Belastningsskador hos arbetare är ett ökande problem hos olika företag och det har visat sig finnas en tydlig koppling mellan dessa skador och handledens vinkelhastigheten. Det är därför av stort intresse att kunna mäta dessa vinkelhastigheter på ett noggrant och smidigt sätt. Syftet med denna rapport är att utvärdera precisionen av IMU-sensorers förmåga att beräkna vinkelhastigheten av handleden. Detta görs genom att jämföra data från IMU-sensorer med data från ett optiskt spårningssystem (OTS), vilket klassas som en gold standard inom detta område. Ett experiment bestående av åtta övningar utfördes: tre standard rörelser (flexion och rotation i takterna 40, 90 och 140 slag per minut) och fyra simulerade arbeten (målning, pappersvikning, datorarbete och hårföning). Grad av överensstämmelse ges av 1,96 standardavvikelser (SD) för standardrörelserna (10 deltagare) vilka var -31,8 grader/s och 34,2 grader/s, medan för de simulerade arbetena var det -35,1 grader/s och 34,2 grader/s. Det lägsta medelvärdet av medelkvadratavvikelse (RMSD) var 15,7 grader/s och erhölls vid 40 BPM medan den högsta medelvärdet var 93,9 grader/s och erhölls vid målningsövningen. Medelvärdet av korrelationskoefficienten mellan IMU-sensorer och OTS varierade mellan 0,97 och 0,42 och korrelationskoefficienterna av deltagarnas 50:e percentiler av vinkelhastigheten var 0,95 för standardrörelserna och 0,96 för de simulerade arbetena. Medelvärdet av absoluta differensen mellan sensorer och OTS var givet i percentiler (10:e, 50:e och 90:e). Det största spannet för 50:e percentilen gavs vid 140 BPM (18,3 ± 24,6) och det minsta spannet vid 40 BPM (3,5 ± 4,7). Trots att det fanns mindre differenser mellan metodernas mätningar av vinkelhastighet, anser vi att IMU-sensorer har potential att användas för att mäta vinkelhastigheter hos handledens och med vidare utveckling kan den nuvarande differensen minimeras. / Musculoskeletal disorders (MSDs) are increasingly frequent amongst workers and there is a clear connection between work injuries and wrist angular velocities. One of the biggest issues therefore is the currently limited availability of means to measure these angular velocities. The aim of this study is to validate the usability of the IMU sensors to measure angular velocities. This is done by comparing the data from the IMU:s with the data obtained with the optical motion tracking system (OTS), which is considered gold standard within this field of studies. An experiment consisting of eight exercises was conducted: three standard movements (flexion and rotation in the pace 40, 90 and 140 repetitions per minute) and four simulated practical work tasks (painting, folding paper, computer exercise and using a hairdryer). The limits of agreement for the standard movements (10 subjects) were -31,8 degrees/s and 34,2 degrees/s, whereas for the simulated practical work tasks they were -35,1 degrees/s and 28,2 degrees/s. The lowest mean value of the root mean square deviation (RMSD) value was 15,7 degrees/s which represents the 40 BPM task whilst the highest mean value was 93,9 degrees/s which correspond to the painting task. The mean value of the correlation coefficients between the IMU:s and the OTS ranged between 0,97 and 0,42 and the correlation coefficient between the subjects 50:th percentiles of the angular velocity, was 0,95 for the standard movements whilst for the practical work tasks it was 0,96. The mean value of the absolute difference between the sensors and the OTS was given in percentiles (10th, 50th and 90th). The largest range within the 50th percentile occurred during the 140 BPM task (18,3 ± 24,6) and the smallest range during the 40 BPM task (3,5 ± 4,7). Although the measured angular velocities vary to a certain extent between the two methods, we conclude that the IMU sensors present the potential to work as measuring units for wrist angular velocities and with further development the current differences can be minimized. / Forte dnr: 2017-01209 "Enkel och tideffektiv metod att mät, analysera och presentera biomekaniskbelastning för hand-handled"

