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Hällerstam, Jonsson Linnea. "Fuel optimizing cruise controller with driveability." Thesis, KTH, Optimeringslära och systemteori, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-209680.
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This thesis work is based on a dynamic programming solution of a fuel optimizing cruise controller that was developed at Scania CV AB last year. Known data of the road ahead, mainly the slope, is used to continuously calculate the optimal torque and gear choices of a given moving vehicle for a certain horizon. The optimization calculations are based on fuel consumption and the vehicle's arrival time to the final destination. This report has been focused on achieving better "driveability" of the cruise controller while still maintaining the good fuel saving qualities that is already there. Simulation is used to evaluate the cruise controller on roads where the wanted data is known. The result is smaller speed variations on at road segments, which will improve a driver's impression of the cruise controller. The great fuel benefits of using roll-techniques in hilly areas is maintained from the previous implementation. The key to the optimal balance between these two behaviors is found using a method that limits the torque usage of the truck to a certain speed interval and then finds exception areas where the torque usage should be unlimited.Detta examensarbete är baserad på en dynamisk programmeringslösning av en bränsleoptimerande farthållare som utvecklades på Scania CV AB förra året. Känd data om den framförvarande vägen, så som lutningen, används för att beräkna optimalt drivmoment och växelval för ett givet fordon för en viss horizont. Optimeringsberäkningarna baseras på bränsleförbrukning och fordonets ankomsttid till målet. Denna rapport focuserar på att uppnå bättre "körbarhet" för farthållaren och samtidigt behålla de goda bränslebesparande egenskaper som farthållaren redan har. Simulering nyttjas för att analysera farthållaren på vägar där önskad data är känd. Resultatet är mindre hastighetsvariationer på platta vägar, vilket bör förbättra förarens uppfattning av farthållaren. De stora fördelar som kommer med användning av rull-tekniker på kuperade vägsträckor bevaras från den tidigare implementeringen. Nyckeln till optimal balans mellan dessa två körbeteenden är en metod som går ut på att begränsa fordonets momentanvändning till ett visst hastighetsinterval och sedan hitta undantagsområden där momentanvändning borde vara obegränsad.
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Ali, Zeeshan. "Transitional controller design for adaptive cruise control systems." Thesis, University of Nottingham, 2011. http://eprints.nottingham.ac.uk/11977/.
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Traffic congestion is an important reason for driver frustration which in turn is the main cause of human errors and accidents. Statistics reports have shown that over 90% of accidents are caused by human errors. Therefore, it is vital to improve vehicle controls to ensure adequate safety measures in order to decrease the number of accidents or to reduce the impact of accidents. An application of mathematical control techniques to the longitudinal dynamics of a vehicle equipped with an adaptive cruise control (ACC) system is presented. This study is carried out for the detailed understanding of a complex ACC vehicle model under critical transitional manoeuvres (TMs) in order to establish safe inter-vehicle distance with zero range-rate (relative velocity) behind a preceding vehicle. TMs are performed under the influence of internal complexities from vehicle dynamics and within constrained operation boundaries. The constrained boundaries refer to the control input, states, and collision avoidance constraints. The ACC vehicle is based on a nonlinear longitudinal model that includes vehicle inertial and powertrain dynamics. The overall system modelling includes: complex vehicle models, engine maps construction, first-order vehicle modelling, controllers modelling (upper-level and lower-level controllers for ACC vehicles). The upper-level controller computes the desired acceleration commands for the lower-lever controller which then provides the throttle/brake commands for the complex vehicle model. An important aspect of this study is to compare four control strategies: proportional-integral-derivative; sliding mode; constant-time-gap; and, model predictive control for the upper-level controller analysis using a first-order ACC vehicle model. The first-order model represents the lags in the vehicle actuators and sensor signal processing and it does not consider the dynamic effects of the vehicle’s sub-models. Furthermore, parameter analyses on the complex ACC vehicle for controller and vehicle parameters have been conducted. The comparison analysis of the four control strategies shows that model predictive control (MPC) is the most appropriate control strategy for upper-level control because it solves the optimal control problem on-line, rather than off-line, for the current states of the system using the prediction model, at the same time being able to take into account operation constraints. The analysis shows that the complex ACC vehicle can successfully execute TMs, tracking closely the desired acceleration and obeying the constraints, whereas the constraints are only applied in the MPC controller formulation. It is found that a higher length of the prediction horizon should be used for a closed acceleration tracking. The effect of engine and transmission dynamics on the MPC controller and ACC vehicle performance during the gear shifting is studied. A sensitivity analysis for MPC controller and vehicle parameters indicates that a length of the control horizon that is too high can seriously disturb the vehicle behaviour, and this disturbance can be only removed if a higher value of control input cost weighting is used. Furthermore, the analysis indicates that a mass within the range of 1400-2000 kg is suitable for the considered ACC vehicle. It is recommended that a variable headway time should be used for the spacing control between the two vehicles. It is found that the vehicle response is highly sensitive to the control input cost weighting; a lower value (less than one) can lead to a highly unstable vehicle response. It is recommended that the lower-level controller must take into account the road gradient information because the complex ACC vehicle is unable to achieve the control objectives while following on a slope. Based on the results, it is concluded that a first-order ACC vehicle model can be used for the controller design, but it is not sufficient to capture the complex vehicle dynamic response. Therefore, a complex vehicle model should be of use for the detailed ACC vehicle analysis. In this research study the first-order ACC vehicle model is used for the complex vehicle validation, whereas the complex ACC vehicle model can be used for the experimental validation in future work.
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Shakouri, Payman. "Designing of the adaptive cruise control system-switching controller." Thesis, Kingston University, 2012. http://eprints.kingston.ac.uk/22970/.
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Over the recent years, a considerable growth in the number of vehicles on the roads has been observed. This increases importance of vehicle safety and of minimization of fuel consumption, subsequently prompting manufacturers of cars to equip their products, with more advanced features such as Adaptive Cruise Control (ACC) and Collision Avoidance and Collision Warning System (CWS). In this thesis we concentrate on new methods for ACC. This work will include: Design of the simulation models suitable for this application, Investigation and design of suitable hybrid control algorithm by using classical and advanced control algorithm's consisting of the gain scheduling PI and Linear Quadratic (LQ) controllers, Design of the Nonlinear Model Predictive Control (NMPC) and the nonlinear Balance-Based Adaptive Control (B-BAC), Real-time implementation and tests of the algorithms by using NI Lab View Starter Kit Robot from National Instruments, Implementation and tests of the models and the controllers in MA TLAB/Simulink(R). The applications of the different control methods in the ACC are tested and compared against different traffic scenarios considering both velocity tracking (CC) and distance tracking (ACC) modes. Judging about the performance of ACC by utilizing the two advanced control methods; B-BAC and NMPC includes trade-offs between tracking-distance and velocity and the vehicle acceleration. However, both the B-BAC and the NMPC has demonstrated significantly smoother responses in controlling the throttle and the brake compared to PI control and linear MPC which in tum could improve the vehicle acceleration and fuel efficiency. The methods in order of producing better performance in terms of the values of control errors and their influences on fuel saving; NMPC, B-BAC, linear MPC and PI control. Improvement of fuel efficiency is investigated in this thesis through two approaches; first, by calculating the optimal control actions corresponding to the throttle and the brake signals through utilising the advanced control methods, second, by reducing the engine speed to idle speed during coast phase of the vehicle which causes the engine friction to be reduced. The engine speed can be reduced through transition between locked and unlocked states of the torque convertor. Possibility of achieving fuel efficiency through coasting in the vehicle has been investigated in the simulation and it has been demonstrated that longer coasting duration could be achieved i.e. more distance can be covered, and the fuel efficiency could be improved.
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Riis, Pontus. "Simulation of a Distributed Implementation of an Adaptive Cruise Controller." Thesis, Linköping University, Department of Computer and Information Science, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-9357.
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Much functionality of today's vehicles runs as software on embedded computer systems. This includes, for example, automatic climate control and engine control.
