The increased concentration of greenhouse gases in theatmosphere, in particular CO2, is changing the Earth’s climate. Accordingto the Kyoto protocol, where the international community agreedon binding emission targets, developed countries are committedto reduce their greenhouse gas emissions. The increased use ofbiomass in energy systems is an important strategy to reduce CO2emissions. The purpose of this thesis has been toanalyse the opportunities for Sweden to further reduce CO2emissions in the energy system, by rationallyutilising woody biomass energy. The characteristics of currentcommercially operating biofuel-based CHP plants in Sweden aresurveyed and systematically presented. A consistent andtransparent comprehensive reference base for system comparisonsis given. Furthermore, the fuel effectiveness and contributionto CO2reduction is calculated. The governmentalsubsidies of the CHP plants’investment, expressed as costof specific CO2reduction, appears to be low. The competitiveness of biomass-fuelled energy production inrelation to fossil-based production with carbon capture isanalysed, showing that the biomass-fuelled systems provide acompetitive option, in terms of cost of electricity andefficiencies. The remaining Swedish woody biofuel potential ofat least 100 PJ/yr is principally available in regions with abiomass surplus. Transportation is therefore required to enableits utilisation in a further national and international market.Refining the biofuel feedstock to pellets, or even furtherrefining to motor fuels (DME, methanol or ethanol) or power,could facilitate this transport. Different options for fuelrefining are studied and compared. The entire fuel chain, fromfuel feedstock to end users, is considered and CO2emissions are quantified. Substituting fuelpellets for coal appears to be the most costeffectivealternative and shows the largest CO2reduction per energy unit biofuel. Motor fuelsappear more costly and give about half the CO2reduction. Transportation of the upgraded biofuelpellets is highly feasible from CO2emissions point of view and does not constitute ahindrance for further utilisation, i.e. the pellets can betransported over long distances efficiently with only limitedemissions of CO2. Bioenergy utilisation has additional features forenvironmental improvement, apart from the CO2aspect. Waste heat from biofuel-based CHP can becost-effectively used in conjunction with sewage treatment. Theincoming sewage water to the nitrification process can bepreheated with the waste heat, and thereby substantiallyenhance the nitrification and the reduction of ammoniumnitrogen during the winter season. <b>Keywords:</b>CO2reduction, energy system, biofuel, CHP, refining,fuel pellets, ethanol, methanol, DME, fuel substitution, sewagewater, nitrification.

<p>The increased concentration of greenhouse gases in theatmosphere, in particular CO₂, is changing the Earth’s climate. Accordingto the Kyoto protocol, where the international community agreedon binding emission targets, developed countries are committedto reduce their greenhouse gas emissions. The increased use ofbiomass in energy systems is an important strategy to reduce CO₂emissions. The purpose of this thesis has been toanalyse the opportunities for Sweden to further reduce CO₂emissions in the energy system, by rationallyutilising woody biomass energy. The characteristics of currentcommercially operating biofuel-based CHP plants in Sweden aresurveyed and systematically presented. A consistent andtransparent comprehensive reference base for system comparisonsis given. Furthermore, the fuel effectiveness and contributionto CO₂reduction is calculated. The governmentalsubsidies of the CHP plants’investment, expressed as costof specific CO₂reduction, appears to be low.</p><p>The competitiveness of biomass-fuelled energy production inrelation to fossil-based production with carbon capture isanalysed, showing that the biomass-fuelled systems provide acompetitive option, in terms of cost of electricity andefficiencies. The remaining Swedish woody biofuel potential ofat least 100 PJ/yr is principally available in regions with abiomass surplus. Transportation is therefore required to enableits utilisation in a further national and international market.Refining the biofuel feedstock to pellets, or even furtherrefining to motor fuels (DME, methanol or ethanol) or power,could facilitate this transport. Different options for fuelrefining are studied and compared. The entire fuel chain, fromfuel feedstock to end users, is considered and CO₂emissions are quantified. Substituting fuelpellets for coal appears to be the most costeffectivealternative and shows the largest CO₂reduction per energy unit biofuel. Motor fuelsappear more costly and give about half the CO₂reduction. Transportation of the upgraded biofuelpellets is highly feasible from CO₂emissions point of view and does not constitute ahindrance for further utilisation, i.e. the pellets can betransported over long distances efficiently with only limitedemissions of CO₂.</p><p>Bioenergy utilisation has additional features forenvironmental improvement, apart from the CO₂aspect. Waste heat from biofuel-based CHP can becost-effectively used in conjunction with sewage treatment. Theincoming sewage water to the nitrification process can bepreheated with the waste heat, and thereby substantiallyenhance the nitrification and the reduction of ammoniumnitrogen during the winter season.</p><p><b>Keywords:</b>CO₂reduction, energy system, biofuel, CHP, refining,fuel pellets, ethanol, methanol, DME, fuel substitution, sewagewater, nitrification.</p>