Объектом исследования являются медь и малолегированные бронзы, подвергнутые интенсивной пластической деформации. Целью работы было определение текущего состояния научных исследований по использованию меди и малолегированных бронз. А также предложить состав и исследовать структуру и свойства бронзы выбранного состава после интенсивной пластической деформации методом динамического канально-углового прессования. В процессе работы проводился анализ литературных источников. В результате исследования было установлено текущее состояние по проблематике работы и определен вектор исследований. Методами оптической металлографии, дюрометрического анализа, просвечивающей электронной микроскопии и сканирующей электронной микроскопии с применением дисперсионно-энергетического анализа и анализа на основе обратного рассеяния электронов было проведено исследование сплава Cu-0,8 вес.% Hf. При различных обработках методом динамического канально-углового прессования. Эксперимент включал различное состояние бронзы перед деформированием. Также было проведено исследование термической стабильности полученных методом динамического канально-углового прессования образцов. Было установлено, что гафниевая бронза после прессования обладает высокими механическими характеристиками и ультрамелкодисперсной структурой. При этом полученная структура стабильна при комнатной температуре и при последующем отжиге вплоть до 400 °С. Что позволяет рекомендовать данный материал как основу для широкого спектра электротехнических изделий. / The object of research is copper and low-alloy bronzes after severe plastic deformation. The purpose of this work was to review scientific research on the use of copper and low-alloy bronzes. As well as the development of the composition and study of the structure and properties of bronze after severe plastic deformation by the method of dynamic channel-angular pressing had been carried out. Literature analysis was carried out. Methods of optical metallography, durometric analysis, transmission electron microscopy and scanning electron microscopy using energy dispersion analysis and analysis based on electron backscattering had been used to study the Cu-0.8 wt.% Hf alloy. Various processings had been carried out by the method of dynamic canal-angular pressing. The state of the bronze before deformation was variouse. We also studied the thermal stability of samples obtained by the method of dynamic channel-angular pressing. It was found that hafnium bronze after pressing has high mechanical characteristics and an ultrafine structure. In this case, the resulting structure is stable at room temperature and upon subsequent annealing up to 400 °C. That allows us to recommend this material as a basis for a wide range of electrical products.

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No description available.

Since the dawn of the space race, satellites have grown rapidly in complexity and shrunk equally rapidly in size. Most of them contain an Attitude Determination and Control System (ADCS) on board for pointing and detumbling manoeuvres. These intricate systems are designed for an outer space environment, hence, phenomenon otherwise abscent in space, such as gravity and aerodynamic drag present a challenge in validating these systems on Earth. The gimbal suspension testbed aims to provide a 3 Degree of Freedom (DoF) suspension where the mounted satellite under test can rotate about either axis. The suspension induces disturbance torques that must be modeled in order for the testbed to be characterized. This is accomplished by formulating the necessary gimbal dynamics, bearing friction, aerodynamic and Center of Mass (CoM) displacement torque model. This yields a relationship from which all torques present in the system can be expressed in terms of the angles, angular velocities and angular accelerations of the gimbal frames. By measuring the angles and obtaining the velocities and accelerations through numerical differentiation, the torques that correspond to a certain motion can be calculated. Furthermore, the thesis covers the iterative design of the gimbal suspension and all of its constituents, the angular measurement method and a Finite Element Method (FEM) simulation to estimate deformations. The result is presented in terms of a simulation that validates the models by predicting its behaviour for certain movement. The final result is a series of characterization plots that tells the user of the gimbal testbed how much torque must be produced by the CubeSat ADCS in order to operate it. / Sedan begynnelsen av rymdkapplöpningen har satelliter snabbt ökat i komplexitet och lika snabbt minskat i storlek. De flesta satelliter har ett attitydsbestänings- och kontrollsystem (ADCS) ombord för att kunna utföra vissa manövrar. Dessa system är designade för rymdmiljön, därför kan fenomen som annars är frånvarande i rymden, så som gravitation och luftmotstånd, innebära en utmaning då man önskar att validera systemet på jorden. Gimbalupphängningen förmedlar rotation med tre frihetsgrader där satelliten under test kan rotera kring alla tre axlar. Upphängningen inducerar störmoment som måste modelleras för att den ska bli ordentligt karaktäriserad. Detta åstadkoms genom att formulera gimbalens dynamiska förhållanden, kullagerfriktion, luftmotstånd och masscenterförflyttning. Dessa samband kopplar samman alla moment som är närvarande i systemet som funktion av gimbalramarnas vinklar, vinkelhastigheter och vinkelaccelerationer. Genom att mäta vinklarna och erhålla vinkelhastigheter och vinkelacceleration genom numerisk derivering kan momenten som motsvarar den uppmätta rörelsen beräknas. Dessutom presenteras den iterativa designen av gimbalupphängningen och alla dess beståndsdelar, vinkelmätningsmetoden och en finita elementmetodssimulering för att uppskaffa deformationer. Resultatet presenteras i form av simuleringar som validerar modellen genom att förutspå dess beteende för viss rörelse. Det slutgiltiga resultatet är en serie av karaktäriseringsgrafer som förmedlar till användaren just hur mycket moment dess CubeSats ADCS måste producera för att kunna använda gimbalupphängingen.