As the processors necessarily are located in diffent physical locations inside the vehicle wires must be drawn between processors that need to communicate. Therefore, it is typical to have one or several buses connecting the processors in an embedded computer network, thus creating a distributed system. As some parts of the system in the car have real-time properties, it is necessary to validate that the real-time properties are upheld in the distributed system.
This thesis presents the design and implementation of an adaptive cruise controller (ACC), which is a cruise controller that also keeps a minimum distance to the closest vehicle in front. Further, the performance of the ACC has been evaluated using an existing system-level simulator for distributed real-time systems together with metrics for Quality-of-Control (QoC).
The ACC has then been simulated under different scenarios. The scenarios include outside conditions, for example the slope of the road, the behaviour of the vehicle in front, and the desired velocity, as well as internal conditions as adding different amounts of extra load on the processors and the bus.
The results show that the functionality of the ACC starts deteriorating when the extra load on the nodes reaches high levels. When the extra load reaches very high levels, the ACC stops functioning completely. The results also show that the extra load on the bus has very little effect on the performance of the ACC.
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Grefe, William Kevin. "Integrating Collision Avoidance, Lane Keeping, and Cruise Control With an Optimal Controller and Fuzzy Controller." Thesis, Virginia Tech, 2005. http://hdl.handle.net/10919/32142.
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This thesis presents collision avoidance integrated with lane keeping and adaptive cruise control for a car. Collision avoidance is the ability to avoid obstacles that are in the vehicleâ s path, without causing damage to the obstacle or car. There are three types of collision avoidance controllers, passive, active, and semi-active. This thesis is designed using active collision avoidance controllers.
There are two controllers developed for collision avoidance in this paper. They are an optimal controller and a fuzzy controller. The optimal vehicle trajectory, which maximizes the distance to an obstacle and changes lanes, is derived. The optimal collision avoidance controller is a closed loop controller; with the decisions based on the current state. The fuzzy controller makes decisions based on the system rules. A simulation environment was created to compare these two controllers as viable solutions for collision avoidance.
The environment uses MATLAB/Simulink for simulation of the vehicle as well as the optimal and fuzzy controllers. The simulation incorporates system blocks of the kinematics of a car, navigation, states, control law, and velocity controller. Once the controllers are fully developed and tested in the simulation environment, they are implemented and tested on the platform vehicle. This verifies the real world performance of the controllers.
The platform vehicle is a modified radio controlled car. This car is completely autonomous. The car has onboard sensors that allow it to follow a white piece of tape as well as detect obstacles.
Master of Science
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Huang, Shih-Ying. "Analysis of a time delay controller based on convolutions, with application to a cruise control system." Thesis, Massachusetts Institute of Technology, 1993. http://hdl.handle.net/1721.1/41324.
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Zohdy, Ismail Hisham. "Development and Testing Of The iCACC Intersection Controller For Automated Vehicles." Diss., Virginia Tech, 2013. http://hdl.handle.net/10919/51743.
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Assuming that vehicle connectivity technology matures and connected vehicles hit the market, many of the running vehicles will be equipped with highly sophisticated sensors and communication hardware. Along with the goal of eliminating human distracted driving and increasing vehicle automation, it is necessary to develop novel intersection control strategies. Accordingly, the research presented in this dissertation develops an innovative system that controls the movement of vehicles using cooperative cruise control system (CACC) capabilities entitled: iCACC (intersection management using CACC).
In the iCACC system, the main assumption is that the intersection controller receives vehicle requests from vehicles and advises each vehicle on the optimum course of action by ensuring no crashes occur while at the same time minimizing the intersection delay. In addition, an innovative framework has been developed (APP framework) using the iCACC platform to prioritize the movements of vehicles based on the number of passengers in the vehicle. Using CACC and vehicle-to-infrastructure connectivity, the system was also applied to a single-lane roundabout. In general terms, this application is considered quite similar to the concept of metering single-lane entrance ramps.
The proposed iCACC system was tested and compared to three other intersection control strategies, namely: traffic signal control, an all-way stop control (AWSC), and a roundabout, considering different traffic demand levels ranging from low to high levels of congestion (volume-to-capacity ration from 0.2 to 0.9). The simulated results showed savings in delay and fuel consumption in the order of 90 to 45 %, respectively compared to AWSC and traffic signal control. Delays for the roundabout and the iCACC controller were comparable. The simulation results showed that fuel consumption for the iCACC controller was, on average, 33%, 45% and 11% lower than the fuel consumption for the traffic signal, AWSC and roundabout control strategies, respectively.
In summary, the developed iCACC system is an innovative system because of its ability to optimize/model different levels of vehicle automation market penetrations, weather conditions, vehicle classes/models, shared movements, roundabouts, and passenger priority. In addition, the iCACC is capable of capturing the heterogeneity of roadway users (cyclists, pedestrians, etc.) using a video detection technique developed in this dissertation effort. It is anticipated that the research findings will contribute to the application of automated systems, connected vehicle technology, and the future of driverless vehicle management.
Finally, the public acceptability of the new advanced in-vehicle technologies is a challenging task and this research will provide valuable feedback for researchers, automobile manufacturers, and decision makers in making the case to introduce such systems.Ph. D.
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Mancino, Francesco. "An embedded model predictive controller for optimal truck driving." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-205649.
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An embedded model predictive controller for velocity control of trucks is developed and tested. By using a simple model of a heavy duty vehicle and knowledge about the slope of the road ahead, the fuel consumption while traveling near a set speed is diminished by almost 1% on an example road compared to a rule based speed control system. The problem is formulated as a look-ahead optimization problem were fuel consumption and total trip time have to be minimized. To find the optimal solution dynamic programming is used, and the whole code is designed to run on a Scania gearbox ECU in parallel with all the current software. Simulations were executed in a Simulink environment, and two test rides were performed on the E4 motorway.En algoritm för hastighetsstyrning baserad på modell-prediktiv reglering har utvecklats och testats på befintlig styrsystem i ett Scania lastbil. Genom att använda en enkel modell av fordonet och kunskap om lutningen på vägen framför den kunde man sänka bränsleförbrukningen med nästan 1% i vissa sträckor, jämfört med en regelbaserad farthållare. Problemet är formulerat som en optimerings-problem där bränsleförbrukning och total restid måste minimeras. För att hitta den optimala lösningen användes dynamisk programmering och hela koden är skriven så att den kan exekveras på en Scania styrenehet. Koden är kan köras parallellt med den mjukvara som är installerad på styrenheten. Simuleringar utfördes i en miljö utvecklad i Simulink. Två test-körningar på E4 motorvägen utfördes.
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Holma, Erik. "Data Requirements for a Look-Ahead System." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-10197.
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Look ahead cruise control deals with the concept of using recorded topographic road data combined with a GPS to control vehicle speed. The purpose of this is to save fuel without a change in travel time for a given road. This thesis explores the sensitivity of different disturbances for look ahead systems. Two different systems are investigated, one using a simple precalculated speed trajectory without feedback and the second based upon a model predictive control scheme with dynamic programming as optimizing algorithm.
Defect input data like bad positioning, disturbed angle data, faults in mass estimation and wrong wheel radius are discussed in this thesis. Also some investigations of errors in the environmental model for the systems are done. Simulations over real road profiles with two different types of quantization of the road slope data are done. Results from quantization of the angle data in the system are important since quantization will be unavoidable in an implementation of a topographic road map.
The results from the simulations shows that disturbance of the fictive road profiles used results in quite large deviations from the optimal case. For the recorded real road sections however the differences are close to zero. Finally conclusions of how large deviations from real world data a look ahead system can tolerate are drawn.
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Hitchings, Mark R., and n/a. "Distance and Tracking Control for Autonomous Vehicles." Griffith University. School of Microelectronic Engineering, 1999. http://www4.gu.edu.au:8080/adt-root/public/adt-QGU20050902.084155.