Controlled auto-ignition (CAI), also known as HCCI combustion in a gasoline engine has been extensively researched due to their potential of improved engine efficiency and low NOx emission. However, the combustion timing and the phasing of conventional CAI combustion depend on the in-cylinder condition, such as temperature and combustible mixture strength and thus cannot be directly controlled. In this study, direct DME (Dimethyl Ether) injection was adopted to increase the ignitability of premixed gasoline/air charge and to trigger the auto ignition of premixed charge. Re-breathing valve strategies were used to obtain hot internal EGR to eliminate a need of intake heating. Firstly, the pilot valve opening event, including its opening and closing timing, valve lift and dwell duration between the main valve event, was analysed by the WAVE simulation. Based on the analysis a re-breathing cam lobe was manufactured and installed on a Ricardo E6 engine to achieve the intake rebreathing and exhaust rebreathing operations. The intake re-breathing was realised by the pilot intake valve opening during the exhaust stroke and the exhaust re-breathing was achieved by the secondary exhaust valve opening during the intake stroke. Effects of the pilot intake valve open timing, 2nd DME injection timing, split DME injection ratio, air/fuel ratio and compression ratio were examined during the intake rebreathing operation. Then the performance and emission characteristics of DME assisted gasoline CAI combustion were examined during the exhaust re-breathing operation. Finally, results of the intake and exhaust re-rebreathing operations were compared to the conventional SI operation. The experimental study found that both the intake and the exhaust re-breathing operations provided enough heat to initiate DME assisted gasoline CAI combustion. The direct DME injection enabled to control the start of combustion and phasing. The quantity of the first DME injection showed greater effect than its timing, whereas the injection timing of 2nd DME injection had more dominant effect than its quantity. The exhaust re-breathing strategy provided stratified and hotter internal EGR that does not impact negatively on the volumetric efficiency because exhaust gas was re-breathed from the exhaust port during the intake stroke. High load of both CAI and SI baseline operations were limited by knocking combustion and their low load were limited by incomplete combustion. Exhaust re-breathing operation extended substantially the operational range of the DME assisted gasoline CAI combustion. Extremely low NOx emissions were obtained by DME/gasoline CAI operations. Most importantly, the exhaust rebreathing method produced dramatically improved overall efficiency of 43% compared to 28% of SI operation at a typical part-load operation of 4.0-5.0bar IMEP. It was also found that slightly improved efficiency and the extended operation range could be obtained by 33%:67% split DME injection ratio at higher load, while 67%:33% split DME injection ratio at lower load.

This thesis studies algorithms to estimate an aircraft’s position with different information from various radio stations. Because aircrafts both civilian and military are heavily dependant on GNSS signals, it can be interfered from hostile sources. The aircraft shall then be able to navigate without the GNSS signals. This thesis focuses on three radio navigation systems, DME,VOR and TACAN. With the measurements from these three radio stations and measurements from the inertial navigation system one can estimate a position with an estimation filter. In this thesis two types of filters will be used, the linear Kalman filter and the Extended Kalman filter. The linear Kalman filter will be used when converting the TACAN measurements to a pseudo position and the Extended Kalman filter will be used for the DME,VOR and TACAN measurements. The results shows that the converted TACAN measurements and TACAN measurements estimates very well in both north and east direction. When using only DME measurements the filter estimates the position fairly well in the direction towards the station and poorly in the orthogonal direction. For the VOR measurements the filter estimates the position quite poorly in the direction of the radio station and well in the orthogonal direction. In conclusion the converted TACAN measurement and TACAN measurement algorithm can be used for navigation purposes by its own measurements. However, the DME and VOR measurement algorithms need to be combined or using multiple stations at different locations to get better estimates in both directions. All of the filter could use some better tuning to get the optimal filter, but it is not necessary.

