Minimizing Stress Concentrations at Notches"

Geodetiska provfält är viktiga för att geodetiska instrument kan kontrolleras och kalibreras. Exempelvis så kan en längdbas användas för att kontrollera nollpunktsfelet hos en Electronic Distance Measuement. Provfältets höga noggrannhet möjliggör även att detaljpunkterna exempelvis kan användas för att kontrollera noggrannheten vid utsättning eller inmätning. Att hålla provfältets koordinater uppdaterade är viktigt för att bibehålla den höga noggrannheten. Tidigare forskning visar att kända punkter kan vara bra för att kontrollera GNSS-antenner innan de sätts i bruk. Precisionen av mätningar var något man valde att utveckla på Statens Institution för Byggnadsforskning i Gävle på 70-talet (Statens Institut för Byggnadsforskning, 1984). Byggforskningen byggde ett provfält i Mårtsbo där punkter mättes in som sedan redovisats i en koordinatlista. Till en början användes provfältet för att kontrollera olika instrument och mätmetoder, men nu har det stått orört under en längre tid. Denna studie görs för att ta reda på om punkterna i området har rört sig något sen 1977 då fältet upprättades och därigenom avgöra om punkterna måste tilldelas nya koordinater innan användningen av fältet återupptas.   Innan mätning kontrollerades och kalibrerades instrumenten som skulle användas. För att koppla stomnätet till SWEREF 99 16 30 och RH 2000 gjordes en statisk GNSS-mätning på de två mest öppna punkterna i nätet. Vinklar och avstånd mellan punkterna erhölls genom att använda satsmätning med multistation. För att få med alla detaljpunkter gjordes en koordinattransformation med hjälp av de gamla koordinaterna och de nya som mätts in. I efterarbetet bearbetades GNSS-mätningarna i programvaran Leica Geo Office. Satsmätningarna behandlades i programvaran SBG Geo och där gjordes två nätutjämningar, en med lokala koordinater och en med koordinater i  SWEREF 99 16 30 och RH 2000. Slutligen transformerades resterande koordinater från det lokala systemet till SWEREF 99 16 30 och RH 2000 i  programvaran Gtrans. Baserat på resultatet har signifikant deformation uppstått på flera av punkterna. De största förändringarna som skett är i plan 2,2 mm i P5 och i höjd 1,7 mm i P7. Noggrannheten som uppnåtts i denna studie är inte lika bra som tidigare, men ändå tillräckligt för att använda fältet. / Geodetic test fields are important because they allow geodetic instruments to be tested and calibrated. For example, the baseline can be used when checking the zero-point error in an Electronic Distance Measurement. The high accuracy of the test field will also make it possible to use the detail points for checking the accuracy of the measurements when surveying. Keeping the coordinates of the field updated is important to maintain the high accuracy of the points. Previous research shows that known points were used to check GNSS-antennas before commercial use. The precision of measurements was something that the Swedish Institute of Constructional Science chose to develop even further in the late 1970s. A geodetic test field was constructed in Mårtsbo where points were established and presented in a coordinate list. The field was at first used to control different measuring equipment and methods, but in later years it has not been used at all. The aim of this study is to re-measure and update the coordinates of the test field. For this study, the instruments was controlled and calibrated before any measurements. To link to the well-established points with known coordinates in the control network static GNSS-measurements were performed on the two points located in the most open areas and positioned in SWEREF 99 16 30 and RH 2000. The angles and distances between the points were given by using rounds of measurements. To get coordinates for every detail point a coordinate transformation was used with the measured points as control points. During the post-processing of the GNSS-data the Leica Geo Office software was used to compute the coordinates. The rounds of measurements with multistation were processed in the software SBG Geo and network adjustments with both old and new coordinates were carried out. Finally, the rest of the coordinates were transformed into the new coordinate system which was done in the software Gtrans.. The result shows that significant local deformation has occurred on several points. The largest of deformation in plane is 2,2 mm in P5 and in height is 1,7 mm in P7. The uncertainties of the measured points are a bit higher in this study compared to earlier one, but they are still good enough to be use in this test field.

