Ein Haupteinsatzgebiet der Großraummanipulatoren stellen Betonverteilermasten dar. Aufgrund der langen schmalen Armkonstruktionen fällt bei diesen Maschinen der Trend zum Leichtbau bezüglich der Dynamik besonders ins Gewicht. Um die Vorteile leichter Konstruktionen wie geringere Achslasten, geringerer Kraftstoffverbrauch und kleinere Antriebe nutzen zu können, werden Regelungen benötigt, die die Struktur stabilisieren und ein Schwingen der Mastspitze verhindern. Zur Systemanalyse und Regelungsauslegung wurde ein Mehrkörpermodell aus starren und elastischen Körpern sowie den notwendigen Hydraulikzylindern erstellt und durch Messungen validiert. Am Modell konnte gezeigt werden, dass die Regelung im letzten Gelenk die Schwingung an der Mastspitze maßgeblich beeinflusst und zur Schwingungstilgung eingesetzt werden kann. Hierfür wird die Bewegung des Verteilermastes durch eine Ausgleichsbewegung im letzten Gelenk kompensiert, sodass die Mastspitze keine starken Schwingungen ausführt. Die Schwingungen werden über Beschleunigungsmessung detektiert und nach entsprechender Filterung kann die Bewegung bestimmt werden. Mittels Sliding Mode Control erfolgt die Berechnung der schwingungsmindernden Zylinderkraft und garantiert somit Robustheit gegenüber Modellierungsungenauigkeiten und äußeren Störungen. Die Kraftregelung des Hydraulikzylinders wird anschließend über eine Integrator-Backstepping Regelung realisiert. Die resultierende Schwingungsminimierung beträgt in unterschiedlichsten Maststellungen bis zu 95%. / A special case of multi-link manipulators are truck mounted concrete pumps. Due to the lightweight design of the long and slender boom, it is vulnerable to vibrations. The advantages are smaller masses and therefore less actuation power which results in smaller actuators with less fuel consumption. In order to retain the advantages of lightweight design, special controllers are needed to stabilize the overall system and result in a vibration free motion of the boom tip. A multibody system with flexible bodies has been built in order to analyse the system's behaviour and to test and design appropriate control strategies. It could be demonstrated, that controlling only the last joint of the boom decisively effects the motion of the boom tip and is therefore suitable to suppress vibrations. The idea is to compensate the boom's motion by adjusting the last joint angle in a way, so that the boom tip stays at its initial position. In order to implement these findings and obtain a robust control three steps are necessary: the boom's motion must be measured and a vibration reducing force defined which has to be applied by the hydraulic actuator. The vibrations are detected by acceleration measurement and after appropriate filtering a joint angle trajectory can be determined. The cylinder force is found using Sliding Mode Control which guarantees robustness against modeling inaccuracies and external disturbances. A mathematical description of the last segment is necessary for the design of this nonlinear control strategy. The force control of the hydraulic cylinder is then implemented via backstepping control. The resulting vibration is minimized by this control by up to 95% at different boom positions.

Ein Haupteinsatzgebiet der Großraummanipulatoren stellen Betonverteilermasten dar. Aufgrund der langen schmalen Armkonstruktionen fällt bei diesen Maschinen der Trend zum Leichtbau bezüglich der Dynamik besonders ins Gewicht. Um die Vorteile leichter Konstruktionen wie geringere Achslasten, geringerer Kraftstoffverbrauch und kleinere Antriebe nutzen zu können, werden Regelungen benötigt, die die Struktur stabilisieren und ein Schwingen der Mastspitze verhindern. Zur Systemanalyse und Regelungsauslegung wurde ein Mehrkörpermodell aus starren und elastischen Körpern sowie den notwendigen Hydraulikzylindern erstellt und durch Messungen validiert. Am Modell konnte gezeigt werden, dass die Regelung im letzten Gelenk die Schwingung an der Mastspitze maßgeblich beeinflusst und zur Schwingungstilgung eingesetzt werden kann. Hierfür wird die Bewegung des Verteilermastes durch eine Ausgleichsbewegung im letzten Gelenk kompensiert, sodass die Mastspitze keine starken Schwingungen ausführt. Die Schwingungen werden über Beschleunigungsmessung detektiert und nach entsprechender Filterung kann die Bewegung bestimmt werden. Mittels Sliding Mode Control erfolgt die Berechnung der schwingungsmindernden Zylinderkraft und garantiert somit Robustheit gegenüber Modellierungsungenauigkeiten und äußeren Störungen. Die Kraftregelung des Hydraulikzylinders wird anschließend über eine Integrator-Backstepping Regelung realisiert. Die resultierende Schwingungsminimierung beträgt in unterschiedlichsten Maststellungen bis zu 95%. / A special case of multi-link manipulators are truck mounted concrete pumps. Due to the lightweight design of the long and slender boom, it is vulnerable to vibrations. The advantages are smaller masses and therefore less actuation power which results in smaller actuators with less fuel consumption. In order to retain the advantages of lightweight design, special controllers are needed to stabilize the overall system and result in a vibration free motion of the boom tip. A multibody system with flexible bodies has been built in order to analyse the system's behaviour and to test and design appropriate control strategies. It could be demonstrated, that controlling only the last joint of the boom decisively effects the motion of the boom tip and is therefore suitable to suppress vibrations. The idea is to compensate the boom's motion by adjusting the last joint angle in a way, so that the boom tip stays at its initial position. In order to implement these findings and obtain a robust control three steps are necessary: the boom's motion must be measured and a vibration reducing force defined which has to be applied by the hydraulic actuator. The vibrations are detected by acceleration measurement and after appropriate filtering a joint angle trajectory can be determined. The cylinder force is found using Sliding Mode Control which guarantees robustness against modeling inaccuracies and external disturbances. A mathematical description of the last segment is necessary for the design of this nonlinear control strategy. The force control of the hydraulic cylinder is then implemented via backstepping control. The resulting vibration is minimized by this control by up to 95% at different boom positions.