No description available.

The betavoltaic battery is a type of micro nuclear battery that harvests beta emitting radioactive decay energy using semiconductors. The literature results suggest that a better model is needed to design a betavoltaic battery. This dissertation creates a comprehensive model that includes all of the important factors that impact betavoltaic battery output and efficiency. Recent advancements in micro electro mechanical systems (MEMS) necessitate an onboard miniaturized power source. As these devices are highly functional, longevity of the power source is also preferred. Betavoltaic batteries are a very promising power source that can fulfill these requirements. They can be miniaturized to the size of a human hair. On the other hand, miniaturization of chemical batteries is restricted by low energy density. That is why betavoltaics are a viable option as a power source for sophisticated MEMS devices. They can also be used for implantable medical devices such as pacemakers; for remote applications such as spacecraft, undersea exploration, polar regions, mountains; military equipment; for sensor networks for environmental monitoring; and for sensors embedded in bridges due to their high energy density and long lifetime (up to 100 years). A betavoltaic battery simulation model was developed using Monte Carlo particle transport codes such as MCNP and PENELOPE whereas many researchers used simple empirical equations. These particle transport codes consider the comprehensive physics theory for electron transport in materials. They are used to estimate the energy deposition and the penetration depth of beta particles in the semiconductors. A full energy spectrum was used in the model to take into account the actual radioactive decay energy of the beta particles. These results were compared to the traditional betavoltaic battery design method of estimating energy deposition and penetration depth using monoenergetic beta average energy. Significant differences in results were observed that have a major impact on betavoltaic battery design. Furthermore, the angular distribution of the beta particles was incorporated in the model in order to take into account the effect of isotropic emission of beta decay. The backscattering of beta particles and loss of energy with angular dependence were analyzed. Then, the drift-diffusion semiconductor model was applied in order to estimate the power outputs for the battery, whereas many researchers used the simple collection probability model neglecting many design parameters. The results showed that an optimum junction depth can maximize the power output. The short circuit current and open circuit voltage of the battery varied with the semiconductor junction depth, angular distribution, and different activities. However, the analysis showed that the analytical results overpredicted the experimental results when self-absorption was not considered. Therefore, the percentage of self-absorption and the source thickness were estimated using a radioisotope source model. It was then validated with the thickness calculated from the specific activity of the radioisotope. As a result, the battery model was improved significantly. Furthermore, different tritiated metal sources were analyzed and the beta fluxes were compared. The optimum source thicknesses were designed to increase the source efficiencies. Both narrow and wide band gap semiconductors for beryllium tritide were analyzed. / PHD