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The author's concept of the distance and tracking control problem for autonomous vehicles relates to the cooperative behaviour of two successive vehicles travelling in the same environment. This behaviour requires one vehicle, designated the leader to move autonomously around it's environment with other vehicles, designated followers maintaining a coincident travel path and desired longitudinal distance with respect to the leader. Distance and tracking control is beneficial in numerous applications including guiding autonomous vehicles in Intelligent Transport Systems (ITS) which increases traffic safety and the capacity of pre-existing road infrastructure. Service robotics may also benefit from the cost savings and flexibility offered by distance and tracking control which enables a number of robots to cooperate together in order to achieve a task beyond the capabilities ofjust one robot. Using a distance and tracking control scheme an intelligent leader robot may guide a number of less intelligent (and therefore less costly and less complex) followers to a work-site to perform a task. The author's approach to the distance and tracking control problem consisted of two separate solutions - an initial solution used as a starting point and learning experience and a second, more robust, fuzzy control-based solution. This thesis briefly describes the initial solution, but places a greater emphasis on the second solution. The reason for this is that the fuzzy control-based solution offers significant improvement on the initial solution and was developed based on conclusions drawn from the initial solution. Most implementations of distance and tracking control, sometimes referred to as Intelligent Cruise Control (ICC) or platooning, are limited to longitudinal distance control only. The leader tracking control is performed either implicitly by a separate lane-following control system or by human drivers. The fuzzy control-based solution offered in this thesis performs both distance and tracking control of an autonomous follower vehicle with respect to a leader vehicle in front of it. It represents a simple and cost effective solution to the requirements of autonomous vehicles operating in ITS schemes - particularly close formation platooning. The follower tracks a laser signal emitted by the leader and monitors the distance to the follower at the same time using ultrasonic ranging techniques. The follower uses the data obtained from these measuring techniques as inputs to a fuzzy controller algorithm to adjust its distance and alignment with respect to the leader. Other systems employed on road vehicles utilise video-based leader tracking, or a range of lane-following methods such as magnetometer or video-based methods. Typically these methods are disadvantaged by substantial unit and/or infrastructure costs associated with their deployment. The limitations associated with the solutions presented in this thesis arise in curved trajectories at larger longitudinal distance separations between vehicles. The effects of these limitations on road vehicles has yet to be fully quantified, however it is thought that these effects would not disadvantage its use in close formation platooning. The fuzzy control-based distance and tracking control solution features two inputs, which are the distance and alignment of the follower with respect to the leader. The fuzzy controller asserts two outputs, which are left and right wheel velocities to control the speed and trajectory of a differential drive vehicle. Each of the input and output fuzzy membership functions has seven terms based around lambda, Z-type and S-type functions. The fuzzy rule base consists of 49 rules and the fuzzy inference stage is based on the MAX/MIN method. A Centre of Maximum (CoM) def'uzzification method is used to provide the two crisp valued outputs to the vehicle motion control. The methods chosen for the fuzzy control of distance and tracking for autonomous vehicles were selected based on a compromise between their computational complexity and performance characteristics. This compromise was necessary in order to implement the chosen controller structure on pre-existing hardware test beds based on an 8-bit microcontrollers with limited memory and processing resources. Overall the fuzzy control-based solution presented in this thesis effectively solves the distance and tracking control problem. The solution was applied to differential drive hardware test-beds and was tested to verify performance. The solution was thoroughly tested in both the simulation environment and on hardware test-beds. Several issues are identified in this thesis regarding the application of the solution to other platforms and road vehicle use. The solution will be shown to be directly portable to service robotics applications and, with minor modifications, applicable to road vehicle close-formation platooning.
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Park, Jaeyong. "Safe Controller Design for Intelligent Transportation System Applications using Reachability Analysis." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1366201401.
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Šimbera, Michal. "Elektronický regulátor rychlosti vozidla." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2019. http://www.nusl.cz/ntk/nusl-401584.
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The thesis deals with the design, realisation and functional verification of an electronic cruise control unit. Required inputs, outputs and controller of the control unit are identified first. The design and layout of the electronical components, including the processor, power supply and other necessary hardware is discussed. The algorithm for the control unit is developed in C/C++ and thoroughly analysed. The functionality of the cruise control unit equipped with the algorithm is verified through a case study performed on a combustion engine.
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Agrawal, Manas. "Leveraging Vehicle-to-Infrastructure Communications for Adaptive Traffic Signaling and Better Energy Utilization." The Ohio State University, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=osu1372785316.
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Roshanghias, Daniel. "Evaluation and Implementation of a Longitudinal Control in a Platoon of Radio Controlled Vehicles." Thesis, KTH, Reglerteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-212564.
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Over the past decades, congestion and emission problems has increased remarkablywhich escalates the demands on vehicles. The advancements withinthe eld of information and communication systems gives the opportunity todeal with the aforementioned problems. The concept of platooning shows tobe an attractive way of reducing both congestion and emissions by having ashort inter-vehicle spacing. The ndings in studies show that fuel reductionpotentials of 5-20 % are viable as a result of the lowered air drag by drivingin platoon. This thesis investigates the state of the art within the areaof intelligent transport systems (ITS) along with advanced driver assistancesystems (ADAS). Furthermore, the prosecuted work results in a proposedcontrol design for a longitudinal control in a platoon of vehicles. The platoonconsists of two homogeneous radio controlled vehicles (RCV) which aremodelled by taking advantage of system identication methods. The identi-ed plant models are implemented into a Simulink model where the controlsystem is developed. Moreover, the developed control system is implementedinto a real-time demonstrator for experimental evaluation. The results showsthat the modelled dynamics corresponds reasonably well with the real dynamicsof the system. The developed control system proves to work well andagree with the expectations of its performance obtained from simulations.The performance of the proposed controller has been evaluated by means ofsimulations and real experiments. The resulting control system consists ofPID controllers for both speed and spacing control.Under de senaste decennierna har mangden trakstockningar och problemmed utslapp okat - darmed aven kraven pa vara fordon. Samtidigt skaparframstegen inom informations- och kommunikationssystem mojligheter foratt hantera ovannamnda problem. Kolonnkorning, eller platooning har visatsig vara en eektiv metod for att minska saval trakstockningar som utslappsom en foljd av kortare avstand mellan fordon. Resultat fran studier visarhur en branslereduktion runt 5-20 % ar mojlig till foljd av det sankta luftmotstandet vid kolonnkorning. Avhandlingen undersoker teknikens standpunktinom intelligenta transportsystem (ITS) tillsammans med avancerade drivhjalpsystem(ADAS). Vidare resulterar arbetet i ett forslag till regleringsdesignfor en longitudinell kontroll i en kolonn av fordon. Kolonnen bestar av tvahomogena radiostyrda fordon (RCV) som modelleras genom att utnyttjametoder for systemidentiering. De identierade systemmodellerna implementerasi en Simulink-modell dar styrsystemet utvecklas. Dessutom implementerasdet utvecklade styrsystemet i en realtids-demonstration for experimentellutvardering. Resultaten visar att den modellerade dynamikenstammer bra overens med systemets verkliga dynamik. Det utvecklade styrsystemetvisar sig fungera bra och overensstammer med forvantningarna pa dessprestanda som erhallits genom simuleringar. Den foreslagna regulatorns prestandahar utvarderats med hjalp av simuleringar och verkliga experiment.Det resulterande styrsystemet bestar av PID regulatorer for bade hastighetsochavstandskontroll.
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Donald, Colin James. "Who Controlled Cruise?: The 1983 Deployment of Cruise Missiles in the United Kingdom and the Post-1945 Anglo-American Special Relationship in Defense." W&M ScholarWorks, 1989. https://scholarworks.wm.edu/etd/1539625488.
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Unsworth, Martyn Johnathan. "Electromagnetic exploration of the oceanic crust with controlled sources." Thesis, University of Cambridge, 1991. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.483437.
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Carreau, Thomas. "Modeling the (proto)neutron star crust : toward a controlled estimation of uncertainties." Thesis, Normandie, 2020. http://www.theses.fr/2020NORMC206.
