Narrow tilting vehicles offer an opportunity to tackle both traffic congestion and carbon emissions having a small footprint, low weight and small frontal area. Their narrow width requires that they tilt into corners in order to maintain stability; this may be achieved by means of an automated tilt control system. A three-wheeled tilting vehicle prototype, known as the Compact Low Emission Vehicle for uRban transport (CLEVER), was constructed at the University of Bath in 2006. The vehicle was equipped with a direct tilt control system in which a pair of hydraulic actuators applied a moment between the cabin and a non-tilting base. This tilt control system provided satisfactory steady state performance but limited transient stability. High tilt rate demands associated with rapid steering inputs would lead to large tilting moments being applied to the non-tilting rear engine module; this, combined with the engine module’s own propensity to roll out of the bend, could cause the inside wheel to lift and the vehicle to capsize. This thesis details the implementation of a Steering Direct Tilt Control (SDTC) system, whereby the front wheel steer angle is used to generate some of the tilting moment, on the prototype CLEVER Vehicle. Simulation and experimental results are presented which show a 40% reduction in load transfer across the rear axle during a transient ramp steer manoeuvre. The influence of the SDTC system, and associated steer angle alteration, on the vehicle trajectory is considered. A human driver is found to be capable of adapting their steer inputs such that they can follow their chosen path. Finally, a feed-forward control strategy is shown to reduce the load transfer across the rear axle by an additional 30% in transient situations, but only if the steer input signal is sufficiently free of noise.

O objetivo deste trabalho é avaliar a distribuição de pressão, no assento e no encosto, relacionada à variação do ângulo de tilt da cadeira de rodas e contribuir para uma melhor prescrição de sistemas de adequação postural na posição sentada. Para tanto, estruturou-se uma pesquisa descritiva composta por procedimentos tipo estudos de casos. A pesquisa foi direcionada a usuários com diagnóstico de Paralisia Cerebral, nível motor IV e V (GMFCS) e que necessitam de um melhor posicionamento no sentar. Para as análises, foram utilizadas as almofadas pré-fabricadas que acompanham a cadeira em conjunto com as técnicas de mapeamento de pressão e termografia. As principais variáveis analisadas foram a distribuição de pressão e de temperatura, por meio de diagramas, bem como foram avaliados estatisticamente os respectivos valores médios. Os resultados demonstraram que nenhum dos 15 usuários avaliados apresentou postura adequada no sistema de assento e encosto padrão da cadeira de rodas. A distribuição da pressão mostrou-se inadequada, em geral, com picos importantes atribuídos à falta de estabilidade da pelve e do tronco. A utilização de cadeira de rodas com tilt é indicada, porém, faz-se necessária uma cuidadosa análise desse ângulo, bem como dos suportes de apoio ajustáveis às necessidades individuais. Recomenda-se a personalização das almofadas de assento, de encosto e de apoio de cabeça, através da moldagem do corpo do usuário. Destaca-se que os dados obtidos neste estudo podem auxiliar na identificação das necessidades dos usuários e, consequentemente, no projeto de assentos para cadeira de rodas, proporcionando maior qualidade de vida aos usuários. / The objective of this study is to evaluate the pressure distribution on the seat and backrest related to the angle variations of the wheelchair tilt-in-space. It also aims to contribute to a more suitable prescription of positioning systems. In order to do that, the descriptive research was structured by using case studies. The survey was targeted to users that had been diagnosed with cerebral palsy, gross motor function (GMFCS) IV and V who are need of a more appropriate wheelchair seating. Furthermore, for the analysis, the prefabricated chair cushions, the pressure mapping techniques and thermography had been used. The main variables analyzed were the distribution of pressure and temperature, through diagrams, which were statistically evaluated mean values. The results showed that none of the 15 members evaluated had an adequate posture in the standard seating system. The pressure distribution proved inadequate in general with important peaks attributed to the lack of stability of the pelvis and trunk. The use of the tilting wheelchair is recommended. However, it is required a more careful analysis of this angle, as well as the adjustable support brackets to individual needs. It is recommended to customize the seat cushions, backrest and headrest, through the user's body contour. It is noteworthy that the data obtained in this study can help identify the needs of users and consequently the seat design for a wheelchair, providing a higher quality of life to the users.