Due to modularity and easy scalability, modular multilevel converters (MMCs) are deemed the most suitable for high-voltage and medium-voltage power conversion applications. However, large module capacitors are usually required in MMCs to store large circulating power of line-frequency and its harmonics that flow through the capacitors. Even though several methods for minimizing the circulating power have been proposed in the literature, there is still the need for a systematic and simplified approach of addressing these control strategies and evaluating their efficacy. Moreover, the generally accepted feedback control architecture for the MMC is complicated, derived through a rigorous mathematical analysis, and therefore, not easy to intuitively comprehend. Recently, a method of modeling of the MMC based on state-plane analysis and coordinate transformation, is proposed in the literature. Based on the state-plane analysis, two kinds of circulating power in the MMC are identified that are orthogonal to each other. This means these two circulating power can be controlled individually without affecting each other. To control these circulating power, in the literature, a decoupled equivalent circuit model is developed through the coordinate transformation which clearly suggests a means for minimizing these circulating power. Further extending this work, in this thesis, the existing control concepts for reducing the circulating power are unveiled in a systematic and simplified manner utilizing the decoupled equivalent circuit model. A graphical visualization of circulating power using the state-planes is provided for each control strategy to readily compare its efficacy. Moreover, the generally accepted control architecture of the MMC is presented in an intuitive and simplified way using the decoupled circuit model. The important physics related to control implementation, originally hidden behind the complicated mathematics, is explained in detail. / Master of Science / A power converter is an electrical device that converts electrical energy from one form to another in order to be compatible with the load demand. A typical power converter consists of semiconductor switches, inductor, capacitor etc. These power converters are required in a wide range of applications: automotive and traction, motor drives, renewable energy conversion, energy storage, aircraft, power generation, transmission, and distribution, to name a few. Many of these applications are continuously increasing their power capacity to handle the escalating demands of energy that exist due to rising population numbers, industrialization, urbanization etc. Consequently, it has been a responsibility of power electronics engineers and researchers to develop power converters that can handle high voltages and high currents. Multilevel power converters have been the key-enabling developments that can withstand high-voltages while using traditional low-voltage semiconductor switches. Several multilevel converters such as the neutral point clamped converter, flying capacitor converter, cascaded H-bridge converter, modular multilevel converter (MMC) etc. have been developed and commercialized in the last two decades. Among them, the MMC is a widely accepted topology for medium- and high-voltage power conversion applications. In an MMC, several modules are stacked together in series, and each module consists of semiconductor switches and a capacitor. The series connection of the modules enables the MMC to handle high-voltage power conversion using low-voltage traditional semiconductor switches. The voltage rating of an MMC can be easily scaled-up by simply increasing the number of modules in each arm. Moreover, since several identical modules are connected in each arm, the structure of the MMC is highly modular which helps greatly in manufacturing and design. Nonetheless, in MMCs, generally large circulating power flow to the capacitor in each module, which leads to significant voltage ripples. To suppress these voltage ripples, a large capacitor is required in each module, leading to large size and weight of the converter. In the literature, several control strategies have been proposed to minimize the circulating power. However, there is still the need for a systematic and simplified approach of addressing these control strategies and evaluating their efficacy. Moreover, the generally accepted feedback control architecture for the MMC is complicated, derived through a rigorous mathematical analysis, and therefore, not easy to intuitively comprehend. Recently, a decoupled equivalent circuit model has been developed in the literature. This model clearly explains the process of power flow in the MMC between input and output and the nature of the circulating power. The equivalent circuit model provides the circulating power, that are orthogonal to each other, meaning they can be controlled individually without affecting each other. Moreover, the equivalent circuit model clearly suggests a means for minimize the circulating power by providing two "ideal" control laws. Further extending this work, in this thesis, the existing control concepts for reducing the circulating power are unveiled in a systematic and simplified manner utilizing the decoupled equivalent circuit model. Moreover, the generally accepted control architecture of the MMC is presented in an intuitive and simplified way via the decoupled circuit model. The important physics related to control implementation, originally hidden behind the complicated mathematics, is explained in detail.

[pt] Fluidos são extremamente comuns em nosso mundo e têm papel central em muitos fenômenos naturais. A compreensão de seu comportamento tem importância fundamental em uma vasta gama de aplicações e diversas áreas de pesquisa, da análise de fluxo sanguíneo até o transporte de petróleo, da exploração do fluxo de um rio até a previsão de maremotos, tempestades e furacões. Na simulação de fluidos, a abordagem conhecida como Euleriana é capaz de gerar resultados bastante corretos e precisos, mas as computações envolvidas podem se tornar excessivamente custosas quando há a necessidade de tratar fronteiras curvas e obstáculos com formas complexas. Este trabalho aborda esse problema e apresenta uma técnica Euleriana rápida e direta para simular o escoamento de fluidos em grades estruturadas parametrizadas tridimensionais. O principal objetivo do método é tratar de forma correta e eficiente as interações de fluidos com fronteiras curvas, incluindo paredes externas e obstáculos internos. Para isso, são utilizadas matrizes Jacobianas por célula para relacionar as derivadas de campos escalares e vetoriais nos espaços do mundo e paramétrico, o que permite a resolução das equações de Navier-Stokes diretamente no segundo, onde a discretização do domínio torna-se simplesmente uma grade uniforme. O trabalho parte de um simulador baseado em grades regulares e descreve como adaptá-lo com a aplicação das matrizes Jacobianas em cada passo, incluindo a resolução de equações de Poisson e dos sistemas lineares esparsos associados, utilizando tanto iterações de Jacobi quanto o método do Gradiente Biconjugado Estabilizado. A técnica é implementada na linguagem de programação CUDA e procura explorar ao máximo a arquitetura massivamente paralela das placas gráficas atuais. / [en] Fluids are extremely common in our world and play a central role in many natural phenomena. Understanding their behavior is of great importance to a broad range of applications and several areas of research, from blood flow analysis to oil transportation, from the exploitation of river flows to the prediction of tidal waves, storms and hurricanes. When simulating fluids, the so-called Eulerian approach can generate quite correct and precise results, but the computations involved can become excessively expensive when curved boundaries and obstacles with complex shapes need to be taken into account. This work addresses this problem and presents a fast and straightforward Eulerian technique to simulate fluid flows in three-dimensional parameterized structured grids. The method s primary design goal is the correct and efficient handling of fluid interactions with curved boundary walls and internal obstacles. This is accomplished by the use of per-cell Jacobian matrices to relate field derivatives in the world and parameter spaces, which allows the Navier-Stokes equations to be solved directly in the latter, where the domain discretization becomes a simple uniform grid. The work builds on a regular-grid-based simulator and describes how to apply Jacobian matrices to each step, including the solution of Poisson equations and the related sparse linear systems using both Jacobi iterations and a Biconjugate Gradient Stabilized solver. The technique is implemented efficiently in the CUDA programming language and strives to take full advantage of the massively parallel architecture of today s graphics cards.

