While some attempts have been made to model the behaviour of the grand piano action (the mechanism that translates a key press into a hammer striking a string), most researchers have reduced the system to a simple model with little relation to the components of a real action. While such models are useful for certain applications, they are not appropriate as design tools for piano makers, since the model parameters have little physical meaning and must be calibrated from the behaviour of a real action. A new model for a piano action is proposed in this thesis. The model treats each of the five main action components (key, whippen, jack, repetition lever, and hammer) as a rigid body. The action model also incorporates a contact model to determine the normal and friction forces at 13 locations between each of the contacting bodies. All parameters in the model are directly measured from the physical properties of individual action components, allowing the model to be used as a prototyping tool for actions that have not yet been built. To test whether the model can accurately predict the behaviour of a piano action, an experimental apparatus was built. Based around a keyboard from a Boston grand piano, the apparatus uses an electric motor to actuate the key, a load cell to measure applied force, and optical encoders and a high speed video camera to measure the positions of the bodies. The apparatus was found to produce highly repeatable, reliable measurements of the action. The behaviour of the action model was compared to the measurements from the experimental apparatus for several types of key blows from a pianist. A qualitative comparison showed that the model could very accurately reproduce the behaviour of a real action for high force blows. When the forces were lower, the behaviour of the action model was still reasonable, but some discrepancy from the experimental results could be seen. In order to reduce the discrepancy, it was recommended that certain improvements could be made to the action model. Rigid bodies, most importantly the key and hammer, should be replaced with flexible bodies. The normal contact model should be modified to account for the speed-independent behaviour of felt compression. Felt bushings that are modelled as perfect revolute joints should instead be modelled as flexible contact surfaces.

The piano action is the mechanism that transforms the finger force applied to a key into the motion of a hammer that strikes a piano string. This thesis focuses on improving the fidelity of the dynamic model of a grand piano action which has been already developed by Hirschkorn et al. at the University of Waterloo. This model is the state-of-the-art dynamic model of the piano in the literature and is based on the real components of the piano action mechanism (key, whippen, jack, repetition lever, and hammer). Two main areas for improving the fidelity of the dynamic model are the hammer shank and the connection point between the key and the ground. The hammer shank is a long narrow wooden rod and, by observation with a high-speed video camera, the flexibility of this part has been confirmed. In previous work, the piano hammer had been modelled as a rigid body. In this work, a Rayleigh beam model is used to model the flexible behaviour of the hammer shank. By comparing the experimental and analytical results, it turns out that the flexibility of the hammer shank does not significantly affect the rotation of the other parts of the piano mechanism, compared with the case that the hammer shank has been modelled as a rigid part. However, the flexibility of the hammer shank changes the impact velocity of the hammer head, and also causes a greater scuffing motion for the hammer head during the contact with the string. The connection of the piano key to the ground had been simply modelled with a revolute joint, but the physical form of the connection at that point suggests that a revoluteprismatic joint with a contact force underneath better represents this connection. By comparing the experimental and analytical results, it is concluded that incorporating this new model significantly increases the fidelity of the model for the blows. In order to test the accuracy of the dynamic model, an experimental setup, including a servo motor, a load cell, a strain gauge, and three optical encoders, is built. The servo motor is used to actuate the piano key. Since the purpose of the motor is to consistently mimic the finger force of the pianist, the output torque of the motor is controlled. To overcome the problem associated with the motor torque control method used in previous work, a new torque control method is implemented on a real-time PC and a better control of the motor torque output is established. Adding a more realistic model of the piano string to the current piano action model and finding a better contact model for the contacts that happen between the surfaces that are made of felt (or leather), are two main areas that can be worked on in the future research. These two areas will help to further increase the fidelity of the present piano action model.

