abstract: Small metallic parts of size less than 1mm, with features measured in tens of microns, with tolerances as small as 0.1 micron are in demand for the research in many fields such as electronics, optics, and biomedical engineering. Because of various drawbacks with non-mechanical micromanufacturing processes, micromilling has shown itself to be an attractive alternative manufacturing method. Micromilling is a microscale manufacturing process that can be used to produce a wide range of small parts, including those that have complex 3-dimensional contours. Although the micromilling process is superficially similar to conventional-scale milling, the physical processes of micromilling are unique due to the scale effects. These scale effects occur due to unequal scaling of the parameters from the macroscale to the microscale milling. One key example of scale effects in micromilling process is a geometrical source of error known as chord error. The chord error limits the feedrate to a reduced value to produce the features within machining tolerances. In this research, it is hypothesized that the increase of chord error in micromilling can be alleviated by intelligent modification of the kinematic arrangement of the micromilling machine. Currently, all 3-axis micromilling machines are constructed with a Cartesian kinematic arrangement with three perpendicular linear axes. In this research, the cylindrical kinematic arrangement is introduced, and an analytical expression for the chord error for this arrangement is derived. The numerical simulations are performed to evaluate the chord errors for the cylindrical kinematic arrangement. It is found that cylindrical kinematic arrangement gives reduced chord error for some types of the desired toolpaths. Then, the kinematic redundancy is introduced to design a novel kinematic arrangement. Several desired toolpaths have been numerically simulated to evaluate the chord error for kinematically redundant arrangement. It is concluded that this arrangement gives up to 5 times reduced error for all the desired toolpaths considered, and allows significant gains in allowable feedrates. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2014

Esse trabalho consiste no estudo e desenvolvimento de técnicas de proteção a falhas transientes, também chamadas single event upset (SEU), em circuitos programáveis customizáveis por células SRAM. Os projetistas de circuitos eletrônicos estão cada vez mais predispostos a utilizar circuitos programáveis, conhecidos como Field Programmable Gate Array (FPGA), para aplicações espaciais devido a sua alta flexibilidade lógica, alto desempenho, baixo custo no desenvolvimento, rapidez na prototipação e principalmente pela reconfigurabilidade. Em particular, FPGAs customizados por SRAM são muito importantes para missões espaciais pois podem ser rapidamente reprogramados à distância quantas vezes for necessário. A técnica de proteção baseada em redundância tripla, conhecida como TMR, é comumente utilizada em circuitos integrados de aplicações específicas e pode também ser aplicada em circuitos programáveis como FPGAs. A técnica TMR foi testada no FPGA Virtex® da Xilinx em aplicações como contadores e micro-controladores. Falhas foram injetadas em todos as partes sensíveis da arquitetura e seus efeitos foram detalhadamente analisados. Os resultados de injeção de falhas e dos experimentos sob radiação em laboratório comprovaram a eficácia do TMR em proteger circuitos sintetizados em FPGAs customizados por SRAM. Todavia, essa técnica possui algumas limitações como aumento em área, uso de três vezes mais pinos de entrada e saída (E/S) e conseqüentemente, aumento na dissipação de potência. Com o objetivo de reduzir custos no TMR e melhorar a confiabilidade, uma técnica inovadora de tolerância a falhas para FPGAs customizados por SRAM foi desenvolvida para ser implementada em alto nível, sem modificações na arquitetura do componente. Essa técnica combina redundância espacial e temporal para reduzir custos e assegurar confiabilidade. Ela é baseada em duplicação com um circuito comparador e um bloco de detecção concorrente de falhas. Esta nova técnica proposta neste trabalho foi especificamente projetada para tratar o efeito de falhas transientes em blocos combinacionais e seqüenciais na arquitetura reconfigurável, reduzir o uso de pinos de E/S, área e dissipação de potência. A metodologia foi validada por injeção de falhas emuladas em uma placa de prototipação. O trabalho mostra uma comparação nos resultados de cobertura de falhas, área e desempenho entre as técnicas apresentadas. / This thesis presents the study and development of fault-tolerant techniques for programmable architectures, the well-known Field Programmable Gate Arrays (FPGAs), customizable by SRAM. FPGAs are becoming more valuable for space applications because of the high density, high performance, reduced development cost and re-programmability. In particular, SRAM-based FPGAs are very valuable for remote missions because of the possibility of being reprogrammed by the user as many times as necessary in a very short period. SRAM-based FPGA and micro-controllers represent a wide range of components in space applications, and as a result will be the focus of this work, more specifically the Virtex® family from Xilinx and the architecture of the 8051 micro-controller from Intel. The Triple Modular Redundancy (TMR) with voters is a common high-level technique to protect ASICs against single event upset (SEU) and it can also be applied to FPGAs. The TMR technique was first tested in the Virtex® FPGA architecture by using a small design based on counters. Faults were injected in all sensitive parts of the FPGA and a detailed analysis of the effect of a fault in a TMR design synthesized in the Virtex® platform was performed. Results from fault injection and from a radiation ground test facility showed the efficiency of the TMR for the related case study circuit. Although TMR has showed a high reliability, this technique presents some limitations, such as area overhead, three times more input and output pins and, consequently, a significant increase in power dissipation. Aiming to reduce TMR costs and improve reliability, an innovative high-level technique for designing fault-tolerant systems in SRAM-based FPGAs was developed, without modification in the FPGA architecture. This technique combines time and hardware redundancy to reduce overhead and to ensure reliability. It is based on duplication with comparison and concurrent error detection. The new technique proposed in this work was specifically developed for FPGAs to cope with transient faults in the user combinational and sequential logic, while also reducing pin count, area and power dissipation. The methodology was validated by fault injection experiments in an emulation board. The thesis presents comparison results in fault coverage, area and performance between the discussed techniques.

