The main control task in many speed-controlled drives is to eliminate or reduce the load speed error caused by the load torque disturbance and reduce oscillations as quickly as possible. This thesis addresses different aspects of identification and control of such resonant elastic systems. In most industrial applications it is not practical to measure the load speed. Instead, we advocate model based control design that optimizes load speed while using motor speed as the feedback signal. For this to be possible one needs a mechanical model of the system and we suggest finding the mechanical parameters by estimation from experimental data. Hence a method has been developed which finds the mechanical parameters, including backlash, through a series of three dedicated experiments. At first this procedure is developed for the situation of one manipulated input, the motor torque, and one measured output, the motor speed. For drive systems with a very large motor in comparison to the load, it becomes very difficult to estimate all mechanical parameters from motor speed measurements only. An alternative estimation method has been developed for this purpose, using an additional sensor for the shaft torque. One more rather specific control problem is treated in the thesis, namely for drive systems with tandem coupled motors, where control structures have been developed with and without an extra sensor for shaft torque. / QC 20101221

Brennstoffzellentechnologien gelten als effizient, lokal CO2-neutral und können vielfältig eingesetzt werden. Dennoch stellen sie bislang keine kostengünstige Lösung dar und kommen in PKW selten vor. Um Entwicklungs- und Produktionskosten zu reduzieren und gleichzeitig eine höhere Systemsichtbarkeit zu erreichen, widmen sich die Autoren der Erstellung eines Modularisierungskonzepts für ein Brennstoffzellensystem zu dessen Nutzung in verschiedenen Anwendungen. Ziel ist es, ein modulares Brennstoffzellensystemkonzept zu entwickeln, das den Anforderungen aus der Kopplung verschiedener Anwendungsszenarien gerecht wird. Unter Berücksichtigung der Bauraumanforderungen sowie mechanischer und elektrischer Schnittstellen zwischen den Modulen und den Anwendungen wird ein Design für das Integrationskonzept des modularen Brennstoffzellensystems vorgeschlagen. Der Target Weighing Ansatz (TWA) wird herangezogen, um Leichtbaupotenziale auf Systemebene zu erkennen und zu bewerten. Zur Optimierung ausgewählter Komponenten wird die Methode der Topologieoptimierung angewandt, um bei gegebener Massenreduktion die Steifigkeit zu maximieren. Thermische Simulationen zeigen zudem die Wärmeabfuhr der Brennstoffzellen aus dem System unter Last. / Fuel cell technologies are considered efficient, locally CO2-neutral and can be used in a variety of ways. Nevertheless, they have not yet been a cost-effective solution and are rarely used in passenger cars. In order to reduce development and production costs and at the same time to achieve higher system visibility, the authors are dedicated to the creation of a modularization concept for a fuel cell system for its use in various applications. The aim is to develop a modular fuel cell system concept that meets the requirements arising from the coupling of different application scenarios. Considering the installation space requirements as well as me-chanical and electrical interfaces between the modules and the applications, a design for the integration concept of the modular fuel cell system is proposed. The Target Weighing Approach (TWA) is used to identify and evaluate lightweighting potentials on system level. The topology optimization method is applied to optimize selected components to maximize stiffness for a given mass reduction. Thermal simulations also show the heat dissipation of the fuel cells from the system under load.

Vom 6.6. bis 7.6.2019 fand das 2. Freiberger Kolloquium Elektrische Antriebstechnik (FKEA) im Rahmen des 70. BHT statt. Schwerpunkte sind die Modellierung und Simulation von elektrischen Maschinen, thermische Untersuchungen, Auslegung und Fertigung neuer Motorenkonzepte sowie Traktionsspeicher.

Architecture and mobility merge together to provide space for activities away from both home and office. The densification of people’s living space and the delocalisation of the workplace are two of the biggest emerging trends in the near future. Society is constantly changing with new needs and desires. The Internet of Things, new technologies and possibilities of autonomous driving enable new approaches to redesign the traditional car. The aim of this project is to rethink mobility and especially the car as we know it today. Since it has been shown that cars are no longer used exclusively as a means of transport, but also as mobile space, the image of the car as people know it could be redrawn Since BMW i is an innovative brand, which can break new ground, it can be ahead of its time and lead society instead of following it. After the first research and examination of relevant topics, the results were further developed and worked out. The system in which the concept takes place is defined in more detail based on further investigations such as scenario, marketplace and target group. The focus is mainly on the interior and exterior of the vehicle. In addition, an insight into the inspiration and the process of aesthetic design is described and illustrated in several sketches and renderings. Then the further development in 3D and VR (Virtual Reality) is shown up to the final digital model. iSpace is a system that brings attention to  the potential new role of the car in the coming years. iSpace is rather a mobile architecture than a conventional car, which means that it is used in a completely new and fresh way. The vehicle is designed to be used mainly in the static mode and offers the possibilities of a mobile space to support the flexible and delocalised lifestyle of people. In that sense it shows a completely new view how a vehicle could look like, while creating new kind of benefits to enrich and improve the quality of life. iSpace is part of a bigger system containing several vehicles to cover different types of needs and HUBs, which are the extension of the vehicles to various locations in urban areas.

