No description available.

Recent development in the fields of MEMS sensors, miniature, energy efficient and very powerful microcontrollers and microprocessors has given the opportunity to build small autonomous flying vehicles. This thesis is studying one type of these vehicles, so called quadrotor. The quadrotor is flying vehicle similar to helicopter but having four rotors which are situated in one plane. Each propeller is actuated by an independently controlled motor. This feature allows to control Euler angles of the quadrotor such as yaw, pitch and roll thus giving the possibility to control quadrotor's position and velocity. The CTU Department of Cybernetics bought such a quadrotor prototype called Linkquad. The goal is to use this prototype for indoor flights using camera vision as a navigation reference. Unfortunately the prototype has no autonomous control loops implemented. The focal point of this thesis is design of a control law for the already mentioned prototype. This leads to other tasks such as an identification of the models 's parameters, creating mathematical nonlinear model, linearization of this model in certain trim points, design and testing of the linear controller and finally implementation and testing using the real system. / <p>Validerat; 20111004 (anonymous)</p>

In the first part of this article, we discuss the time and the probability for the barrier option to become effective, and then employ the risk neutral assumption to derive the pricing formula of the barrier option. Our pricing formula is a closed form solution, and we may calculate the price of the barrier option without considering the Binomial tree of the underlying asset. We also calculate the traditional option price by our pricing formula, and compare the result to the value that is calculated by Binomial pricing formula. Both of them give the same value about the tradition option, and thus we may regard the tradition option as the special case of the barrier option. In the second part of this article, we employ the pricing formula of the barrier to derive the value of the National Finance Stabilization Fund, and then analyze the impact of the NFSF to the market. Our results reveal that when the benchmark market is not shifted by the bad news, then the NFSF may advance and stabilize the stock price index. In fact, many new style derivatives have the characteristics like barrier option, for example, a convertible bond with forced convert clause, which is a up-and-out call. Other course like bankruptcy costs, agency problems, and contingent liabilities etc, which can all be solved by the pricing formula in our discussion. We hope that results and the process in this article are helpful in solving above questions.

Thesis (Ph. D.)--New School University, 2002. / Includes bibliographical references (leaves 118-131).

Thesis (Ph. D.)--Catholic University of America, 1990. / Includes bibliographical references (p. 228-253).

Tartrate stabilization is the process that removes components that contribute to the crystallization of potassium hydrogen tartrate (KHT) and calcium tartrate (CaT) which is an undesirable outcome for wine quality. There are a variety of current tartrate stabilization techniques such as cold stabilization, chemical additives, ion exchange resins, and electrodialysis that stabilize wine, but the most popular being cold stabilization. Cold stabilization requires high amounts of energy and resources to stabilize wine. With the ever increasing demand for more efficient processing, an alternative tartrate stabilization technology based on an electrolytic method was developed and its viability to stabilize wine was determined. Twelve treatments involving different combinations of time and current were replicated three times each on different batches of Chardonnay wine. Several different variables were analyzed for stability and quality purposes. Tartaric acid, potassium, calcium, and conductivity differences were the most important factors for tartrate stability. Temperature, titratable acidity, pH, color (hue and intensity), and chemical oxygen demand (COD) were indicators of sensory quality characteristics of the wine. The concentrations of potassium, calcium, and tartaric acid were reduced by the electrolytic method at satisfactory process parameters, inherently making the wine more stable. The temperature and hue were significantly affected by the electrolytic method and accelerated the oxidative browning process. Electrolytic treatment of Chardonnay is a viable alternative stabilization technology. The technology can be further developed to become a great option in terms of water and energy consumption, process time, and price.

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Digitized by Kansas Correctional Industries

<p>Pitch and heave are limiting motions when driving at high speed on water. The installation ofa T-foil is an effective solution that reduces these motions. Commercial T-foils are available,but today none of them are non-magnetic. This thesis studies the possibility to design anon-magnetic T-foil that can carry the considerable loads that such a constructionexperiences. The T-foil is designed for vessels such as the Visby Class corvette.</p><p>Vortex lattice theory is used to calculate the pressure distribution acting on the construction atdifferent load cases. Required laminate thickness is determined by iteration using a linearfinite element model of the fin.</p><p>The conclusion is that it is possible to manufacture a non-magnetic T-foil of the required size.A critical area in the construction is the T-joint between the vertical strut and the horizontalfoil. Future investigations should include laboratory tests of the T-joint as well as moredetailed hydrodynamic analysis for more accurate input parameters of the T-foil.</p>

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