Orientador: Aurelio Ribeiro Leite de Oliveira / Dissertação (mestrado) - Universidade Estadual de Campinas, Instituto de Matematica, Estatistica e Computação Cientifica / Made available in DSpace on 2018-08-16T01:36:50Z (GMT). No. of bitstreams: 1 Silva_DanieleCosta_M.pdf: 1303714 bytes, checksum: 5b7f038f6b0f53fca9601f7784ec02d1 (MD5) Previous issue date: 2010 / Resumo: A presença de linhas redundantes na matriz de restrições não é incomum em problemas reais de grande porte. A existência de tais linhas deve ser levada em consideração na solução destes problemas. Se o método de solução adotado for o método simplex, existem procedimentos eficientes e de fácil implementação que contornam este problema. O mesmo se aplica quando métodos de pontos interiores são adotados e os sistemas lineares resultantes são resolvidos por métodos diretos. No entanto, existem problemas de grande porte cuja única forma possível de solução é resolver os sistemas lineares por métodos iterativos. Nesta situação as linhas redundantes representam uma dificuldade considerável, pois geram uma matriz singular e os métodos iterativos não convergem. A única alternativa viável consiste em detectar tais linhas e eliminá-las antes da aplicação dos métodos de pontos interiores. Este trabalho propõe uma implementação eficiente de um procedimento de detecção de linhas redundantes, que incluímos em uma adaptação própria do PCx que resolve os sistemas lineares por métodos iterativos / Abstract: The presence of dependent rows in the constraint matrix is frequent in real large-scale problems. If the method of solution adopted is the simplex method, there are efficient procedures easy to implement that circumvent this problem. The same applies when interior point methods are adopted and the resulting linear systems are solved for directed methods. However, there are large-scale problems whose only possible solution is to solve linear systems by iterative methods. In this situation, the dependent rows create a singular matrix and the iterative method does not converge. The only viable alternative is to find and remove these rows before applying the method. This dissertation proposes an efficient implementation of a procedure for detection dependent rows, include in a PCx modification that solves linear systems by iterative methods / Mestrado / Programação Linear / Mestre em Matemática Aplicada