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L’objectif principal de cette thèse est de fournir des prédictions réalistes et d’étudier les sources d’incertitudes sur les observables des étoiles à neutrons froides isolées et des protoétoiles à neutrons chaudes, en utilisant les contraintes actuelles fournies par les expériences en physique nucléaires, les développements en théorie des perturbations chirales et les observations astrophysiques. Une approche unifiée de métamodélisation a été introduite pour calculer la composition et l’équation d’état des étoiles à neutrons froides isolées pour toute fonctionnelle de matière nucléaire. Une détermination bayésienne des paramètres de l’équation d’état a été effectuée, conduisant à des prédictions réalistes pour les observables de l’étoile. À température finie, l’équilibre statistique complet des ions dans la croûte a été considéré, permettant, entre autres, le calcul du paramètre d’impureté. Les résultats sont compatibles avec les contraintes déduites de GW170817, et tendent à indiquer que lephénomène de glitch ne peut pas uniquement tirer son origine de la physique de la croûte. Des déviations dans la composition de la croûte par rapport à la matière catalysée froide sont observées à la température de cristallisation. Les résultats montrent que la contribution des impuretés n’est pas négligeable, ce qui pourrait avoir un impact sur les propriétés de transport dans la croûte. Une plus grande précision dans la détermination des dérivées d’ordre élevé de l’énergie de symétrie dans les expériences et/ou la théorie des perturbations chirales, et dans la connaissance de l’énergie de surface à des isospins extrêmes est nécessaire pour réduire les incertitudes sur les observables de la croûte. Le cadre numérique développé au cours de cette thèse peut servir de base à des recherches futuresThe main aim of this thesis is to make realistic predictions and to investigate the sources of uncertainties in the observables of nonaccreting cold neutron stars and warm protoneutron stars, using the present day constraints provided by nuclear experiments, developments in chiral effective field theory, and astrophysical observations. A unified metamodeling approach was introduced to calculate the stellar composition and equation of state of cold nonaccreting neutron stars for any functional of nuclear matter. A Bayesian determination of the equation of state parameters was carried out, leading to realistic predictions for neutron star observables. At finite temperature, a full statistical equilibrium of ions in the crust was considered, allowing in particular for the computation of the impurity parameter. The results are compatible with constraints inferred from GW170817, and suggest that a full crustal origin of pulsar glitches should be excluded. Deviations in the crust composition from cold catalyzed matter are observed at the crystallization temperature. Results show that the contribution of impurities is nonnegligible, thus potentially having an impact on transport properties in the crust. Higher precision in the determination of high-order isovector empirical parameters through nuclear experiments or low-density effective field theory predictions, and in the experimental and/or theoretical knowledge of the surface energy at extreme isospin ratios are needed to reduce the uncertainties of crustal observables. The numerical framework developed during this thesis can be used as a basis for future studies
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Agostinho, Solander Patrício Lopes. "Controle longitudinal e lateral para veículos terrestres de categoria pesada." Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-16122015-082915/.
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Este projeto apresenta o desenvolvimento de um controle longitudinal e lateral para um veículo terrestre de categoria pesada, usando o conceito de geração de curvas de Clothoids. O controle é em malha fechada, com realimentação de velocidade e posição global (X,Y) do veículo no plano bi-dimensional. Dentro de uma arquitetura de controle autônomo para um veículo, o controle longitudinal ajusta a velocidade de cruzeiro em função da trajetória e o lateral é responsável por regular a direção do volante e a sua correspondência para com os pneus, que por sua vez direcionam o veículo dentro da trajetória dada. Para este controle, para o modelo do veículo foi apenas considerado a estrutura do cavalo mecânico (conjunto monolítico formado pela cabine, motor e rodas de tração do caminhão), desprezando qualquer carga traseira engatado nele. Primeiramente será apresentada uma breve introdução abordando a história e projetos atuas de veículos autônomos, em seguida é feito uma revisão dos conceitos básicos usados no projeto. No capitulo seguinte é abordado o modelo matemático do veículo (cinemática e dinâmica) e logo em seguida teremos a secção que aborda sobre a estrutura de controle proposta. A seguir será apresentado a seção de discussão sobre a implementação e resultados práticos. Finalmente é apresentado a conclusão e uma breve descrição sobre trabalhos futuros.This project presents the development of a longitudinal and lateral control for a Heavy Category Ground Vehicles, using the concept of generation of curves Clothoids. This control is closed loop with feedback speed and position (X,Y) ofvehicle in two-dimensional plane. Within an autonomous control architecture for a vehicle, the longitudinal control adjusts cruising speed on the path and the lateral control is responsible for regulating direction of steering wheel and its correspondence to the tires, which in turn drive the vehicle within the given path. For this control, the vehicle model we are only considering the horse (monolithic assembly formed by the cab, engine and truck drive wheels), disregarding any rear cargo engaged in it. First a brief introduction will be presented addressing the history and projects of autonomous vehicles, then it is made a review of the basic concepts used in the project. The next chapter is discussed the mathematical model of the vehicle (kinematics and dynamics) and soon we will have a section dealing on the proposed control structure.The following will show the discussion section on the implementation and practical results, then the conclusion and a brief description of future work.
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Law, Adam. "Novel uses of high-density pre-critical reflection data from the Baltic Shield." Thesis, University of Cambridge, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.309926.
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Kelner, Lenice. "(In)Constitucionalidade das penas cruéis e infamantes no Brasil: da voz da criminologia crítica à voz dos encarcerados." Universidade do Vale do Rio dos Sinos, 2016. http://www.repositorio.jesuita.org.br/handle/UNISINOS/6667.
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Nesta pesquisa de doutorado busca-se verificar a inconstitucionalidade da pena cruel e infamante, com aporte teórico na criminologia crítica e na pesquisa etnográfica, diante da função real da pena e não a declarada, conforme referencial legal da Constituição Federal de 1988, que proíbe as penas consideradas cruéis e infamantes. A principal hipótese é de que o aumento de pessoas no cárcere em números alarmantes e o recrudescimento punitivo demonstram que o sistema penal está cada vez mais violento e menos idôneo para cumprir suas funções prometidas, violando as normas, tratados e princípios reguladores do exercício do seu poder punitivo. A pena de prisão é inconstitucional por ser cruel, infamante e indiretamente induzir à morte. A análise das condições concretas do funcionamento do sistema penal brasileiro, não o discurso declarado, mas a realidade da pena e do cárcere no Brasil demonstra ser a pena uma engenharia punitiva da dor e da violência. A delimitação do marco teórico (lugar da fala) se dará através da “Criminologia Crítica” por ser a ciência que explica a operacionalidade e as reais funções do sistema penal, mediante estudos da história da colônia, do extermínio dos povos indígenas e das marcas da escravidão. É pela ótica da criminologia crítica que se compreende as novas funções do sistema penal no capitalismo tardio periférico, com a transformação do Estado Previdenciário em Estado Penal que veio com o objetivo único de manter as relações dos sistemas penais e seus nexos funcionais como mecanismos seletivos próprios de uma formação econômica e histórica do Brasil. Para a realização da pesquisa, a metodologia de abordagem utilizada foi fenomenologia hermenêutica.
In this research at the doctoral level, we seek to verify the unconstitutionality of cruel and infamous punishment, with a theoretical contribution in critical criminology and ethnographic research, given the real function of the sentence and not that declared, according to the legal framework of the 1988 Constitution. Which prohibits penalties considered cruel and infamous. The main hypothesis is that the increase in prisoners in alarming numbers and the increase in punishment show that the penal system is becoming more violent and less suitable to fulfill its promised functions, in violation of the norms, treaties and principles governing the exercise of Its punitive power, then the prison sentence is unconstitutional, since it is cruel, infamous and indirectly of death, it is a punitive engineering of pain and violence, with the analysis of the concrete conditions of the functioning of the Brazilian penal system, not the declared speech, but the reality of pen and jail in Brazil. The delimitation of the theoretical framework - place of speech - will give it through "Critical Criminology", since it justifies the operability and real functions of the penal system through our colonial history, the extermination of indigenous peoples and the Including the new functions of the penal system in peripheral late capitalism, with the transformation of the State of Social Security into a Criminal State, with the objective of understanding the relations of the penal systems and their functional links with the selective mechanisms characteristic of a Brazilian economic and historical formation . For the accomplishment of the research, the approach methodology used was Hermeneutic phenomenology.