Autoignition and oxidation of two Methane (CH4) and Dimethyl Ether (CH3OCH3 or DME) mixtures in air were studied in shock tubes over a wide range of equivalence ratios at elevated temperatures and pressures. These experiments were conducted in the reflected shock region with pressures ranging from 0.8 to 35.7 atmospheres, temperatures ranging from 913 to 1650 K, and equivalence ratios of 2.0, 1.0, 0.5, and 0.3. Ignition delay times were obtained from shock-tube endwall pressure traces for fuel mixtures of CH4/CH3OCH3 in ratios of 80/20 percent volume and 60/40 percent volume, respectively. Close examination of the data revealed that energy release from the mixture is occurring in the time between the arrival of the incident shock wave and the ignition event. An adjustment scheme for temperature and pressure was devised to account for this energy release and its effect on the ignition of the mixture. Two separate ignition delay correlations were developed for these pressure- and temperature-adjusted data. These correlations estimate ignition delay from known temperature, pressure, and species mole fractions of methane, dimethyl ether, and air (0.21 O2 + 0.79 N2). The first correlation was developed for ignition delay occurring at temperatures greater than or equal to 1175 K and pressures ranging from 0.8 to 35.3 atm. The second correlation was developed for ignition delay occurring at temperatures less than or equal to 1175 K and pressures ranging from 18.5 to 40.0 atm. Overall good agreement was found to exist between the two correlations and the data of these experiments. Findings of these experiments also include that with pressures at or below ten atm, increased concentrations of dimethyl ether will consistently produce faster ignition times. At pressures greater than ten atmospheres it is possible for fuel rich mixtures with lower concentrations of dimethyl ether to give the fastest ignition times. This work represents the most thorough shock tube investigation for oxidation of methane with high concentration levels of dimethyl ether at gas turbine engine relevant temperatures and pressures. The findings of this study should serve as a validation for detailed chemical kinetics mechanisms.

<p>The awareness of the effect emissions have on the environment and climate has risen in the last decades. This has caused strict regulations of greenhouse gas emissions. Greenhouse gases cause global warming which may have devastating environmental effects. Most of the fuels commercially available today are fossil fuels. There are two major effects of using fuels with fossil origin; the source will eventually drain and the usage results in an increase of greenhouse gases in the atmosphere. Fuels that are created from a renewable feedstock are often referred to as alternative fuels and under ideal conditions they are greenhouse gas neutral, meaning that the same amount of greenhouse gases is released during combustion as the source of the fuel have absorbed during its growth period. This evaluation method is known as a well-to-wheel analysis which besides emissions also evaluates energy efficiencies during both the production and the combustion phases.</p><p>By evaluating results of well-to-wheel analyses along with fuel properties and engine concept characteristics, this report presents which driving scenario that is suitable for different powertrain configurations. For example, vehicles operating in high populated areas, as cities, have a driving scenario that includes low velocities and multiple stops while vehicles in low populated areas often travel long distances in higher speeds. This implies that different powertrains are suitable in different regions. By matching favorable properties of a certain powertrain to the properties important to the actual driving scenario this report evolves a fuel infrastructure that is suitable in Sweden.</p>

The awareness of the effect emissions have on the environment and climate has risen in the last decades. This has caused strict regulations of greenhouse gas emissions. Greenhouse gases cause global warming which may have devastating environmental effects. Most of the fuels commercially available today are fossil fuels. There are two major effects of using fuels with fossil origin; the source will eventually drain and the usage results in an increase of greenhouse gases in the atmosphere. Fuels that are created from a renewable feedstock are often referred to as alternative fuels and under ideal conditions they are greenhouse gas neutral, meaning that the same amount of greenhouse gases is released during combustion as the source of the fuel have absorbed during its growth period. This evaluation method is known as a well-to-wheel analysis which besides emissions also evaluates energy efficiencies during both the production and the combustion phases. By evaluating results of well-to-wheel analyses along with fuel properties and engine concept characteristics, this report presents which driving scenario that is suitable for different powertrain configurations. For example, vehicles operating in high populated areas, as cities, have a driving scenario that includes low velocities and multiple stops while vehicles in low populated areas often travel long distances in higher speeds. This implies that different powertrains are suitable in different regions. By matching favorable properties of a certain powertrain to the properties important to the actual driving scenario this report evolves a fuel infrastructure that is suitable in Sweden.