Svenska Kyrkan i Norrköping upplever idag att de har ett virtuellt intranät som skulle kunna fungera bättre. Problematiken tycker de ligger i underliga trafikflöden, utarmning av IP-adresser och hög komplexitet. Därtill undrar de om det inte är hög tid att höja bandbredden ut från flera av byggnaderna. Min målsättning med arbetet är att utifrån de största församlingarna samt Kyrkans Hus – där organisationens IT-kontor och serverfarm är belägna – kunna ge rekommendationer på åtgärder och förändringar som ska kunna avhjälpa denna problematik och förhoppningsvis framtidssäkra några av dessa aspekter. Under mitt arbete har jag tagit ut rudimentära baselinemätningar, IP-adresseringstabeller och sammanställningar av trafikflöden i syfte att skapa en nulägesanalys. Jag har också ämnat illustrera den problematik som låg till grund för arbetets utformning. I min rapport har jag också behandlat moderna IT-trender såsom tunna klienter, virtualiseringsmiljöer och BYOD, Bring Your Own Device. Detta arbete har resulterat i ett generellt designförslag med redundanslänkar, gästnätverk och stöd för Ipv6 med olika alternativ inom samtliga aspekter, vilka kan användas för att skräddarsy implementeringen av de olika teknologierna. För en mer allomfattande, grundlig och slutgiltig design av intranätet som helhet skulle en mer omfattande dokumentation behövas, tillsammans med uppskattning av nätverksanvändning, IP-adressering samt budgetering. / The Church of Sweden in Norrköping are currently faced with a virtual intranet that they feel could be improved. Some of the problems they have identified are unusual traffic forwardin patterns, exhaustion of the IP adress pool and a high level of complexity. In addition, they feel that it might be time to increase the bandwidth that some of the buildings have access to. My goal with this paper – based on the largest parishes and Kyrkan Hus, where the organization’s IT office and server farm lies – is to give recommendations in terms of actions and changes that could mitigate these issues and hopefully provide a more future proof solution. During my work I have taken some rudimentary baseline readings, IP addressing tables and compilations of network flows, in order to create a current situation analysis, which I have used to draw some of my conclusions. I have also aimed to illustrate the problems that have formed the foundation for this work. In my report I have also discussed some modern IT trends, such as thin clients, virtual environments and BYOD, Bring Your Own Device. This assignment has resulted in a general design proposal with redundant links, guest networks and Ipv6 support, with different alternatives withing each aspect, which can be used to further tailor the implementations of the different technologies. For a more all encompassing, thorough design of the intranet as a whole we’d need a more complete documentation, together with approximations and evaluations regarding network usage, IP addressing and budget.

This master thesis has been done at Enea Epact AB. The purpose of this thesis is to develop and implement a Link Quality Control algorithm for GPRS/EPGRS in the current testing tool. A Link Quality Control (LQC) shall take quality values from mobile stations and base stations and decide a codingsscheme that opimizes the throughput of data. The Advantage with LQC is that it adapts the used coding scheme to the channel quality. If the channel quality is too bad for the used coding scheme, a slower coding scheme with more redundancy should be selected. On the other hand, if the channel quality is too good for the used coding scheme, LQC should recommend a faster coding scheme with less redundancy. The testing tool is now using a static coding schme that doesn’t change during a data session. An LQC is therefore necessary for better simulation of the traffic and to make the tests more real.

A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also be used to give force feedback upon collision while the user is controlling the robot. Hence, a collision force feedback system is going to be created and combined with the teleoperation system. The teleoperation system will be tested in common daily applications.

La productivité des processus d'usinage robotisé est très souvent limitée par le manque de rigidité des robots et les problèmes vibratoires relatifs à l’instabilité de la coupe. L’analyse de l’instabilité de la coupe en usinage robotisé est un problème difficile en raison de la variabilité du comportement dynamique du robot dans son espace de travail. Par conséquent, le phénomène de broutement en usinage robotisé dépend non seulement des paramètres de coupe mais également de la configuration du robot. Le premier objectif de cette thèse est de déterminer une méthode de modélisation dynamique du robot, adaptée du point de vue de l’analyse des vibrations et de la stabilité en usinage robotisé. Cette approche a été réalisée sur le robot d’usinage industriel ABB IRB6660. Une démarche de recalage a été mise en place afin de déterminer les paramètres du modèle numérique du robot. Ensuite, une présentation 3D de la limite de stabilité en usinage robotisé prenant en compte les variations du comportement dynamique du robot est réalisée. Le deuxième objectif consiste à optimiser le procédé vis-à-vis de la stabilité de la coupe. Les variations du comportement dynamique du robot sont exploitées par la gestion des redondances fonctionnelles afin d’optimiser la configuration du robot du point de vue de la stabilité. L’analyse numérique a montré et les essais expérimentaux d’usinage ont confirmé la possibilité de passer de la zone instable à la zone stable par la gestion de la redondance fonctionnelle sans modifier les paramètres de coupe. / Productivity in robotic machining processes can be limited by the low rigidity of the overall structure and vibration instability (chatter). The robot’s dynamic behavior, due to changes in its posture along a machining trajectory, varies within its workspace. Chatter in robotic machining therefore depends not only on the cutting parameters but also on the robot configuration. The first objective of this thesis is to determine a dynamic modeling approach of the robot in order to analyze the vibration and the stability in robotic machining. This modeling approach has been realized to dynamic modeling of an ABB IRB6660 industrial robot. The numerical model parameters are adjusted on the basis of experimental modal identifications. Then, a three-dimensional representation of stability lobes diagram for the prediction to take into account the robot dynamic behavior variations in machining trajectory is established. The second objective is to optimize the robot configurations regarding stability. The dynamic behavior variations of the robot in the workspace are exploited through functional redundancy management in order to optimize robot configurations with respect to machining stability. The numerical analyze demonstrated and experimental machining tests confirmed that stability conditions in machining operations can be achieved by managing functional redundancy without changing the cutting parameters.