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Silvennoinen, H. (Hanna). "3D structure of the crust and upper mantle beneath Northern Fennoscandian shield." Doctoral thesis, University of Oulu, 2015. http://urn.fi/urn:isbn:9789526210681.
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Abstract
The crustal and upper mantle structures of the Shield on the regional scale were
investigated using the data of the POLENET/LAPNET passive seismic array and
the previously published models of active and passive seismic experiments in the
study area. This area is centred in northern Finland and it extends to surrounding
areas in Sweden, Norway and northwestern Russia. The bedrock there is mostly of
the Archaean origin and the lithosphere of the region was reworked by two orogenies
during Palaeoproterozoic.
One of the results of the thesis was a new map of the Moho depth of the study area,
for which new estimates of the crustal thickness were obtained using receiver function
method and complemented by published results of receiver function studies and controlled
source seismic profiles. The map differs from the previously published maps in
two locations, where we found significant deepening of the Moho. The 3D structure of
the upper mantle was studied using teleseismic traveltime tomography method. The
resulting model shows high seismic velocities below three cratonic units of the study
area, which may correspond to non-reworked fragments of cratonic lithosphere and a
low velocity anomaly separating these cratonic units from each other.
The regional scale studies were complemented by two smaller scale studies in upper
crust level using combined interpretation of seismic profiling and gravity data. These
studies were centred on Archaean Kuhmo Greenstone Belt in eastern Finland and
central Lapland in northern Finland located in the crust reworked during Palaeoproterozoic.
Both areas are considered as prospective ones for mineral exploration. Both
studies demonstrate the advantage of gravity data inversion in studying 3D density
structure of geologically interesting formations, when the Bouguer anomaly data is
combined with a priori information from petrophysical and seismic datasets.
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Damasceno, Micaela da Silva Paula. "Efeito do cozimento associado ao aditivo fosfato no rendimento e qualidade f?sico-qu?mica do camar?o branco do Pac?fico (Litopenaeus vannamei) descascado." PROGRAMA DE P?S-GRADUA??O EM NUTRI??O, 2017. https://repositorio.ufrn.br/jspui/handle/123456789/24626.
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O cozimento do pescado reduz o rendimento, causando perdas econ?micas e de qualidade no produto. O aditivo fosfato tem sido utilizado em produtos de pescado para aumentar a reten??o de ?gua, reduzir as perdas no rendimento e por fim melhorar sua qualidade final. A avalia??o da associa??o do uso do aditivo alimentar fosfato como pr?-tratamento ao processo de cozimento do camar?o Litopenaeus vannamei descascado em uma ind?stria de beneficiamento, foi realizada examinando-se os efeitos de diferentes tipos de fosfato (tripolifosfato de s?dio - TPF e mistura de fosfatos ? Blend formulada com difosfato tetrass?dio, difosfato tetrapot?ssio, trifosfato pentass?dio e trifosfato pentapot?ssio), concentra??o do aditivo (3 e 5%) e tempo de contato (por imers?o, 30 e 60 min) sobre o rendimento (ganho e perda de peso) e a qualidade f?sico-qu?mica do camar?o. As amostras imersas em ?gua (30 e 60 min) foram consideradas como controle. As an?lises laboratoriais (capacidade de reten??o de ?gua, umidade, prote?na, textura, cor e pH) foram realizadas ap?s o cozimento e ap?s o descongelamento. As an?lises de fosfato e s?dio foram realizadas apenas ap?s o descongelamento. O uso do aditivo fosfato mostrou efeito satisfat?rio na redu??o da perda de peso e no aumento da capacidade de reten??o de ?gua da carne de camar?o, quando comparado as amostras controle (tratadas com ?gua). A efic?cia do fosfato nas propriedades de reten??o de ?gua reflete em melhoria da qualidade do produto e depende do tipo, da concentra??o do aditivo e do tempo de contato. O tratamento com TPF e Blend (5% por 60 minutos) apresentou fosfato residual acima do limite legal permitido (1%) e esse ?ltimo tratamento tamb?m apresentou pH acima do permitido (7,85). Os resultados indicaram o alto potencial de uso de fosfato antes do cozimento em situa??es reais de produ??o para melhorar a qualidade do produto (camar?o cozido), desde que esteja de acordo com a legisla??o vigente.
The seafood cooking reduces the yield, causing economic and quality losses in the product. The phosphate additive has been used in seafood products to increase water retention, reduce yield losses and ultimately improve final quality. The evaluation of the association of the use of the feed additive phosphate as a pre-treatment to the cooking process of the shrimp Litopenaeus vannamei peeled in a processing industry was carried out by examining the effects of different types of phosphate (sodium tripolyphosphate - TPF and Blend - formulated with tetrasodium diphosphate, tetrapotassium diphosphate, pentasodium triphosphate and pentapotassium triphosphate), additive concentration (3 and 5%) and contact time (by immersion, 30 and 60 min) on yield (gain and weight loss) and the physical-chemical quality of the shrimp. Samples immersed in water (30 and 60 min) were considered as controls. The laboratory analyzes (water holding capacity, moisture, protein, texture, color and pH) were performed after cooking and after thawing. The phosphate and sodium analyzes were performed only after thawing. The use of the phosphate additive showed a satisfactory effect on the reduction of weight loss and on the increase of the water holding capacity of the shrimp meat when compared to the control samples (treated with water). The efficacy of the phosphates in the water retention properties reflects on the improvement of the quality of the product and depends on the type, the concentration of the additive and the time of contact. Treatment with TPF and Blend (5% for 60 minutes) presented residual phosphate above the legal limit allowed (1%) and the latter treatment also had a pH above that allowed (7,85). The results indicated the high potential of using phosphate before cooking in real production situations to improve the quality of the product (cooked shrimp), since is in accordance with the current legislation.
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Pereira, Bruno César Fernandes. "Evolução de uma unidade de gerenciamento eletrônico de um motor VW 2.0L e desenvolvimento de controle de cruzeiro: Projeto Otto IV." Universidade de São Paulo, 2017. http://www.teses.usp.br/teses/disponiveis/3/3142/tde-10112017-111401/.