This paper analyzes the geometric and disturbance aspects of utilizing the International Space Station for remote sensing of earth targets. The proposed instrument is SHORE (Station High-Sensitivity Ocean Research Experiment), a multi-band optical spectrometer with 15 m pixel resolution. The analysis investigates the contribution of the error effects to the quality of data collected by the instrument. The analysis begins with the discussion of the coordinate systems involved and then conversion from the target coordinate system to the instrument coordinate system. Next the geometry of remote observations from the Space Station is investigated including the effects of the instrument location in Space Station and the effects of the line of sight to the target. The disturbance and error environment on Space Station is discussed covering factors contributing to drift and jitter, accuracy of pointing data and target and instrument accuracies. Finally, there is a brief discussion of image processing to address any post error correction options.

由於採用的地球原子不同，目前，台灣地區有兩種坐標系統存在，TWD67(Taiwan Datum 1967) 和TWD97(Taiwan Datum 1997)。在應用上，必須進行不同地球原子間之坐標轉換。坐標轉換方面，有許多方法可供選擇，如六參數轉換、支持向量機(Support Vector Machine, SVM)轉換等。 最小二乘支持向量機(Least Square Support Vector Machine, LSSVM)，為SVM的一種演算法，是一種非線性模型。LSSVM在運用上所需之參數少，能夠解決小樣本、非線性、高維度和局部極小點等問題。目前，LSSVM，已經被成功運用在影像分類和統計迴歸等領域上。 本研究將利用LSSVM採用不同之核函數：線性核函數(LIN)、多項式核函數(POLY)及徑向基核函數(RBF)進行TWD97和TWD67之坐標轉換。研究中並使用基因演算法來調整LSSVM的RBF核函數之系統參數(後略稱RBF+GA)，找出較佳之系統參數組合以進行坐標轉換。模擬與實測之地籍資料，將被用以測試LSSVM及六參數坐標轉換方法的轉換精度。 研究結果顯示，RBF+GA在各實驗區之轉換精度優於參數優化前RBF之轉換精度，且RBF+GA之轉換精度也較六參數轉換之轉換精度高。 進行參數優化後，RBF+GA相對於RBF的精度提升率如下：(1)模擬實驗區：參考點與檢核點數量比分別為1：1、2：1、3：1、1：2及1：3時，精度提升率分別為15.2%、21.9%、33.2%、12.0%、11.7%；(2)真實實驗區：花蓮縣、台中市及台北市實驗區之精度提升率分別為20.1%、32.4% 、22.5%。 / There are two coordinate systems with different geodetic datum in Taiwan region, i.e., TWD67 (Taiwan Datum 1967) and TWD97 (Taiwan Datum 1997). In order to maintain the consistency of cadastral coordinates, it is necessary to transform from one coordinate system to another. There are many coordinate transformation methods, such as, 2-dimension 6-parameter transformation, and support vector machine (SVM). Least Square Support Vector Machine (LSSVM), is one type of SVM algorithms, and it is also a non-linear model。LSSVM needs a few parameters to solve non-linear, high-dimension problems, and it has been successfully applied to the fields of image classification, and statistical regression. The goal of this paper is to apply LSSVM with different kernel functions (POLY、LIN、RBF) to cadastral coordinate transformation between TWD67 and TWD97. Genetic Algorithm will be used to find out an appropriate set of system parameters for LSSVM with RBF kernel to transform the cadastral coordinates. The simulated and real data sets will be used to test the performances, and coordinate transformation accuracies of LSSVM with different kernel functions and 6-parameter transformation. According to the test results, it is found that after optimizing the RBF parameters (RBF+GA), the transformation accuracies using RBF+GA are better than RBF, and even better than those of 6-parameter transformation. Comparing with the transformation accuracies using RBF, the transformation accuracy improving rate of RBF+GA are : (1) The simulated data sets: when the amount ratio of reference points and check points comes to 1:1, 2:1, 3:1, 1:2 and 1:3, the transformation accuracy improving rate are 15.2%, 21.9%, 33.2%, 12.0% and 11.7%, respectively; (2) The real data sets： the transformation accuracy improving rate of RBF+GA for the Hualien, Taichung and Taipei data sets are 20.1%, 32.4% and 22.5%, respectively.

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