The development of species-typical perceptual preferences has been shown to depend on a variety of socially and ecologically derived sensory stimulation during both the pre- and postnatal periods. The prominent mechanism behind the development of these seemingly innate tendencies in young organisms has been hypothesized to be a domain-general pan-sensory selectivity process referred to as perceptual narrowing, whereby regularly experienced sensory stimuli are honed in upon, while simultaneously losing the ability to effectively discriminate between atypical or unfamiliar sensory stimulation. Previous work with precocial birds has been successful in preventing the development of species-typical perceptual preferences by denying the organism typical levels of social and/or self-produced stimulation. The current series of experiments explored the mechanism of perceptual narrowing to assess the malleability of a species-typical auditory preference in avian embryos. By providing a variety of different unimodal and bimodal presentations of a mixed-species vocalizations at the onset of prenatal auditory function, the following project aimed to 1) keep the perceptual window from narrowing, thereby interfering with the development of a species-typical auditory preference, 2) investigate how long differential prenatal stimulation can keep the perceptual window open postnatally, 3) explore how prenatal auditory enrichment effected preferences for novelty, and 4) assess whether prenatal auditory perceptual narrowing is affected by modality specific or amodal stimulus properties during early development. Results indicated that prenatal auditory enrichment significantly interferes with the emergence of a species-typical auditory preference and increases openness to novelty, at least temporarily. After accruing postnatal experience in an environment rich with species-typical auditory and multisensory cues, the effect of prenatal auditory enrichment rapidly was found to rapidly fade. Prenatal auditory enrichment with extraneous non-synchronous light exposure was shown to both keep the perceptual narrowing window open and impede learning in the postnatal environment, following hatching. Results are discussed in light of the role experience plays in perceptual narrowing during the perinatal period.

Based on the definition given in the AASHTO LRFD Bridge Design Specifications, twin steel box-girder bridges are classified as bridges with fracture critical members (FCMs), in which a failure of a tension member is expected to lead to a collapse of the bridge. However, a number of such bridges with either a partial or full-depth crack in one girder have been reported and are still providing service without collapsing. The main objective of this research project is to understand the behavior of twin steel box-girder bridges and to develop methods for evaluating their redundancy level in the event of the fracture of one tension member. The research project included an experimental investigation on a small-scale steel twin box-girder bridge, field testing of a full-scale twin box-girder, analysis of existing research and design data, and an extensive amount of numerical analyses carried out on calibrated 3-D nonlinear finite element models. The results from this study provide in-depth understanding of twin steel box-girder bridge behavior before and after a fracture in the tension member occurs. In addition to the experimentally verified finite element method, the report also proposes simplified methods for evaluating the load-carrying capacity of twin steel box-girder bridges under vii concentrated loads and provides a list of important factors that could control the reserve capacity of the damaged bridge. The main conclusion of this research is that the redundancy exists in twin steel boxgirder bridges in an event that a fracture of a tension member(s) takes place. This research project also provides a comprehensive roadmap for assessing the redundancy of twin steel box-girder bridges in which the elements of the roadmap are identified, and solutions for several of the steps are provided. The development of solutions for remaining steps of the roadmap is proposed for a future research.

East Tennessee State University recently adopted Alma & Primo and was suprised by the lack of an A-Z database discovery module. Frustrated by having to maintain electronic resources separately on our library website and in Alma, we embarked on a goal to eliminate redundancy and use Alma/Primo exclusively. This presentation will cover our entire workflow in both Alma & Primo and the issues we encountered along the way. I'll first go over our process in Alma including MARC record creation, electronic collection setup, and the top level collection module. Next, I'll cover our workflow in Primo including normalization rules, scoping, PNX display, facets, and code table changes. The last section will cover the Primo X-Services API and how it was developed into an A-Z Database list.