Svenska skolor blir gradvis mer digitaliserade, vilket gör att fler lärare vänder sig till Google Drive för att förbättra elevers samarbete, särskilt ESL-lärare, som detta examensarbete fokuserar på. Syftet med denna studie är därför att ta reda på hur användandet av Google Drive kan påverka ESL-skrivning i gymnasiet. Detta examensarbete är kvalitativt och undersöker personliga åsikterna från tre ESL-lärare och tre ESL-elever på gymnasiet i Sverige. Dessutom ger papperet en inblick i hur bra lärarnas digitala utbildning i Google Drive motsvarar uppdraget att förbättra elevers engelska skrivförmåga. Utöver ger det här dokumentet en översikt över tidigare forskning om Google Drive som en plattform för samarbete. Baserat på resultaten hävdar deltagarna att gemensamt skrivna texter i Google Drive kan öka elevers motivation och förbättra flera aspekter av deras engelska, om det används idealt. Hur som helst så är några viktiga faktorer som bestämmer plattformens framgång: medvetande om och förebyggande av plagiering, obalanserad arbetsbelastning och grundläggande digital utbildning för lärare, som då kan vidarebefordras till deras elever. / Swedish schools are gradually becoming more digitalized, which cause more teachers to turn to Google Drive for improving students´ collaborative writing, especially ESL teachers, which this degree project focuses on. Hence, the aim of this study is to find out how using Google Drive can influence upper secondary collaborative ESL writing. This degree project is qualitative in nature and explores the personal opinions of three ESL teachers and three ESL students at an upper secondary school in Sweden. Moreover, the paper offers an insight to how well the teachers’ digital training in Google Drive corresponds with the mission of improving students´ English writing ability. Furthermore, this paper provides an overview of previous research on Google Drive as a platform for collaborative learning. Based on the findings, the participants argue that collaborative writing in Google Drive can increase students’ motivation and improve several aspects of their written English, if used ideally. However, some key factors that determine the success of the platform are awareness and prevention of plagiarism, unbalanced workload and fundamental digital training for teachers, which then could be passed on to their students.

Dans cette recherche intitulée « Fonction Scopique et Investigation du Réel Anglo-Caribéen dans l’OEuvre de Caryl Phillips », il s’agit de suivre le développement de l’oeuvre de Caryl Phillips qui se déploie à partir du sentiment d’extranéité né d’un sentiment de dissociation ressenti dès l’enfance. Les scènes fondatrices sont celles de la remise en cause par l’autorité visualisante de son appartenance à la nation en tant qu’Anglo-Caribéen, puis adolescent, de la découverte de l’antisémitisme et de la possibilité du génocide au cœur même de l’Europe. Elles sont suivies de l’apprentissage volontariste de la culture caribéenne durant ses années d’études à Oxford, de sa découverte de la littérature afro-américaine aux Etats-Unis, et d’un voyage à travers l’Europe entant qu’Anglo-Caribéen, expériences qui vont fixer les trois pôles de la triade à partir de laquelle se déploie l’oeuvre de cet écrivain également dramaturge. La source de la pulsion d’écrire serait donc à trouver dans un sentiment de différence ontologique naissant de l’appréhension du soi essentiellement scopique, vécue comme anxiogène. Le sentiment d’extranéité trouve sa source dans la discrimination et l’angoisse d’appartenance qu’elle déclenche. Elle remet en cause le vécu en toute plénitude de l’être, et les bases de l’inclusion sociale de l’enfant et de l’adolescent. L’oeuvre se déploie de manière constructiviste et spiralée à partir de l’exploration des regards croisés que nous classerons selon cinq thématiques qui rassemblent les principaux fils de cet écheveau, éclairés par cinq films servant de contrepoint au discours de l’auteur. Une intention didactique existe au cœur de l’écriture de Caryl Phillips qui procède de la remédiation historique, et tente de faire voir au lecteur toute la complexité humaine sans volonté de jugement. Alors que l’esthétique fait épouser à la structure de ses écrits le bouleversement des vies diasporiques, et met à l’épreuve les capacités du lecteur à discerner le programme de création de chacun de ses ouvrages, le souci éthique de l’auteur est de redonner le droit de regard, le droit à la compassion, et le droit d’être compris à tous ceux et celles qui se voient nier le droit d’appartenir pleinement au monde qu’ils habitent. / The purpose of this work is to follow the development of Caryl Philips’s work from a feeling of unbelonging finding its root in the experience of being dissociated from his peers at an early age through systemic visualizing.Founding scenes show how the author as an Anglo-Caribbean child is denied his Englishness and how he discovers as a teenager the possibility of genocide at the heart of Europe. These experiences will be part of the foundation of his anxiety of belonging. A determined exploration of Caribbean culture, of African-American writing and an investigation of the European gaze on the Anglo-Caribbean person he is, will determine the three strands with which will be woven the increasing spiraling scope of his work.The writing impulse is then born out of an ingrained feeling of dissociation created by the alarming discriminating gaze which forfeits the inclusion of the Anglo-Caribbean child and questions the fulfillment of his human potential in all its plenitude.We will argue that the work develops along a constructivist and spiraling approach from an exploration of comparative views. Novels, plays and essays will be observed along five thematic lines which will start with a short analysis of five corresponding cinematographic works acting as a counterpoint to the author’s stance. There is a didactic intention in the writing which proceeds from historical remediation and aims at making the reader see the whole human complexity, encouraging the willing suspension of blaming. While aesthetic concerns model the structure of his works on the fractured lives he is exploring, and challenge the cognitive capability of the reader to discern the patterns of production of each of his works, the ethical demand evinced by Caryl Phillips’s work is to give the scrutiny right, the right to be understood, and the right to compassion back to those who see their right to fully belong to the world they inhabit denied.