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Com o passar do tempo, nota-se um aumento gradativo da demanda por veículos mais econômicos e que disponham de itens capazes de aumentar o conforto e a segurança. Citase, como exemplo, o controle de cruzeiro (Cruise Control) que, atualmente presente em diversos veículos, é responsável por controlar a velocidade do veículo de maneira autônoma, sem a necessidade de intervenção do condutor no pedal de aceleração, resultando em um aumento de conforto ao reduzir o esforço para dirigir, além de prover efetividade para manter a velocidade do veículo em torno de um valor desejado. Neste contexto, o presente trabalho apresenta o desenvolvimento de um controlador de cruzeiro para operar em um veículo modelo Volkswagen Polo Sedan 2.0L 2004, o qual não possui este recurso em seu estado de fábrica. Para a implementação deste recurso, o trabalho faz uso de uma unidade de gerenciamento eletrônico (conhecida também por Electronic Control Unit - ECU) desenvolvida em 2013, no âmbito do projeto Otto II (PEREIRA, 2013), para controle do motor presente no respectivo veículo, viabilizando, desta forma, a validação do controle de cruzeiro por meio de testes utilizando o veículo em um dinamômetro inercial. Entretanto, previamente ao projeto do controlador de cruzeiro, o presente trabalho teve como foco o aperfeiçoamento do funcionamento desta ECU, visando a sua evolução no que diz respeito ao estado da arte de unidades de gerenciamento eletrônico de motores. Para isto, em sua primeira fase, o trabalho realizou diversas melhorias nas malhas de controle já existentes no firmware de 2013, tais como controle de marcha lenta, controle da borboleta eletrônica e controle de partida. Ao mesmo tempo, novos recursos foram implementados em firmware: controle de torque, controle da mistura ar/combustível em malha fechada (sonda lambda), segurança na comunicação entre blocos da ECU, identificação de marcha, suporte para diagnóstico via OBD-II, dentre outros. Além destas atividades envolvendo desenvolvimento de firmware, o trabalho, ainda em sua primeira fase, promoveu o desenvolvimento de uma nova ferramenta de software que, além de ser capaz de monitorar diversos parâmetros da ECU em tempo real, integra diversas funções, tais como função de computador de bordo alternativo, opção para controle do motor através da simulação do pedal de aceleração, opção para alteração da rotação de marcha lenta e função para automatização do ensaio de identificação do veículo (tarefa necessária para o projeto do controlador de cruzeiro).Over time, there is a gradual increase of the demand for economical vehicles equipped with items capable of increasing the comfort and safety. As an example, the Cruise Control, which is already available in several vehicles, is responsible to control the vehicle speed in an autonomous manner, without the driver intervention on the throttle pedal. As a result, a greater comfort is achieved by reducing the effort to drive, besides providing effectiveness to keep the vehicle speed around a desired value. In this context, this project aims the development of a Cruise Control applied to a vehicle Volkswagen Polo Sedan 2.0L 2004, in which such resource is not available. To implement this resource, the project uses an electronic engine management unit (also known as Electronic Control Unit - ECU) developed in 2013 by the Otto II project (PEREIRA, 2013). This ECU is responsible to control the engine of the respective vehicle, which allows the Cruise Control validation through a set of tests performed with the vehicle on an inertial dynamometer. However, prior to the Cruise Control design, this project focused on the ECU operation enhancement, in order to achieve the state of the art in electronic engine management units. For this goal, the project, during its first phase, performed several improvements on the control algorithms already existing in the firmware developed in 2013, such as idle speed control, electronic throttle valve control and engine starting control. At the same time, new features were fully implemented in firmware: torque control, closed loop air/fuel ratio control (lambda control), safety for the communication among ECU blocks, gear identification, support to OBD-II diagnostic, among others. In addition to the firmware development activities, the project, still in its first phase, developed a new software tool capable of monitoring several ECU parameters in real time, besides providing many functions, such as alternative board computer, an option to control the engine by simulating the throttle pedal, an option to change the idle speed and a function to automate the system identification test (task required for the Cruise Control design).
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Resende, Alberto Toledo. "O papel do Estado no controle territorial e sua relação com a estruturação atividade pesqueira brasileira na Primeira República." Universidade do Estado do Rio de Janeiro, 2011. http://www.bdtd.uerj.br/tde_busca/arquivo.php?codArquivo=3784.
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No início do século XX, a pesca tornou-se uma atividade de importância ressaltada pelo Estado. A Marinha propôs mudanças na legislação, para regionalizar a atividade e legalizar a vida profissional do pescador, o qual adquiriu uma cidadania maior que a de boa parte da população do período da Primeira República. Deve-se ressaltar que só foi possível estruturar assim a atividade pesqueira, porque anteriormente, no período imperial, houve uma longa preparação, a qual, nos fins do século XIX, já na Primeira República, culminou em o Estado compenetrar-se de que precisava conhecer e controlar os recursos naturais e sociais
brasileiros. A estruturação politico-administrativa da pesca ocorreu criando-se a Confederação de Pesca e as federações estaduais, com suas colônias de pesca em todo Brasil. A finalidade era marcar o território com estruturas fixas que rganizassem os pescadores em comunidades e permitissem ao Estado controlar a produção nacional de pescado. Neste contexto, caberia a Marinha formar uma reserva naval composta por pescadores que pudesse ser facilmente arregimentados para garantir a defesa naval brasileira em situações de guerra. Neste sentido, a presente dissertação tem por objeto tanto organizar as informações acerca de como atividade
pesqueira foi estruturada pelas legislações e pelos relatos da expedição que lhe fundou e organizou a estrutura nacional no Brasil, quanto mostrar a necessidade do Estado de conhecer melhor o seu próprio território e de identificar os potenciais da economia da pesca. A dissertação visa também salientar como essas mudanças vieram a influir, durante a Primeira República, sobre os deveres e direitos dos pescadores, e de que modo tais direitos e deveres contrastavam com os do restante do povo brasileiro.In the early twentieth century, fishing became a major activity highlighted by the State. The Navy has proposed changes in legislation to regionalize the activity and to legalize the life of the fisherman, who acquired citizenship greater than that of much of the population of the period of the First Republic. It should be noted that it was only possible way to structure the fishery, because earlier in the imperial period, there was a long preparation, which, in the late nineteenth century, since the First Republic, culminated in the state that permeate needed know and control the natural and social resources in Brazil. The politico-administrative structure of the fishing occurred creating the Confederation and state federations fishing, fishing with their colonies throughout Brazil. The purpose was to mark his territory with fixed structures to organize the fishermen communities and allow the state to control the national production of fish. In this context, it would make the Navy a Naval Reserve consists of fishermen who could easily be enlisted to ensure the Brazilian naval defense in war. In this sense, this dissertation aims both to organize information about how fishing activity was structured by laws and by the accounts of the expedition which founded and organized the national structure in Brazil, and show the need for the state to better understand their own territory and to identify the potential of fisheries economics. The paper also aims to highlight how these changes came to influence during the First Republic, on the duties and rights of fishermen, and how these rights and duties contrasted with the rest of the Brazilian people.
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Contini, Márcio Cláudio. "Práticas contábeis na gestão das empresas brasileiras operadoras de cruzeiros marítimos: um estudo de caso." Pontifícia Universidade Católica de São Paulo, 2010. https://tede2.pucsp.br/handle/handle/1763.
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Previous issue date: 2010-02-08The activity of tourism maritime cruise operation started in Brazil over 60 years ago, although it has gained space in the national economic scenario just recently, thus emerging as one of the country's main and most promising tourism modalities. Encouraged by the excellent cruise seasons of the decade, foreign ship companies, local businessmen, governmental entities and the society in general, turn their attention to this segment. In the 2008/2009 season, for example, ship companies served about 520 thousand guests in their 16 ships. If this volume were not enough high, the segment announces 18 ships for the 2009/2010 season, with capacity to attend 920 thousand guests. Estimates in the sector on the potential of this activity point out that the market may reach the mark of 2 million passengers in short time. For all this volume of guests served and the segment potential scope, the operation of maritime cruises in the country is still little known, mainly as to the accounting and management approach. Many are the actors involved in this process who take part in the several steps of this activity's production chain. The cruise operating company relates to each one of them and carries out basic functions of promoting and selling cruises, as well as that of administering a few activities while the ships are in national waters. For this purpose, they interact with the very foreign ship company, travel agencies, representative agencies, port agencies, government entities, several suppliers and, of course, passengers. The