Most studies that have examined chloride-induced corrosion of steel in concrete have focused on sound concrete. However, reinforced concrete is seldom uncracked and very few studies have investigated the influence of cracked concrete on rebar corrosion. Furthermore, the studies that have examined the relationship between cracks and corrosion have focused on unloaded or statically loaded cracks. However, in practice, reinforced concrete structures (e.g. bridges) are often dynamically loaded. Hence, the cracks in such structures open and close which could influence the corrosion of the reinforcing steel. Consequently, the objectives of this project were (i) to examine the effect of different types of loading on the corrosion of reinforcing steel, (ii) the influence of concrete mixture design on the corrosion behaviour and (iii) to provide data that can be used in service-life modelling of cracked reinforced concretes. In this project, cracked reinforced concrete beams made with ordinary Portland cement concrete (OPCC) and high performance concrete (HPC) were subjected to no load, static loading and dynamic loading. They were immersed in salt solution to just above the crack level at their mid-point for two weeks out of every four (wet cycle) and, for the remaining two weeks, were left in ambient laboratory conditions to dry (dry cycle). The wet cycle led to three conditions of exposure for each beam: (i) the non-submerged region, (ii) the sound, submerged region and (ii) the cracked mid-section, which was also immersed in the solution. Linear polarization resistance and galvanostatic pulse techniques were used to monitor the corrosion in the three regions. Potentiodynamic polarization, electrochemical current noise and concrete electrical resistance measurements were also performed. These measurements illustrated that (i) rebar corroded faster at cracks than in sound concrete, (ii) HPC was more protective towards the rebar than OPCC even at cracks and (iii) there was a minor effect of the type of loading on rebar corrosion within the period of the project. These measurements also highlighted the problems associated with corrosion measurements, for example, identifying the actual corroding area and the influence of the length of rebar. The numbers of cracks and crack-widths in each beam were measured after the beam’s initial exposure to salt solution and, again, after the final corrosion measurements. HPC beams had more cracks than the OPCC. Also, final measurements illustrated increased crack-widths in dynamically loaded beams, regardless of the concrete type. The cracks in both statically and dynamically loaded OPCC and HPC beams bifurcated at the rebar level and propagated parallel to the rebar. This project also examined the extent of corrosion on the rebars and the distribution of corrosion products in the concrete and on the concrete walls of the cracks. Corrosion occurred only at cracks in the concrete and was spread over a larger area on the rebars in HPC than those in OPCC. The damage due to corrosion was superficial in HPC and crater-like in OPCC. Regardless of the concrete type, there was a larger distribution of corrosion products on the crack walls of the dynamically loaded beams. Corrosion products diffused into the cement paste and the paste-aggregate interface in OPCC but remained in the crack in HPC. The most voluminous corrosion product identified was ferric hydroxide. Elemental analysis of mill-scale on rebar which was not embedded in concrete or exposed to chlorides was compared to that of the bars that had been embedded in uncontaminated concrete and in cracked concrete exposed to chlorides. In uncontaminated concrete, mill-scale absorbed calcium and silicon. At a crack, a layer, composed of a mixture of cement paste and corrosion products, developed between the mill-scale and the substrate steel. Based on the results, it was concluded that (i) corrosion occurred on the rebar only at cracks in the concrete, (ii) corrosion was initiated at the cracks immediately upon exposure to salt solution, (ii) the type of loading had a minor influence on the corrosion rates of reinforcing steel and (iv) the use of polarized area led to a significant underestimation of the current density at the crack. It is recommended that the effect of cover-depth on (i) the time to initiation of corrosion and (ii) the corrosion current density in cracked concrete be investigated.

In a data centre, server clusters are typically used to provide the required processing capacity to provide acceptable response time performance to interactive applications. The workload of each application may be time-varying. Static allocation to meet peak demand is not an efficient usage of resources. Dynamic resource allocation, on the other hand, can result in efficient resource utilization while meeting the performance goals of individual applications. In this thesis, we develop a new interactive system model where the number of logon users changes over time. Our objective is to obtain results that can be used to guide dynamic resource allocation decisions. We obtain approximate analytic results for the response time distribution at steady state for our model. Using numerical examples, we show that these results are acceptable in terms of estimating the steady state probabilities of the number of logon users. We also show by comparison with simulation that our results are acceptable in estimating the response time distribution under a variety of dynamic resource allocation scenarios. More importantly, we show that our results are accurate in terms of predicting the minimum number of processor nodes required to meet the performance goal of an interaction application. Such information is valuable to resource provisioning and we discuss how our results can be used to guide dynamic resource allocation decisions.