La distorsion de ségrégation méiotique est une entorse à la loi de ségrégation équilibrée des allèles via les gamètes. Les gènes ou éléments génétiques causaux (distorteurs de ségrégation) empêchent, chez les hétérozygotes, la production de gamètes qui ne les contiennent pas. Ils peuvent ainsi se répandre dans les populations même s’ils sont délétères pour les individus porteurs.Parce qu'ils induisent un biais du sexe ratio, les distorteurs liés au sexe et s'exprimant dans le sexe hétérogamétique sont générateurs de conflits intragénomiques, caractérisés par l'évolution de suppresseurs qui tendent à rétablir l'équilibre des sexes. Ce processus peut conduire à l’émergence de nouvelles espèces, à l’évolution du comportement reproducteur ou du déterminisme du sexe.Dans l'espèce Drosophila simulans, des distorteurs liés au chromosome X, perturbent la ségrégation du chromosome Y lors de la méiose mâle. La descendance des mâles porteurs est alors très majoritairement femelle. Un de ces éléments distorteurs, le gène HP1D2, code une protéine qui se lie au chromosome Y avant la méiose. La distorsion est le fait d'allèles dysfonctionnels de HP1D2 (qui ont un faible niveau de transcrits testiculaires et/ou ont une délétion du domaine d’interaction protéine-protéine). Dans les populations naturelles envahies par les distorteurs, ceux-ci se trouvent neutralisés par des suppresseurs autosomaux et des chromosomes Y résistants.Le premier volet de ma thèse a été consacré au déterminisme génétique de la suppression autosomale. Par cartographie de QTL, utilisant des lignées recombinantes consanguines, j'ai révélé la complexité de ce déterminisme : 5 QTLs avec de nombreuses relation d’épistasie.Le deuxième volet est consacré au chromosome Y, qui présente, d’importante variations phénotypiques pour la résistance aux distorteurs. Nous avons étudié ses variations moléculaires et structurales et la dynamique des Y résistants dans les populations naturelles. Le séquençage de différents chromosomes Y, résistants ou sensibles, a permis de retracer l’histoire évolutive du chromosome Y en relation avec celle des distorteurs.Le dernier volet est une étude cytologique pour comparer le comportement des formes sauvages et distortrices de la protéine HP1D2 dans les spermatogonies.Dans l’ensemble ces travaux apportent un éclairage sur les bases génétiques et moléculaires du système Paris et sur son évolution. / Meiotic drive is an infringement of the law of allele segregation into the gametes. In heterozygote individuals, the causal genes or genetic elements (meiotic drivers), prevent the production of gamete which does not contain it. Thus, they can spread through populations even if they are deleterious for the carriers.Because they induce sex-ratio bias, sex-linked drivers that are expressed in the heterogametic sex, are an important source of genetic conflict, characterized by the evolution of suppressor which tends to restore a balanced sex ratio. This process can lead to the emergence of new species, evolution of reproductive behavior or sex determination.In Drosophila simulans, X-linked meiotic drivers disturb the segregation of the Y chromosome during male meiosis. The progeny of carrier male is mainly composed of females. One of the drivers is the HP1D2 gene, which encodes a protein that binds to the heterochromatic Y chromosome. The distortion is due to dysfunctional alleles of HP1D2 (low level of expression and/or a deletion of its protein-protein interaction domain). In natural populations where the drivers have spread, they are neutralized by autosomal suppressors and resistant Y chromosomes.The first part of my thesis was focus on the genetic determinism of autosomal suppression. I performed a QTL mapping using recombinant inbreed lines which highlighted the complexity of the genetic determinism of suppression: 5 QTLs and multiple epistatic interaction.The second part is about the Y chromosome, which show important phenotypic variation in the resistance of Y chromosomes to the driver. We studied its molecular and structural variation and the dynamic of resistant Y chromosomes in natural population. The sequencing of different Y chromosomes, sensitive and resistant, allowed us to retrace the evolutionary history of the Y chromosome related to the one of the driver.The last part is a cytological study to compare the localization of the functional and the driver form of HP1D2 in spermatogonia.Generally, results presented here give a better insight regarding the genetic bases and the evolution of the multiple actors of the Paris sex ratio system.