This dissertation develops a systematic targeting method based on the C-H-O ternary diagram for the conceptual design of gasification-based biorefineries. The approach is applied using dimethyl ether (DME) as case study. A stoichiometric equilibrium model is presented for calculation of the C-H-O chemical equilibria to evaluate and predict equilibrium syngas composition, operating temperature, type and amount of oxidant required in biomass gasification. Overall atomic species balances are developed and process targets are plotted on the C-H-O ternary diagram. Sustainability metrics are incorporated to provide useful insights into the efficiency of biorefinery process targets. It was found that syngas at 1200 and 1500 K is predominantly H2 and CO. Moreover, DME biorefineries have two main process targets, based on the indirect and direct synthesis routes. Gasification at 1200 K and 1 atm. using H2O/CO2 = 2.642 (w/w) and H2O/CH4 = 1.645 (w/w) achieved syngas composition targets for the direct and indirect methods respectively. Comparatively, the integrated biorefinery based on indirect route was more efficient, producing 1.903 ton of DME per ton of biomass feedstock. The process is 100% carbon-efficient and recycles 1.025 tons of H2O. / Civil and Chemical Engineering / M. Tech. (Chemical Engineering)

El trabajo presentado en esta Tesis está motivado por la necesidad de los motores de combustión interna alternativos de reducir el consumo de combustible y las emisiones de CO2 mientras se satisfacen las cada vez más restrictivas regulaciones de emisiones contaminantes. Por lo tanto, el objetivo principal de este estudio es optimizar un sistema de combustión de encendido por compresión controlado por mezcla para probar su potencial como motores de futura generación. Con esta meta se ha desarrollado un sistema automático que combina CFD con métodos de optimización avanzados para analizar y entender las configuraciones óptimas. Los resultados presentados en este trabajo se dividen en dos bloques principales. El primero corresponde a la optimización de un sistema de encendido por compresión convencional alimentado con diésel. El segundo se centra en un concepto de combustión avanzado donde se ha sustituido el fuel por Dimetil-eter. En ambos casos, el estudio no sólo halla una configuración óptima sino que también se describen las relaciones causa/efecto entre los parámetros más relevantes del sistema de combustión. El primer bloque aplica métodos de optimización no-evolutivos a un motor medium-duty alimentado por diésel tratando de minimizar consumo a la vez que se mantienen las emisiones contaminantes por debajo de los estándares de emisiones contaminantes impuestos. Una primera parte se centra en la optimización de la geometría de la cámara de combustión y el inyector. Seguidamente se extiende el estudio añadiendo los settings de renovación de la carga de y de inyección al estudio, ampliando el potencial de la optimización. El estudio demuestra el limitado potencial de mejora de consumo que tiene el motor de referencia al mantener los niveles de emisiones contaminantes. Esto demuestra la importancia de incluir parámetros de renovación de la carga e inyección al proceso de optimización. El segundo bloque aplica una metodología basada en algoritmos genéticos al diseño del sistema de combustión de un motor heavy-duty alimentado con Dimetileter. El estudio tiene dos objetivos, primero la optimización de un sistema de combustión convencional controlado por mezcla con el objetivo de lograr mejorar el consumo y reducir las emisiones contaminantes hasta niveles inferiores a los estándares US2010. Segundo la optimización de un sistema de combustión trabajando en condiciones estequiométricas acoplado con un catalizador de tres vías buscando reducir consumo y controlar las emisiones contaminantes por debajo de los estándares 2030. Ambas optimizaciones incluyen tanto la geometría como los parámetros más relevantes de renovación de la carga y de inyección. Los resultados presentan un sistema de combustión convencional óptimo con una notable mejora en rendimiento y un sistema de combustión estequiométrica que es capaz de ofrecer niveles de NOx menores al 1% de los niveles de referencia manteniendo niveles competitivos de rendimiento. Los resultados presentados en esta Tesis ofrecen una visión extendida de las ventajas y limitaciones de los motores MCCI y el camino a seguir para reducir las emisiones de futuros sistemas de combustión por debajo de los estándares establecidos. A su vez, este trabajo también demuestra el gran potencial que tiene el Dimetil-eter como combustible para futuras generaciones de motores. / The work presented in this Thesis was motivated by the needs of internal combustion engines (ICE) to decrease fuel consumption and CO2 emissions, while fulfilling the increasingly stringent pollutant emission regulations. Then, the