No description available.

This master thesis is Atlas Copco Craelius’ first step in incorporating numericalmethods in load case analysis during the development process. Atlas Copco needs toconstantly evolve and refine their methods in the design process to remain as thenumber one manufacturer of mining and construction equipment. Poor knowledge ofloads results either in structural failures or in oversized structures, both very costlyfor Atlas Copco.The main goal of this thesis is to examine the potential in MBS software by using it toidentify extreme load cases in one of Atlas Copco Craelius’ surface drill rigs, Mustang5. The MBS-software ADAMS View is used to build a model of the Mustang 5 drill rigand evaluate simulation results. The rig model is subject to motions which representreal case scenarios. The feed positioning possibilities are examined thoroughly since it was expected that the positioning has impact on the load levels. 25 different feedpositioning are simulated.The main conclusion is that the load levels are highly dependent on the feedpositioning. For example, the load levels in the boom raising cylinder can increaseseven times, if the rig is operated with the most unfavorable positioning compared tothe recommended. It could also be concluded that not only one positioning isextreme in terms of loads; it depends on which part of the boom system is beingobserved. Thus, several positioning cases have to be taken into consideration in orderto optimize the design of parts in the boom system.

In this thesis we investigate different algorithms for dynamic resource allocation in wireless networks. We introduce a general framework for modeling systems whichis applicable to many scenarios. We also analyze a specific scenario with adaptivebeamforming and show how it fits into the proposed framework. We then studytwo different resource allocation problems: Quality-of-Service (QoS) constraineduser scheduling and sum-rate maximization. For user scheduling, we select some“good” set of users that is allowed to use a specific resource. We investigatedifferent algorithms with varying complexities. For the sum-rate maximizationwe find the global optimum through an algorithm that takes advantage of thestructure of the problem by reformulating it as a D.C. program, i.e., a minimizationover a difference of convex functions. We validate this approach by showing that itis more efficient than an exhaustive search at exploring the space of solutions. Thealgorithm provides a good benchmark for more suboptimal algorithms to comparewith. The framework in which we construct the algorithm, apart from being verygeneral, is also very flexible and can be used to implement other low complexitybut suboptimal algorithms.

Diagnosis and Supervision of technical systems is used to detect  faults when they occur. To make a diagnosis, tests based on residuals can be used. Residuals are used to compare observations of  the system with a model of the system, to detect inconsistencies. There are often many different types of faults which affects the  state of the system. These states are modeled as fault modes. The  difference between fault modes are the presence of faults in the  model. For each fault mode a different set of model equations is  used to describe the behaviour of the real system. When doing fault  diagnosis in real time it is good, and sometimes vital, to be able to change fault mode of the model, when a fault suddenly occurs in the real system. If multiple faults can occur the number of  combinations of faults is often so big, even for relatively small  systems, that residuals for all fault modes can not be prepared. To  handle this problem, the residuals are to be generated when they are  needed. The main task in this thesis has been to investigate how residuals  can be automatically generated, given a fault mode with a  corresponding model. An algorithm has been developed and to verify  the algorithm a model of a satellite power system, called  ADAPT-Lite, has been used. The algorithm has been made in two versions. One is focusing on numerical calculations and the other is  allowing algebraical calculations. A numerical algorithm is preferred in an automatized process because  of generally shorter calculation times and the possibility to apply it to systems which can not be solved algebraically but the  algebraical algorithm gives slightly more accurate results in some  cases. / Diagnos och övervakning av tekniska system används för att upptäcka fel när de inträffar. För att ställa en diagnos kan tester baserade på residualer användas. Residualer används för att jämföra observationer av ett system med en model av system för att upptäcka inkonsistens. Det finns ofta många typer av fel som påverkar ett systems tillstånd.Dessa tillstånd modelleras med olika felmoder. För varje felmod används olika uppsättningar av modellekvationer för att beskriva systemets beteende. När diagnoser ska ställas i realtid är det ofta bra och ibland avgörande att kunna byta felmod när ett fel plötsligt inträffar i systemet. Om multipelfel kan inträffa blir antalet kombinationer av fel ofta så stort att residualekvationerna för alla felmoder inte kan förberedas. Detta gäller även för relativt små system. För att hantera problemet bör residualerna kunna genereras vid den tidpunkt då de behövs. Examensarbetets huvuduppgift handlar om att undersöka hur residualerna kan genereras automatiskt, givet en felmod och en modell. En algoritm har utvecklats och verifierats med en model av ett kraftsystem för en satellit, kallad ADAPT-Lite. Algoritmen har gjorts i två versioner. Den ena tillåts göra algebraiska beräkningar men den andra, i så storutsträckning som möjligt, tillåts endast göra numeriska beräkningar. En numerisk algoritm föredras i en automatiserad process p.g.a. generellt sett kortare beräkningstid och dess egenskap att kunna lösa vissa problem som inte kan lösas algebraiskt. Den algebraiska algoritmen har dock visats sig ge aningen noggrannare resultat i många fall.