Vehicle platooning has been heavily studied the last decade. A transportation system formed by electric vehicles driven by control systems with the help of on-board sensors, wireless inter-vehicle communication, and wireless recharge capability has been shown to increase highway capacity, transportation safety, reduce travel time, save energy, and release human drivers from stress. Two layers of control are required to automate a platoon, the low-level vehicle control, and the upper-level platoon control which seeks to maintain the constant spacing of the platoon, and avoid collisions. In order to have a robust platoon, the vehicle control system needs to be robust to gain variations. Simulations were run in Matlab's Simulink to compare how well a vehicle control system would behave in the presences of nonlinearities and disturbances. The integer order and fractional order controllers were designed with the same specications. Fractional order controllers present better performance with no overshoot for the speed servo, and faster response for the steering system. For platoon control, the necessity is to achieve string stability. The bi-directional and leader-follower architectures have been shown to achieve string stability. Still, what happens to all the benets of platooning when a malicious vehicle (attacker) attempts to perturb the system? This malicious attack could be the result of a company trying to sabotage the operation of another's in order to make it spend more energy than required, and thus raise its transportation costs. By using Matlab, a simulation platform was designed. It was used to simulate the response of a robust platoon to an optimal attack prole, generated by Matlab's genetic algorithm. To calculate the energy expenditure a model for a 1995 Honda Accord LX from cappielo's analysis is used. Two scenarios are considered: 1) the attacker intends to make the whole platoon spend extra energy, and 2) the attacker focuses on affecting only one victim. The greatest amount of extra energy expenditure for the rst scenario was obtained with the bi-directional architecture and a size 3 platoon (140%). The leader-follower architecture limited this peak value to 94% for a size 8 platoon. In order to really prot from the benets of platooning, a platoon size 8 or more is recommended. In this desirable range, the bi-directional control law manages to limit the extra energy expenditure to 80% (size 8) to only 35% (size 20). For the leader-follower and a size 20 platoon, the optimal attack produced an extra 65% expenditure. For the second scenario, with the bi-directional architecture the attacker could make the victim spend up to 122% (size 10). Still, this depends on both the attacker's and the victim's position. For instance, with the attacker in position 2, only 8% extra energy was observed. The leader-follower architecture allowed between 80% to 110% in any position for the attacker while in front of the victim (the attacker cannot affect the victim from behind). Regenerative braking in all cases saved between 35% to 50% of the energy that would be otherwise lost by the use of dissipative brakes. In order to create an operational platoon system, that is as robust as possible to the attack, the recommended platoon size is 12 or more. The use of regenerative braking capable vehicles is a must. The control system should be the fastest possible, and make use of the bi-directional architecture to limit energy expenditure. The implementation of an attacker or defective vehicle detection system is recommend, taking the measure of making the attacker=defective vehicle reposition to the last in the platoon.

This thesis concerns the control of an adaptive passive vibration neutralizer and the feasibility of miniaturizing this type of tunable vibration neutralizer for small-scale applications. An analytical model for the adaptive passive vibration neutralizer is derived and compared to experimental results. A tuning algorithm is derived from a curve-fit of experimental tests on the specific neutralizer. A more generic tuning algorithm is also developed, which does not require testing of the neutralizer for optimal control. Both tuning algorithms are tested using a chirp forcing function to simulate drift in the excitation frequency of a host structure. Computer simulation and experimental results are given for these tests. A novel low-cost, small-scale vibration neutralizer is constructed from packing bubble-wrap. Analytical models for the stiffness are calculated, and experimental data is used to derive a damped mass-spring model. Miniaturization of vibration neutralizers is described, and many of the pitfalls in design are discussed. Theoretical tuning frequencies of possible adaptive passive vibration neutralizers at different scales are included. The goal for these miniaturized vibration neutralizers is vibration control in computer hard drives. A hard drive is analyzed for vibration problems. Included are plots of the velocities of the read-write head and spindle. Limitations of the measurement equipment are discussed, and directions for future work on small-scale tunable vibration neutralizers are outlined. / Master of Science

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