main objective of this study is to optimize a mixing-controlled compression ignition (MCCI) combustion system to show its potential for future generation engines. For this purpose an automatic system based on CFD coupled with different optimization methods capable of optimizing a complete combustion system with a reasonable time cost was designed together with the methodology to analyze and understand the new optimum systems. The results presented in this work can be divided in two main blocks, firstly an optimization of a conventional diesel combustion system and then an optimization of a MCCI system using an alternative fuel with improved characteristics compared to diesel. Due to the methodologies used in this Thesis, not only the optimum combustion system configurations are described, but also the cause/effect relations between the most relevant inputs and outputs are identified and analyzed. The first optimization block applies non-evolutionary optimization methods in two sequential studies to optimize a medium-duty engine, minimizing the fuel consumption while fulfilling the emission limits in terms of NOx and soot. The first study targeted four optimization parameters related to the engine hardware including piston bowl geometry, injector nozzle configuration and mean swirl number. After the analysis of the results, the second study extended to six parameters, limiting the optimization of the engine hardware to the bowl geometry, but including the key air management and injection settings. The results confirmed the limited benefits, in terms of fuel consumption, with constant NOx emission achieved when optimizing the engine hardware, while keeping air management and injection settings. Thus, including air management and injection settings in the optimization is mandatory to significantly decrease the fuel consumption while keeping the emission limits. The second optimization block applies a genetic algorithm optimization methodology to the design of the combustion system of a heavy-duty Diesel engine fueled with dimethyl ether (DME). The study has two objectives, the optimization of a conventional mixing-controlled combustion system aiming to achieve US2010 targets and the optimization of a stoichiometric mixing-controlled combustion system coupled with a three way catalyst to further control NOx emissions and achieve US2030 emission standards. These optimizations include the key combustion system related hardware, bowl geometry and injection nozzle design as input factors, together with the most relevant air management and injection settings. The target of the optimizations is to improve net indicated efficiency while keeping NOx emissions, peak pressure and pressure rise rate under their corresponding target levels. Compared to the baseline engine fueled with DME, the results of the study provide an optimum conventional combustion system with a noticeable NIE improvement and an optimum stoichiometric combustion system that offers a limited NIE improvement keeping tailpipe NOx values below 1% of the original levels. The results presented in this Thesis provide an extended view of the advantages and limitations of MCCI engines and the optimization path required to achieve future emission standards with these engines. Additionally, this work showed how DME is a promising fuel for future generation engines since it is able to achieve future emission standards while maintaining diesel-like efficiency / El treball presentat en esta Tesi està motivat per la necessitat dels motors de combustió interna alternatius de reduir el consum de combustible i les emissions de CO2 mentres se satisfan les cada vegada mes restrictives regulacions d'emissions contaminants. Per tant, l'objectiu principal d'este estudi es optimitzar un sistema de combustió d'encesa per compressió controlat per mescla per a provar el seu potencial com a motors de futura generació. Amb esta meta s'ha desenrotllat un sistema automàtic que combina CFD amb mètodes d'optimització avançats per a analitzar i entendre les configuracions òptimes. Els resultats presentats en este treball es dividixen en dos blocs principals. El primer correspon a l'optimització d'un sistema d'encesa per compressió convencional alimentat amb dièsel. El segon se centra en un concepte de combustió avançat on s'ha substituït el fuel per Dimetil-eter. En ambdós casos, l'estudi no sols troba una configuració òptima sinó que també es descriuen les relacions causa/efecte entre els paràmetres més rellevants del sistema de combustió. El primer bloc aplica mètodes d'optimització no-evolutius a un motor mediumduty alimentat per dièsel tractant de minimitzar consum al mateix temps que es mantenen les emissions contaminants per davall dels estàndards d'emissions contaminants impostos. Una primera part se centra en l'optimització de la geometria de la cambra de combustió i l'injector. A continuació