In today’s competitive business world, every company wants to be more profitable. In order to keep the profit margin high, the companies need to work more. It is very hard to find any company which works on a single project. Actually it is not only any specific company’s practice rather it is a practice of the entire human being to do multiple works at the same time. The practice has also become quite common in the companies. Although the practice of working on multiple projects simultaneously has become popular for the companies overtime, the important thing is to manage all the projects efficiently so that all projects can be finished according to the plan. Multiple project management deals with a lot of challenges in terms of resource and time. The facts like resource sharing and resource constraint add more complexity to the management of such multiple simultaneous projects. It is difficult to understand the correct workload during the project and the effects of running all the simultaneous projects to the project deployment time. The situation becomes even critical if the projects run in a dynamic environment which may provide changes during any phase of it. Software development is such a process that deals with multiple projects and also the dynamic environment. The master study will focus on such case where the study has conducted in a software development company named ActionWave Development AB. ActionWave Development AB is dealing with multiple projects with having resource constraint. In this study, readers will come to know about the challenges of ActionWave Development AB in terms of resource scenario and deployment time in case of managing multiple projects simultaneously. The study will analyze the effect of having multiple simultaneous projects to the limited resource of ActionWave Development AB and will also show the effects on projects deployment time. The study does the analysis for the current case and an imaginary test case. Later solution has been provided to overcome the problem. Further recommendations were made in order to conduct an effective project management within the company.

While some attempts have been made to model the behaviour of the grand piano action (the mechanism that translates a key press into a hammer striking a string), most researchers have reduced the system to a simple model with little relation to the components of a real action. While such models are useful for certain applications, they are not appropriate as design tools for piano makers, since the model parameters have little physical meaning and must be calibrated from the behaviour of a real action. A new model for a piano action is proposed in this thesis. The model treats each of the five main action components (key, whippen, jack, repetition lever, and hammer) as a rigid body. The action model also incorporates a contact model to determine the normal and friction forces at 13 locations between each of the contacting bodies. All parameters in the model are directly measured from the physical properties of individual action components, allowing the model to be used as a prototyping tool for actions that have not yet been built. To test whether the model can accurately predict the behaviour of a piano action, an experimental apparatus was built. Based around a keyboard from a Boston grand piano, the apparatus uses an electric motor to actuate the key, a load cell to measure applied force, and optical encoders and a high speed video camera to measure the positions of the bodies. The apparatus was found to produce highly repeatable, reliable measurements of the action. The behaviour of the action model was compared to the measurements from the experimental apparatus for several types of key blows from a pianist. A qualitative comparison showed that the model could very accurately reproduce the behaviour of a real action for high force blows. When the forces were lower, the behaviour of the action model was still reasonable, but some discrepancy from the experimental results could be seen. In order to reduce the discrepancy, it was recommended that certain improvements could be made to the action model. Rigid bodies, most importantly the key and hammer, should be replaced with flexible bodies. The normal contact model should be modified to account for the speed-independent behaviour of felt compression. Felt bushings that are modelled as perfect revolute joints should instead be modelled as flexible contact surfaces.