In an extensive outdoor propagation study, low antenna heights of 1.7 m are used at both the transmitter and the receiver to measure over 3500 wideband power-delay profiles (PDPs) of the channel for a peer-to-peer communications system. Rural and urban areas are studied in 22 different transmitter-receiver links. The results are used to characterize the narrowband path loss, mean delay, root-mean-square (RMS) delay spread, and timing jitter of the peer-to-peer wideband channel. Small-scale fading characteristics are measured in detail by measuring and analyzing 160 PDPs within each local area. This thesis shows the measurement setup for the calculation of fading rate variance and angular spread and reports the first known attempt to calculate angular spread from track power measurements. New analysis presented in this thesis shows the effect of measurement error in the calculation of angular spread. The expected characteristics of angular spread are derived using two different angle-of-arrival (AOA) models from the literature. Measurement results show initial validation of Durgin's angular spread theory. A new measurement-based algorithm for simulating wideband fading processes is developed and implemented. This simulation technique shows promise in the simulation of high-bit rate peer-to-peer radio communication systems. / Master of Science

Com o objetivo de ampliar o conhecimento da estrutura dos núcleos duplamente ímpares da região de massa A = 130- 140, foram medidos os estados de spin elevado do ANTIPOT. 138 Pr, que se aproxima da camada fechada N = 82, através de técnicas de espectroscopia y em linha utilizando a reação ANTPOT. 128 Te (ANTIPOT. 14 N,4ny). Pela primeira vez, três bandas rotacionais foram observadas neste núcleo. Uma análise teórica da sistemática desta região foi feita com base nos modelos de \"Cranking Shell Model\" e \"Projected Shell Model\". De um modo geral, uma boa concordância foi obtida entre os resultados experimentais e teóricos. O primeiro modelo indica a coexistência de formas no ANTIPOT. 138 Pr (N=79}, enquanto o segundo sugere forma unicamente oblata. Por outro lado, os dois modelos prevêm uma transição de forma de prolato (N = 73) para oblato (N = 79) passando por uma região de triaxialidade em torno de N = 77. / With the view of extending the systematics of the odd-odd, A = 130 - 140 mass region nuclei towards the N =82 closed shell, high spin states in 138Pr nucleus have been investigated with the 128 Te(l4N,4n7) reaction, using on-line 7-ray spectroscopy techniques. For the first time three rotational bands were observed in this nucleus. A theoretical analysis of the mass region A = 130 - 140 was carried out with the Cranking Shell Model and the Projected Shell Model. Generally speaking, a good agreement was obtained between the experimental and the theoretical results. The first model indicates a shape coexistence in the 138 Pr (N =79) nucleus, while the second one shows an oblate shape. On the other hand, both models suggest a shape transition from prolate (N=73) to oblate (N=79) passing through a triaxial region around N=77.

Ultrafeinkörnige metallische Werkstoffe haben verstärkt wissenschaftliche Bedeutung erlangt. Um dieser neuartigen Werkstoffklasse über die grundlagenorientierte Forschung hinaus einen Einsatz in technischen Anwendungen zu ermöglichen, ist es notwendig, deren Verhalten unter verschiedenen einsatzrelevanten Belastungsbedingungen vorhersagen zu können. In der vorliegenden Arbeit wird das Schädigungsverhalten einer ultrafeinkörnigen Aluminiumlegierung in den Bereichen der hochzyklischen (HCF) und niedrigzyklischen (LCF) Ermüdung sowie des Rissfortschritts untersucht. Im Mittelpunkt steht dabei die Identifikation der mikrostrukturell wirksamen Mechanismen bei der Entstehung und Ausbreitung von Ermüdungsrissen. Es werden ein homogen ultrafeinkörniger und ein bimodaler Zustand sowie verschiedene duktilitätsoptimierte Zustände betrachtet und systematisch der Einfluss der Korngröße, der Korngrößenverteilung, der Ausscheidungscharakteristik sowie der Festigkeit und Duktilität auf das Ermüdungs- und Rissfortschrittsverhalten ermittelt. Die Untersuchungen zeigen, dass das Schädigungsverhalten der ultrafeinkörnigen Aluminiumlegierung insbesondere durch die Korngröße und Korngrößenverteilung sowie den Kohärenzgrad der festigkeitssteigernden Ausscheidungen beeinflusst wird.