organization and management of all these relationships is something that can be very complex on the operational point of view. In this sense, the importance of the accounting control of these companies has been confirmed. The operating company's controllership division has been outstanding as it develops and exceptional work of managing these relationships. Based on a solid accounting foundation, these divisions have been meeting the needs of managers, thus producing information of a relevant nature and in proper time, helping the business management process. It is in the accounting sphere that these companies search for a relevant part of the operation information and which encompasses a few interesting specificities under the accounting perspective. The management of charter contracts, advance payments received by passengers, advance payment of commissions to travel agents or marketing expenses, the entry of revenues resulting from the sale of coastal or international cruises, among others, are aspects that are considered part of this set of specificities. Likewise, the relationships with the ship companies are also specific topics of this segment. We can note that the management of the cash flow and these coastal cruise contracts are key factors for the success of these businesses. This case study, developed with two of the main cruise companies of the Brazilian cruise industry, Ibero Cruzeiros and Costa Cruzeiros, does an analysis in detail of the aspects of this activity, contributing for the knowledge formation of the tourism cruise operation and the importance of the accounting control in these companies as well as the accounting practices used by the operators in the control of the main operations
A atividade de operação de cruzeiros marítimos de turismo teve início, no Brasil, há mais de 60 anos, embora, somente agora, ganhe espaço no cenário econômico nacional, despontando como uma das principais e mais promissoras modalidades do turismo do país. Incentivada pelas excelentes temporadas de cruzeiros da década, armadoras estrangeiras, empresários locais, entidades governamentais e sociedade em geral, voltam suas atenções ao segmento. Na temporada de 2008/2009, por exemplo, as armadoras atenderam em seus 16 navios cerca de 520 mil hóspedes. Como se esse volume não fosse bastante elevado, o segmento anuncia 18 navios para a temporada 2009/2010, com capacidade para o atendimento de 920 mil hóspedes. Estimativas do setor sobre o potencial dessa atividade indicam que o mercado pode atingir a marca de 2 milhões de passageiros em pouco tempo. Apesar de todo esse volume de hóspedes atendidos e do potencial de alcance do segmento, a operação de cruzeiros marítimos no país ainda é pouco conhecida, principalmente sobre o enfoque contábil e de gestão. São muitos os atores envolvidos nesse processo e que participam das diversas fases da cadeia de produção dessa atividade. A operadora de cruzeiros relaciona-se com cada um deles e executa as funções básicas de promoção e vendas dos cruzeiros, bem como a de administração de algumas atividades enquanto os navios se encontram em águas nacionais. Para tanto, interage com a própria armadora estrangeira, as agências de viagem, as agências representantes, as agências portuárias, as entidades governamentais, diversos fornecedores e, é claro, com os passageiros. A organização e a gestão de todas essas relações é algo que, sob o ponto de vista operacional, pode ser considerado bastante complexo. Nesse sentido, a importância do controle contábil, nessas empresas, tem se confirmado. A divisão de Controladoria das operadoras tem se destacado à medida que desenvolve um excepcional trabalho de gerenciamento dessas relações. Calcada em um forte embasamento teórico contábil, essas divisões vêm atendendo às necessidades dos gestores, produzindo informação de natureza relevante e em tempo adequado e auxiliando no processo de gerenciamento do negócio. É na contabilidade que essas empresas buscam uma parte importante das informações da operação e que englobam certas particularidades interessantes sob a ótica contábil. O gerenciamento de contratos de afretamento, antecipação recebida de passageiros, pagamento antecipado de comissões a agentes de viagem ou de despesas de marketing, o registro das receitas provenientes da venda de cruzeiros de cabotagem ou internacional, entre outros, são aspectos considerados parte desse conjunto de particularidades. Da mesma forma, as relações com as armadoras, também, são temas específicos desse segmento. Note-se que a gestão do fluxo de caixa e desses contratos de cabotagem são fatores-chave para o sucesso desses negócios. Este estudo de caso, desenvolvido com duas das principais empresas de cruzeiros do mercado brasileiro, a Ibero Cruzeiros e a Costa Cruzeiros, faz uma análise detalhada de todos esses aspectos da atividade, contribuindo para a formação de conhecimento sobre a operação de cruzeiros de turismo e a importância do controle contábil nessas empresas, bem como as práticas contábeis utilizadas pelas operadoras no controle das operações de maior relevância
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Matzenbacher, Felipe de Oliveira. "Caracterização e controle de capim-arroz (Echinochloa crus-galli) resistente aos herbicidas do grupo das imidazolinonas e quinclorac em arroz irrigado." reponame:Biblioteca Digital de Teses e Dissertações da UFRGS, 2012. http://hdl.handle.net/10183/60498.
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A resistência a herbicidas em capim-arroz (Echinochloa crus-galli (L.) Beauv.) é um problema presente em todas as regiões de produção de arroz irrigado do Sul do Brasil. No entanto, a prevenção e o controle deste problema são dificultados devido ao desconhecimento do mecanismo de resistência aos herbicidas relacionados a este processo. O objetivo deste trabalho foi desenvolver métodos rápidos de diagnóstico da resistência de capim-arroz a imidazolinonas; analisar a ocorrência de metabolização como mecanismo de resistência de capim-arroz aos herbicidas imazethapyr e quinclorac; e avaliar diferentes herbicidas isolados e em associações para controle de biótipos resistentes. Os bioensaios de plântula e perfilhos discriminaram a resistência de capim-arroz a imidazolinonas em sete dias de incubação, em concentrações de imazethapyr ou imazapyr + imazapic de 0,001 e 0,0001 mM, respectivamente. A avaliação do mecanismo de resistência de capim-arroz foi realizada com experimentos em casa de vegetação com aspersão foliar e solução hidropônica e a campo. A ocorrência de incremento de metabolização de herbicidas como mecanismo de resistência foi avaliada pela aplicação de inibidores das enzimas do grupo do citocromo P450 monooxigenases malathion, piperolina butóxido e 1-aminobenzotriazole. Estes inibidores reduziram o fator de resistência a imazethapyr entre 17 e 40% e a quinclorac entre 62 e 120%. Os resultados indicam que o incremento de metabolização está relacionado à resistência de capim-arroz aos herbicidas imidazolinonas em alguns biótipos e com a evolução da resistência a quinclorac em biótipos inicialmente resistentes a imidazolinonas. O experimento a campo de avaliação de controle de capim-arroz resistente a inibidores de ALS indicou maior eficácia dos herbicidas clomazone, profoxydim, fenoxaprop-P-ethyl, propanil, quinclorac e penoxsulam. Associações de fenoxaprop-P-ethyl com inibidores de ALS e profoxydim com quinclorac resultaram em antagonismo no controle de capim-arroz, enquanto que as misturas de quinclorac com imazapyr + imazapic resultou em sinergismo. O incremento de metabolização está associado à resistência múltipla a herbicidas em capim-arroz. Práticas de prevenção de resistência a herbicidas em capim-arroz devem ser empregadas para evitar a distribuição da resistência e, principalmente, da ocorrência de resistência a outros herbicidas.The resistance to imidazolinone and quinclorac herbicides in barnyardgrass (Echinochloa crus-galli (L.) Beauv.) is a problem in all regions of flooded rice in southern Brazil. However, the prevention and control of this problem is difficult due to the unknown mechanism of herbicide resistance. The objectives of this study were to develop rapid methods for the diagnosis of imidazolinone resistance in barnyardgrass; analyze the occurrence of metabolization enhancement as the mechanism of herbicide resistance of barnyardgrass to quinclorac and imazethapyr, and to evaluate different herbicides alone and in associations for the control of the imidazolinone resistant biotypes. The seedling and tiller bioassays discriminate the imidazolinone resistance in seven days of incubation of imazethapyr or imazapyr + imazapic at concentrations of 0.001 and 0.0001 mM, respectively. The evaluation of the resistance mechanism of barnyardgrass to imidazolinones was performed through experiments conducted in greenhouse with foliar spray and in hydroponic conditions and in the field. The occurrence of herbicide metabolization enhancement as a mechanism of resistance was assessed by the application of inhibitors of the cytochrome P450 monooxygenases, malathion, piperolina butoxide and 1-aminobenzotriazole. These inhibitors reduced the resistance factor of imazethapyr in 17 to 40% and of quinclorac in 62 to 120%. These results indicate that metabolization enhancement is related with the resistance of barnyardgrass to imidazolinone herbicides in some biotypes, and to the evolution of resistance to quinclorac in biotypes initially resistant to imidazolinones. The field experiment indicated the efficient control of the imidazolinone resistant barnyardgrass with clomazone, profoxydim, fenoxaprop-P-ethyl, propanil, quinclorac and penoxsulam. Combinations of fenoxaprop-P-ethyl and ALS inhibitors, and profoxydim and quinclorac resulted in antagonism, while the mixture of quinclorac and imazapyr + imazapic resulted in synergism for the barnyardgrass control. The metabolization enhancement is associated with the multiple herbicide resistance in barnyardgrass. The prevention of herbicide resistance in barnyardgrass must be employed to avoid the increase of the distribution of resistance and especially the resistance to other herbicides.
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Cai, Zhong-Ting, and 蔡忠庭. "Design of Self-Optimizing Adaptive Cruise Controller for Radar-Guided Electric Vehicle." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/36842471745387596408.