Back injury in nursing is a significant concern for the health of the worker, the costs to the healthcare system, and the safety of the patients. Current injury prevention measures include ergonomic adjustments to the work environment, the use of mechanical lifting equipment, policies to limit manual handling of patients, and the teaching of lifting techniques. These measures have been met with limited success in reducing injury rates. Little is known about whether changing the lifting biomechanics used in the healthcare setting can lower high injury rates across the profession. The purposes of this dissertation were to: 1) identify the biomechanical risk factors routinely encountered by healthcare workers during the performance of their daily job tasks and 2) determine whether nurses with formal training in weightlifting have better biomechanical performance during routine nursing tasks than nurses with no training. This dissertation included the development of a conceptual model to guide the research. The framework identified the impact of muscle fatigue on the biomechanics used in lifting and moving of heavy equipment and patients. The worker characteristics that affect muscle fatigue include age, gender, height, BMI and the type of recreational activities outside of the workplace. These characteristics were controlled for in two studies aimed at providing a greater understanding of biomechanics used by nurses during routine patient care related activities. The first study addressed a gap in knowledge related to the biomechanics of lifting techniques used by nurses in the work environment, specifically of the anterior rotation of the trunk and pelvis, angles of the hips, knees, and lumbar spine, and muscle activation of core and leg muscles used during patient care activities. We analyzed the biomechanics used by 11 senior level nursing students lifting a simulated patient attached to a rigid spine board from the floor to a standing height. Previous studies have identified that a lumbar spine angle in excess of 22.5 degrees flexion when performing a lift places a worker at a greater risk for back injury. Biomechanical risk factors effecting this lumbar spine angle identified in this study included the anterior rotation of the trunk and pelvis in the starting position of the lift, the angle of the hips and knees during the lifting cycle, the dominate muscle activation of the rectus femoris during the lifting cycle influencing the anterior pelvic rotation, and minimal activation of the core muscles required to add stability to the spine during the lift. This dissertation identifies common biomechanical risk factors routinely encountered by healthcare workers, and gives indication of differences between nurses with formal weightlifting training and those that have not received formal weightlifting training. The differences in body positioning and core stabilization can help reduce the biomechanical risks of back injury in nursing.

<p>Shape-based matching (SBM) is a method for matching objects in greyscale images. It extracts edges from search images and matches them to a model using a similarity measure. In this thesis we extend SBM to find the tilt and height position of the object in addition to the z-plane rotation and x-y-position. The search is conducted using a scale pyramid to improve the search speed. A 3D matching can be done for small tilt angles by using SBM on height data and extending it with additional steps to calculate the tilt of the object. The full pose is useful for picking objects with an industrial robot.</p><p>The tilt of the object is calculated using a RANSAC plane estimator. After the 2D search the differences in height between all corresponding points of the model and the live image are calculated. By estimating a plane to this difference the tilt of the object can be calculated. Using the tilt the model edges are tilted in order to improve the matching at the next scale level.</p><p>The problems that arise with occlusion and missing data have been studied. Missing data and erroneous data have been thresholded manually after conducting tests where automatic filling of missing data did not noticeably improve the matching. The automatic filling could introduce new false edges and remove true ones, thus lowering the score.</p><p>Experiments have been conducted where objects have been placed at increasing tilt angles. The results show that the matching algorithm is object dependent and correct matches are almost always found for tilt angles less than 10 degrees. This is very similar to the original 2D SBM because the model edges does not change much for such small angels. For tilt angles up to about 25 degrees most objects can be matched and for nice objects correct matches can be done at large tilt angles of up to 40 degrees.</p>

Carbody tilting is today a mature and inexpensive technology that allows higher train speeds in horizontal curves, thus shortening travel time. This doctoral thesis considers several subjects important for improving the competitiveness of tilting trains compared to non-tilting ones. A technology review is provided as an introduction to tilting trains and the thesis then focuses on enhancing the benefits and strategies for less motion sickness. A tilting train may run about 15% faster in curves than a non-tilting one but the corresponding simulated running time benefit on two Swedish lines is about 10%. The main reason for the difference is that speeds are set on other grounds than cant deficiency at straight track, stations, bridges, etc. The possibility to further enhance tilting trains’ running speed is studied under identified speed limitations due to vehicle-track interaction such as crosswind requirements at high speed curving. About 9% running time may be gained on the Stockholm–Gothenburg (457 km) mainline in Sweden if cant deficiency, top speed, and tractive performance are improved compared with existing tilting trains. Non-tilting high-speed trains are not an option on this line due to the large number of 1,000 m curves. Tilting trains run a greater risk of causing motion sickness than non-tilting trains. Roll velocity and vertical acceleration are the two motion components that show the largest increase, but the amplitudes are lower than those used in laboratory tests that caused motion sickness. Scientists have tried to find models that can describe motion sickness based on one or more motion quantities. The vertical acceleration model shows the highest correlation to motion sickness on trains with active tilt. However, vertical acceleration has a strong correlation to several other motions, which precludes vertical acceleration being pointed out as the principal cause of motion sickness in tilting trains. Further enhanced speeds tend to increase carbody motions even more, which may result in a higher risk of motion sickness. However, means to counteract the increased risk of motion sickness are identified in the present work that can be combined for best effect. Improved tilt control can prevent unnecessary fluctuations in motion sickness related quantities perceived by the passengers. The improved tilt control can also manage the new proposed tilt algorithms for less risk of motion sickness, which constitute one of the main achievements in the present study. Local speed restrictions are another means of avoiding increased peak levels of motion sickness when increasing the overall speed. The improved tilt control and the proposed tilt algorithms have proven to be effective in on-track tests involving more than 100 test subjects. The new tilt algorithms gave carbody motions closer to non-tilting trains. Rather unexpectedly, however, the test case with the largest decrease in tilt gave a greater risk of motion sickness than the two test cases with less reduction in tilt. It is likely that even better results can be achieved by further optimization of the tilt algorithms; the non-linear relation between motions and motion sickness is of particular interest for further study. / QC 20110429