s'estén l'estudi afegint els settings de renovació de la càrrega de i d'injecció a l'estudi, ampliant el potencial de l'optimització. L'estudi demostra el limitat potencial de millora de consum que té el motor de referència al mantindre els nivells d'emissions contaminants. Açò demostra la importància d'incloure paràmetres de renovació de la càrrega i injecció al procés d'optimització. El segon bloc aplica una metodologia basada en algoritmes genètics al disseny del sistema de combustió d'un motor heavy-duty alimentat amb Dimetil-eter. L'estudi té dos objectius, primer l'optimització d'un sistema de combustió convencional controlat per mescla amb l'objectiu d'aconseguir millorar el consum i reduir les emissions contaminants fins nivells inferiors als estàndards US2010. Segon l'optimització d'un sistema de combustió treballant en condicions estequiomètriques acoblat amb un catalitzador de tres vies buscant reduir consum i controlar les emissions contaminants per davall dels estàndards 2030. Ambdós optimitzacions inclouen tant la geometria com els paràmetres més rellevants de renovació de la càrrega i d'injecció. Els resultats presenten un sistema de combustió convencional òptim amb una notable millora en rendiment i un sistema de combustió estequiomètrica que és capaç d'oferir nivells de NOx menors al 1% dels nivells de referència mantenint nivells competitius de rendiment. Els resultats presentats en esta Tesi oferixen una visió estesa dels avantatges i limitacions dels motors MCCI i el camï que s'ha de seguir per a reduir les emissions de futurs sistemes de combustió per davall dels estàndards establits. Al seu torn, este treball també demostra el gran potencial que té el Dimetil-eter com a combustible per a futures generacions de motors. / Hernández López, A. (2018). Optimization and analysis by CFD of mixing-controlled combustion concepts in compression ignition engines [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/103826 / TESIS

Les altérations de la barrière hémato-rétinienne (BRB) sont associées à des maladies rétiniennes telles que la rétinopathie diabétique et la dégénérescence maculaire liée à l’âge (DMLA). L’intégrité de la BRB est cruciale pour maintenir un microenvironnement rétinien en homéostasie et est étroitement régulé grâce à la régulation du transport transcellulaire et paracellulaire. Ici, nous décrirons brièvement la BRB interne, en mettant davantage l’accent sur la structure et la fonction de la BRB externe dans les états sains et malades. Nous avons hypothétisé que le dysfonctionnement des aquaporines exprimées dans des composantes de la BRB est suffisant pour générer un oedème diabétique dans une rétine diabétique. Bien que les résultats indiquent qu’aucune des aquaporines ciblées n’est suffisante pour générer un oedème cystoïde dans un modèle murin - et ce même en l’exacerbant en augmentant la perméabilité vasculaire rétinienne, nous mettons à l’avant un outil de segmentation semi-automatisé ainsi que deux modèles de recherches engageants. Le modèle murin de DT1 induit via STZ a été étudié de façon longitudinale sur un intervalle de temps modéré et pourra être ajusté pour des expériences futures en mettant à profit un outil de quantification semi-automatique performant. D’autre part, le modèle in vitro de la sénescence de l’ÉPR est conceptuellement établi et partiellement mis sur pied. Finalement, les résultats sont prometteurs et incitent à approfondir des cibles alternatives dans un modèle conceptuellement similaire, mais soit exacerbé ou plus anatomiquement près de l’humain. / Alterations in the blood-retina barrier (BRB) are associated with retinal diseases such as diabetic retinopathy and age-related macular degeneration (AMD). The integrity of the BRB is crucial for maintaining a tightly regulated and retinal microenvironment in homeostasis through the regulation of transcellular and paracellular transport. Here, we will briefly describe the inner BRB, with a greater emphasis on the structure and function of the outer BRB in both healthy and diseased states. We hypothesized that dysfunction of aquaporins expressed in components of the BRB is sufficient to generate diabetic edema in a diabetic retina. Although the results indicate that none of the targeted aquaporin are sufficient to generate a cystoid edema in a murine model, even when exacerbated by increasing retinal vascular permeability, we present a semi-automated segmentation tool and two engaging research models. A murine model and a programmation tool were developped to efficiently assess semi-automated quantitation of retinal edema. On the other hand, the in vitro model of RPE senescence is conceptually established and partially implemented. Ultimately, the results are promising and encourage further exploration of alternative targets in a conceptually similar model, either exacerbated or more anatomically close to humans.