Full textAbstract:
碩士國立臺灣大學
電機工程學研究所
104
Adaptive cruise control (ACC) system is a key component of automotive autopilot. It assists the driver with automatic speed control that lessens driver’s burden in attention and vision. However, several shortcomings appear in the existing ACC system. First, the system is not applicable to many driving scenarios that the driver may encounter. Second, a large headway distance is necessary that diminishes road throughput and may incur cut-in situations. Third, frequent acceleration and deceleration makes the vehicle consume more energy. This thesis presents the self-optimizing adaptive cruise controller that can maintain vehicle speed under various driving resistance, follow leading car even in stop-and-go, and prevent from any collision while a car cut-in. This innovative design is developed on an in-wheel motor-powered electric vehicle that has a front millimeter-wave radar to detect leading car’s relative speed and distance. The self-optimizing adaptive cruise controller consists of a fuzzy PID controller and the adaptive optimal control (AOC) algorithm. Particularly, premise inputs are headway time and inverse time-to-collision (ITTC). Fuzzification actually divides the operating points of the vehicle system into several linear regions, each associated with a PID control law. The AOC algorithm is dedicated to adjust the PID parameters for achieving better cruising performance and energy efficiency. On a simulation system, the proposed design is examined in driving cycles such as UDDS, HWFET, US06, and LA92, including scenarios such as cut-in, stop & go, and car following. The self-optimizing adaptive cruise controller succeeds in every driving cycle and scenario, and outperforms a fuzzy logic controller in term of accumulated error and energy efficiency.
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Chien-Tzu, Chen. "Novel System Design and Implementation of An All-Speed Fuzzy Adaptive Cruise Controller." 2006. http://www.cetd.com.tw/ec/thesisdetail.aspx?etdun=U0005-1808200614474700.
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Chen, Chien-Tzu, and 陳建次. "Novel System Design and Implementation of An All-Speed Fuzzy Adaptive Cruise Controller." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/13412246758195754465.
Full textAbstract:
碩士國立中興大學
電機工程學系所
94
This combination of advanced sensing and automatic control is a tendency for recent vehicle technology and application, aiming at assisting the driver and improving vehicle safety. To date, adaptive cruise controllers (ACC) incorporating radar (77GHz), engine management and electronic hydraulic have been proven effective for highway environments with required speed up to 40 km per hour. Having been successfully examined and tested in laboratory environments, such ACCs are now becoming mass products which can be installed on several kinds of commercial vehicles. Be shown suitable for low-speed urban environments with the speed less than 40 km per hour, stop & go controllers integrating with image recognition or short-ranging radar may become next main-streaming products in automobile electronics market. On the basis of the real-time relative distance (between the preceding vehicle and the host vehicle) and the present speed of the host vehicle, such ACC and stop & go controllers aim at providing the host vehicle appropriate power outputs and braking to maintain a safe and desired distance of car-following with the preceding vehicle . All these two controllers achieve automatic driving in the longitudinal direction at normal conditions, but give alarms to ask driver’s intervention to steer the host vehicle in case of emergency that the controllers are in the danger of insufficient braking to avoid car collision. The objective of the thesis is to design an all-speed adaptive cruise control system with car-following speed ranging from 0 to 120 kph. This novel controller covers the main functions of conventional ACC and stop & go controllers. For vehicular longitudinal control, we use vacuum boosters to control the throttle and the braking pedal, thus circumventing the technical difficulties of using engine management system and anti-brake system. Modified by a commercial SUV, the experimental car is equipped with a lidar on the bumper, a speed sensor mounted at the shaft of a wheel, and two sensors for measuring the opening of the throttle and the position of the braking pedal. A fuzzy controller is synthesized by inputting the difference of the actual relative distance and the safe distance obtained from the preceding vehicle, and the relative speed, and outputting the PWM signal to control the output force of the vacuum booster. With the use of the high-level controller, the fuzzy control law is easily and rapidly implemented using Simulink for the experimental car, and the controller’s parameters can be changed and updated by analyzing the collected data from the relative distance from the lidar, the speed of the host vehicle, the opening of the throttle and the position of the braking pedal. For the sake of safe testing, experimental results are conducted by virtually simulating the various possible car-following conditions for the ACC and stop & go controllers, thereby obtaining virtually relative distance and speed to tune the controller’s parameters and make sure the safety of the controller. Afterwards, the realistic car following experiments are then performed to confirm that the proposed all-speed longitudinal control design is capable of achieving the requirements of comfort and safety and giving a satisfactory performance at all-speed conditions.
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Chen, Feng-Wei, and 陳峰緯. "Based on Input Estimator and LQG Control Theory to Design Flight Satbility Controller for Supersonic Cruise Missile." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/37259789151044730553.
Full textAbstract:
碩士國防大學理工學院
兵器系統工程碩士班
101
In this thesis, the recursive input estimation method and LQG (Linear-Quadratic-Gaussian) control theory are utilized to design high-precision and robustness flight stability controller for supersonic cruise missile. The method for obtaining the disturbance input estimation ability and enhancing flight stability control performance are also proposed. The recursive input estimation with characteristics about faster computation, less measurements and low pass filter. LQG controller is based on optimal control theory has the characteristics of easy to implement. Combination of these two methods, the flight stability robust controller architecture that enables high-speed flight vehicle to maintain a stable flight performance in conditions of serious environmental disturbance are proposed. The thesis explore the flight vehicle two control issues
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Cox, Craig Allen. "Development and flight test of a multi-function controller for automated cruise flaps on an aircraft wing." 2008. http://www.lib.ncsu.edu/theses/available/etd-10282008-200745/unrestricted/etd.pdf.
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Chou, Ming-Shan. "Optimal cruise control of heavy-haul trains equipped with electronic controlled pneumatic brake systems." Diss., 2005. http://hdl.handle.net/2263/24857.
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In this study a closed-loop cruise controller to minimise the running costs of the heavy-haul train is proposed. The running costs of a heavy-haul train are dependent on its travelling time, maintenance costs and energy consumption during the trip. The Coallink train with the new train technologies, Distributed Power (DP) traction and Electronically Controlled Pneumatic (ECP) brake system, is the centre of the study. A literature study on existing train control, both passenger and heavy-haul trains, is carried out to build up a knowledge base. Many different techniques for train handling were observed, their features in relation to heavy-haul ECP trains are discussed. From these backgrounds, a comprehensive longitudinal train model is proposed and successfully validated with real-life data from Spoornet. In the model, both static and dynamic in-train forces are studied, as well as energy consumption. This is possible by modelling each locomotive and wagon as an individual unit. The equations of motion for the train with coupled units and additional non-linearities, such as traction power limits, are considered. An open-loop controller for maintaining equilibrium velocity is designed. During transient velocity changes, a transient controller for calculating the required additional acceleration and deceleration is designed and validated. Because locomotive traction settings are only available in discrete notches, quantisation conversion from force into notches results in input chattering. In addition, during brake to traction transitions, the locomotives receive a sudden traction demand which results in spikes in in-train forces. To avoid these problems, input filtering is performed for these inputs. Closed-loop controllers based on LQR method, optimised for in-train forces, energy consumption and velocity regulation respectively, are designed and compared. To overcome the communication constraints, a fencing concept is introduced whereby the controller is reconfigured adaptively to the current track topology. Different train configurations in terms of availability of additional control channels for both traction and braking are compared, as well as their effects on dynamic and static in-train force. These configurations are unified, distributed and individual traction and brake controls. The results from these different configurations are compared to recorded train data and given in this study. From the results, it is found that the closed-loop controller optimised for in-train force is able to provide the best overall improvement out of the three controllers.Dissertation (MEng)--University of Pretoria, 2007.
Electrical, Electronic and Computer Engineering
Unrestricted
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Friese, Nadine. "Tectonically-controlled emplacement mechanisms in the upper crust under specific stress regimes: case studies." Doctoral thesis, 2009. http://hdl.handle.net/11858/00-1735-0000-0006-B2DF-4.
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Friese, Nadine [Verfasser]. "Tectonically-controlled emplacement mechanisms in the upper crust under specific stress regimes : case studies / vorgelegt von Nadine Friese." 2009. http://d-nb.info/999812521/34.
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