It has long been known that any activity that results in changes in subsurface pressure, such as hydrocarbon production or waste or water reinjection, also causes underground deformations and movement, which can be described in terms of volumetric changes. Such deformations induce surface movement, which has a significant environmental impact. Induced surface deformations are measurable as vertical displacements; horizontal displacements; and tilts, which are the gradient of the surface deformation. The initial component of this study is a numerical model developed in C++ to predict and calculate surface deformations based on assumed subsurface volumetric changes occurring in a reservoir. The model is based on the unidirectional expansion technique using equations from Okada’s theory of dislocations (Okada, 1985). A second numerical model calculates subsurface volumetric changes based on surface deformation measurements, commonly referred to as solving for the inverse case. The inverse case is an ill-posed problem because the input is comprised of measured values that contain error. A regularization technique was therefore developed to help solve the ill-posed problem. A variety of surface deformation data sets were analyzed in order to determine the surface deformation input data that would produce the best solution and the optimum reconstruction of the initial subsurface volumetric changes. Tilt measurements, although very small, were found to be much better input than vertical displacement data for finding the inverse solution. Even in an ideal case with 0 % error, tilts result in a smaller RMSE (about 12 % smaller in the case studied) and thus a better resolution. In realistic cases with error, adding only 0.55 % of the maximum random error in the surface displacement data affects the back-calculated results to a significant extent: the RMSE increased by more than 13 times in the case studied. However, in an identical case using tilt measurements as input, adding 20 % of the maximum surface tilt value as random error increased the RMSE by 7 times, and remodelling the initial distribution of the volumetric changes in the subsurface was still possible. The required area of observation can also be reduced if tilt measurements are used. The optimal input includes tilt measurements in both directions: dz/dx and dz/dy. iv With respect to the number of observation points chosen, when tilts are used with an error of 0 %, very good resolution is obtainable using only 0.4 % of the unknowns as the number of benchmarks. For example, using only 10 observation points for a reservoir with 2500 elements, or unknowns resulted in an acceptable reconstruction. With respect to the sensitivity of the inverse solution to the depth of the reservoir and to the geometry of the observation grid, the deeper the reservoir, the more ill-posed the problem. The geometry of the benchmarks also has a significant effect on the solution of the inverse problem.

Radioantenner tillverkas med olika egenskaper för att passa olika applikatoner. En av dessa egenskaper är antennens riktningskaraktäristik. Hur antennen skall konstrueras för att få den eftersträvade riktningskaraktäristiken kan beräknas. För att kontrollera att antennens faktiska riktningskaraktäristik överensstämmer med den beräknade kan antennens riktningskaraktäristik mätas. Företaget Detectus AB utvecklar idag ett mätsystem för att mäta antenners riktningskaraktäristik och presentera denna i form av ett tredimensionellt polärdiagram. Rapporten beskriver det examensarbete som genomförts i syfte att utveckla hårdvara med tillhörande styrsystem för mätsystemet. En prototyp för den rotortilt som skall rotera och tilta antennen under mätningen har utvecklats. Till denna rotortilt har också mjukvara för styrning av rotations- och tiltrörelsernas stegmotorer tagits fram. Vidare arbete innefattar att implementera en nödstoppsfunktion samt en referenssökningsfunktion för rotortilten. Vidare arbete innefattar också att utveckla mjukvara för mätsystemet.