No description available.

This diploma thesis deals with the measurement of kinematic points of rear multilink suspension using 3D optical scanners TRITOP and ATOS and developing a measurement methodology of similar types of suspension with these scanners. Subsequently, kinematic features of this suspension are analyzed using the multibody system MSC.ADAMS / Car.

No description available.

This thesis deals with the design of a spark-ignition internal combustion engine with extended expansion. It explains the principle of extended expansion using the Atkinson or Miller cycle and the possibilities of achieving it. In addition, a design study and engine cycle is carried out. Subsequently, the course of the kinematic quantities and forces in the mechanism is determined. At the end, the strength analysis of the connecting rod of the designed mechanism is performed.

Yes / In this paper, a novel multilink selection framework is developed for different applications with various quality of service (QoS) requirements in avionic systems, based on the multi-attribute decisionmaking model. Two metaheuristic algorithms are proposed to solve this model while optimizing the multilink selection performances. Multilink configuration and multi-homing capabilities are generally required for aircrafts operating in a heterogeneous wireless network environment. The first algorithm, called Analytic Hierarchy Process and Simulated Annealing (AHP-SA), utilises a two-phase process. In Phase one, an analytic hierarchy process (AHP) is used to choose the decision weight factors. Then, in Phase two, a simulated annealing process is applied to select suitable networks, for various service requests, based on the weights obtained from first phase. Further, to improve customer satisfaction, Simulated Annealing algorithm for Simultaneous Weights and Network Selection Optimisation (SA-SWNO) is developed, in which a simulated annealing algorithm is applied to dynamically optimise weight factors of objective functions and the request-to-network assignment matrix. Simulation results demonstrates that both proposed algorithms outperform the commonly used price-based or QoS-based network selection scheme with much higher averaged satisfaction degree and lower computational complexity. / Cockpit NetwOrk CoMmunications Environment Testing (COMET) Project under the European Commission’s Program Clean Sky2 in partnership with the European Aeronautical Industry

This dissertation investigates how cognates are organized in the bilingual mental lexicon and examines whether orthography in one language, via phonological representations, influences the processing of cognates and false friends in the other language. In light of the framework of two well-known models of bilingual visual word recognition, the Bilingual Interactive Activation (BIA) and the Bilingual Interactive Activation Plus (BIA+), the premise is that there is activation from orthography to phonology across a bilingual’s two languages and that this activation is modulated by the degree of orthographic and phonological code overlap. Two objective metrics were used to assess crosslinguistic similarity of Portuguese-English cognates and false friends that were selected for a cross-language lexical decision task with masked priming. Dynamic time warping (DTW), an algorithm that was originally conceived to compare different speech patterns in automatic speech recognition and to measure acoustic similarity between two time-dependent sequences, was used to compute crosslinguistic phonological similarity. The Normalized Levenshtein Distance (NLD), an algorithm that calculates the minimum number of single-character insertions, deletions or substitutions required to change one word into another and normalizes the result by their lengths, was used to compute crosslinguistic orthographic similarity. Portuguese-English bilinguals who acquired their second language after reaching puberty, and English functional monolinguals who grew up speaking primarily English were recruited to participate in the experimental task. Based on collected reaction time and accuracy data, mixed-effects models analyses are used to estimate the individual effects of crosslinguistic orthographic, phonological and semantic similarity and the role each of them, along with English proficiency, word frequency and length play in the organization of the Portuguese-English bilingual mental lexicon.