This master's thesis is focused to engine control by CAN bus. Theoretical part describes industrial control buses, servo-traction engines and their application. There are mentioned principal and basic parameters of common control buses and their comparison. Each engine type is described in side of construction and control requirements. Practical part of of this paper works on servo-engines in metal cutting machine applications.

Purpose: Adaptive servoventilation (ASV) has been reported to show improvement in patients with sleep-disordered breathing (SDB) and heart failure (HF); however, its role as a second-line or adjunctive treatment is not clear. We conducted a systematic review and meta-analysis of new existing data including cardiac mechanistic factor, geometry, and cardiac biomarkers. Methods: We systematically searched for randomized controlled trials (RCTs) and cohort studies that assessed the efficacy or effectiveness of ASV compared to conventional treatments for SDB and HF in five research databases from their inception to November 2018. Random-effects meta-analyses using the inverse variance method and stratified by study design were performed. Results: We included 15 RCTs (n = 859) and 5 cohorts (n = 162) that met our inclusion criteria. ASV significantly improved left ventricular ejection fraction (LVEF) in cohorts (MD 6.96%, 95% CI 2.58, 11.34, p = 0.002), but not in RCTs. Also, the ASV group had significantly lower apnea-hypopnea index (AHI) in both cohorts (MD − 26.02, 95% CI − 36.94, − 15.10, p < 0.00001) and RCTs (MD − 21.83, 95% CI − 28.17, − 15.49, p < 0.00001). ASV did not significantly decrease the E/e′ ratio in RCTs or in cohorts. Finally, ASV significantly decreased brain natriuretic peptide (BNP) in the cohorts (SMD − 121.99, CI 95% − 186.47, − 57.51, p = 0.0002) but not in RCTs. ASV did not have a significant effect on systolic blood pressure, diastolic blood pressure, and cardiac diameters. Conclusions: ASV therapy is associated with improvements of AHI in comparison to alternative treatments in patients with SDB and HF. ASV did not improve LVEF or E/e′ ratios in randomized trials; other intermediate outcomes did not improve significantly. / Revisión por pares

This essay aims to find out if there’s any way to consolidate Martin Luther’s ideas regarding free will set forth in his work On the Bondage of Will with a more modern, libertarian understanding of the free will. This is done to ultimately see if Luther’s teachings on the subject can be harmonized with Alvin Plantingas “free will defence” in regards to the problem of evil or if these two ideas are fully or partly incompatible. I conclude in the end that while Luther’s ideas and the free will defence might seem incompatible at face value, if you look at the purpose behind the free will defence, namely explaining the existence of moral evil in the world despite an omnipotent, omniscient and benevolent creator then Luther’s idea that the will of man is bound to do evil fulfils the same purpose.

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No / In this paper, we investigate trajectory tracking in a multi-input nonlinear system, where there is little knowledge of the system parameters and the form of the nonlinear function. An identification-based iterative learning control (ILC) scheme to repetitively estimate the linearity in a neighborhood of a desired trajectory is presented. Based on this estimation, the original nonlinear system can track the desired trajectory perfectly by the aid of a regional training scheme. Just like in adaptive control, a singularity exists in ILC when the input coupling matrix is estimated. Singularity avoidance is discussed. A new parameter modification procedure for ILC is presented such that the determinant of the estimate of the input coupling matrix is uniformly bounded from below. Compared with the scheme used for adaptive control of a MIMO system, the proposed scheme reduces the computation load greatly. It is used in a robotic visual system for manipulator trajectory tracking without any information about the camera-robot relationship. The estimated image Jacobian is updated repetitively and then its inverse is used to calculate the manipulator velocity without any singularity.