The purpose of this study was to explore the efficacy of two existing pulse contour analysis (PCA) models for estimating cardiac stroke volume from the arterial pressure waveform during kicking ergometer exercise and head-up tilt manoeuvres. Secondly, one of the existing models was modified in an attempt to enhance its performance. In part I, seven healthy young adults repeated two submaximal exercise sessions on a kicking ergometer, each with three different sets of steady-state cardiac output comparisons (pulsed Doppler vs. pulse contour). Across all exercise trials regression results were found to be PCA = 1. 23 x Doppler-1. 38 with an r2 = 0. 51. In part II, eight young and eight older male healthy subjects participated in a head-up tilt experiment. Cardiac output comparisons were again performed during the supine and tilt conditions using pulsed Doppler and pulse contour cardiac output. Regression results revealed that PCA performed best during supine conditions and preferentially on the older subjects. In all instances, impedance-calibrated pulse contour analysis will provide reasonable beat-by-beat cardiac output within very narrow confines and will result in a progressively more significant bias as cardiovascular dynamics change. In addition, it appears that heart rate variability negatively influences beat-by-beat pulse contour cardiac output results, further limiting application of existing models.

It has long been known that any activity that results in changes in subsurface pressure, such as hydrocarbon production or waste or water reinjection, also causes underground deformations and movement, which can be described in terms of volumetric changes. Such deformations induce surface movement, which has a significant environmental impact. Induced surface deformations are measurable as vertical displacements; horizontal displacements; and tilts, which are the gradient of the surface deformation. The initial component of this study is a numerical model developed in C++ to predict and calculate surface deformations based on assumed subsurface volumetric changes occurring in a reservoir. The model is based on the unidirectional expansion technique using equations from Okada’s theory of dislocations (Okada, 1985). A second numerical model calculates subsurface volumetric changes based on surface deformation measurements, commonly referred to as solving for the inverse case. The inverse case is an ill-posed problem because the input is comprised of measured values that contain error. A regularization technique was therefore developed to help solve the ill-posed problem. A variety of surface deformation data sets were analyzed in order to determine the surface deformation input data that would produce the best solution and the optimum reconstruction of the initial subsurface volumetric changes. Tilt measurements, although very small, were found to be much better input than vertical displacement data for finding the inverse solution. Even in an ideal case with 0 % error, tilts result in a smaller RMSE (about 12 % smaller in the case studied) and thus a better resolution. In realistic cases with error, adding only 0.55 % of the maximum random error in the surface displacement data affects the back-calculated results to a significant extent: the RMSE increased by more than 13 times in the case studied. However, in an identical case using tilt measurements as input, adding 20 % of the maximum surface tilt value as random error increased the RMSE by 7 times, and remodelling the initial distribution of the volumetric changes in the subsurface was still possible. The required area of observation can also be reduced if tilt measurements are used. The optimal input includes tilt measurements in both directions: dz/dx and dz/dy. iv With respect to the number of observation points chosen, when tilts are used with an error of 0 %, very good resolution is obtainable using only 0.4 % of the unknowns as the number of benchmarks. For example, using only 10 observation points for a reservoir with 2500 elements, or unknowns resulted in an acceptable reconstruction. With respect to the sensitivity of the inverse solution to the depth of the reservoir and to the geometry of the observation grid, the deeper the reservoir, the more ill-posed the problem. The geometry of the benchmarks also has a significant effect on the solution of the inverse problem.

This thesis contains two components of research: studies of supercontinuum pulses generated in the novel microstructure fiber, and research on spatio-temporal coupling in ultrafast laser beams. One of the most exciting developments in optics in recent years has been the invention of the microstructure optical fiber. By controlling the structural parameters of these novel fibers in design and manufacturing, their dispersion profile can be freely tailored, opening up a huge application base. One particularly interesting effect in the microstructure fiber is the generation of ultrabroadband supercontinuum with only nJ-level Ti:sapphire oscillator pulse pump. This supercontinuum is arguably the most complicated ultrafast pulse ever generated, with its huge time-bandwidth product (> 1000 from a 16-cm-long fiber). Although many applications have been demonstrated or envisioned with this continuum, its generation is a very complicated process that is poorly understood, and the characteristics of the continuum pulses are not clearly known. In this work, we make a full-intensity-and-phase measurement of the continuum pulses using cross-correlation frequency-resolved optical gating (XFROG). The results reveal surprising unstable fine spectral structure in the continuum pulses, which is confirmed by single-shot measurements. Our study on the coherence of the continuum, on the other hand, shows that the spectral phase of the supercontinuum is fairly stable. Numerical simulations are carried out whose results are in good agreement with experiments. The second component of this thesis is the study of spatio-temporal coupling in ultrafast beams. We propose two definitions of spatial chirp, point out their respective physical meanings, and derive their relationship. On the common perception of the equivalence between pulse-front tilt and angular dispersion, we show that the equivalence only holds for plane waves. We establish a generalized theory of ultrafast laser beams with first-order spatio-temporal couplings, and discover a new pulse-front tilt effect associated with the combination of spatial chirp and temporal chirp. For the measurement of spatio-temporal distortions, the effects of such distortions in the input beam to a GRENOUILLE trace are carefully studied. An algorithm is proposed and tested to retrieve information about the distortions from the GRENOUILLE trace.