Made available in DSpace on 2016-07-27T13:49:34Z (GMT). No. of bitstreams: 1 ROSEMARY FRANCISCA NEVES.pdf: 508145 bytes, checksum: 88df5e6a8fef56827a528403c273b3a1 (MD5) Previous issue date: 2007-12-14 / This study deals with the pericope Is 49,1-6, which is known as the Second Song of the Servant of JHWH and which is inserted into Deutero-Isaias. We affirm that there is a cohesive unity within this block of text even though there is no unanimity among scholars with respect to the unity of the Song and with respect to the analysis of the structure of the same text. This being the case, we will work within that area where there is general agreement among scholars; that is, with respect to the parallelism contained in the Song. The literary genre is that of an autobiographical narrative which tells of the vocation of the Servant from his existence within his mother's womb up to the time of the call to actualize his mission. The Servant responds to God's call and proclaims himself as the one chosen to free the people of Israel. In order to concretize his mission the prophet-servant takes on the experience of suffering within the midst of a suffering people. The Servant is a prophet because he enters into the daily life of the exiles, participating in their gatherings and in their farm activities. Within community they were able to support one another through the practice of solidarity and of sharing, while affirming their identity and faith in the one God. Through this exegesis grounded in the historic-critical method, one grasps that the Servant is a prophet. The prophet-servant has the mission to be a light for the nations, and a bearer of salvation to the people of God by means of freeing them from their oppressors. / O objeto de estudo desta pesquisa é a perícope de Is 49,1-6, conhecida como o Segundo Canto do Servo de YHWH que está inserida no Dêutero-Isaías. Defendemos que a partir desta delimitação há uma coesão textual, embora não haja, entre os pesquisadores, uma unanimidade acerca da delimitação do Canto e acerca da relação de análise da estrutura do texto. Com isso, trabalharemos a partir da proximidade que há entre os estudiosos, que é o paralelismo existente no Canto. O gênero literário é de narrativa autobiográfica, que narra a vocação do servo desde o ventre materno ao chamado à realização de sua missão. O Servo responde ao chamado de Deus e se auto-proclama como o escolhido para libertar o povo de Israel. Para concretizar sua missão o profeta-servo fez a experiência de sofrimento no meio do povo sofrido. O Servo é um profeta porque esteve inserido no cotidiano dos exilados, participando das reuniões e das atividades agrícolas. Juntos, o Servo e o povo se reuniam em comunidades para cantar e ler a Palavra de YHWH. Esta experiência só foi possível por eles terem vivido em pequenas colônias. Em comunidade puderam apoiar um ao outro na prática da solidariedade e da partilha, afirmando sua identidade e fé no Deus Uno. A partir da exegese norteada pelo método histórico-crítico, compreende-se que o Servo é um profeta. O profeta-servo possui a missão de ser luz das nações, levando ao povo de Deus a salvação por meio da libertação dos opressores.

Made available in DSpace on 2014-12-17T14:56:04Z (GMT). No. of bitstreams: 1 AnfranseraiMD.pdf: 2426744 bytes, checksum: d0579aab855282deeac9bb5717c5ab5a (MD5) Previous issue date: 2002-08-02 / In conventional robot manipulator control, the desired path is specified in cartesian space and converted to joint space through inverse kinematics mapping. The joint references generated by this mapping are utilized for dynamic control in joint space. Thus, the end-effector position is, in fact, controlled indirectly, in open-loop, and the accuracy of grip position control directly depends on the accuracy of the available kinematic model. In this report, a new scheme for redundant manipulator kinematic control, based on visual servoing is proposed. In the proposed system, a robot image acquired through a CCD camera is processed in order to compute the position and orientation of each link of the robot arm. The robot task is specified as a temporal sequence of reference images of the robot arm. Thus, both the measured pose and the reference pose are specified in the same image space, and its difference is utilized to generate a cartesian space error for kinematic control purposes. The proposed control scheme was applied in a four degree-of-freedom planar redundant robot arm, experimental results are shown / No controle convencional de manipuladores rob?ticos, a trajet?ria desejada ? especificada em espa?o cartesiano e mapeada para espa?o de juntas atrav?s do modelo cinem?tico inverso do manipulador. As novas refer?ncias assim geradas s?o utilizadas para fins de controle din?mico em espa?o de juntas, desde modo a posi??o da garra ? controlada efetivamente em malha aberta e a precis?o do controle depende diretamente da precis?o do modelo cinem?tico dispon?vel. Esta disserta??o apresenta um novo algoritmo de controle cinem?tico para bra?os redundantes baseado em realimenta??o visual. No sistema proposto, a imagem do rob? ? captada por uma c?mera e processada, para obter a posi??o e orienta??o de cada um dos elos do rob?. A trajet?ria do rob? ? especificada na forma de uma seq??ncia temporal de imagens de refer?ncia do bra?o rob?tico. Assim, ambas as poses, a medida e a de refer?ncia s?o especificadas no mesmo espa?o de imagem e a sua diferen?a ? utilizada para gerar um erro em espa?o cartesiano para prop?sitos de controle cinem?tico. O esquema de controle proposto foi aplicado a um manipulador redundante planar de quatro graus de liberdade, resultados experimentais s?o apresentados

An optimization of a servo system for a satellite antenna system wasperformed. A brushless DC motor with an angle encoder was used, whoseangular velocity had to be controlled with great precision. Specializedhardware was used to implement field oriented control to directlycontrol the torque and magnetic flux of the motor. Multiple velocitycontrollers were tested for the closed servo system, which controlledthe amplitude of the motor current to achieve the given reference valuefor the angular velocity. A PI regulator was tested and evaluated aslacking in terms of precision, which was caused by low resolution of theerror signal for the angular velocity of the motor. This in turn wascaused by low resolution of the angular velocity measurement. Theanguluar velocity error signal was filtered to combat this, and a feedforward method was implemented where the reference value for the angularvelocity was integrated over time to generate a reference value for theangular position. Since the angular position could be measured withbetter precision, a better error signal based on the angular positioncould be generated which was then used as input to another regulatorwhose output signal was added to the original regulator to increase theaccuracy of the system significantly. The two regulator output signalswere then weighted based on the reference value for the angularvelocity. This was done because the two regulators performed well fordifferent velocity bands, which this method took into consideration. Thefinal servosystem fullfilled the set requirements by a good margin.